JP7123933B2 - Surgical instrument with primary processor and safety processor - Google Patents

Description

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

Various features of the embodiments described herein, together with their advantages, can be understood from the following description in conjunction with the accompanying drawings below.
1 is a side elevational view of a surgical system comprising a handle assembly and multiple interchangeable surgical tool assemblies that may be used therewith; FIG. 2 is a perspective view of one of the replaceable surgical tool assemblies of FIG. 1 operably connected to the handle assembly of FIG. 1; FIG. 3 is an exploded view of a portion of the surgical tool assembly of FIGS. 1 and 2; FIG. 2 is a perspective view of another one of the replaceable surgical tool assemblies of FIG. 1; FIG. 5 is a partial cross-sectional perspective view of the replaceable surgical tool assembly of FIG. 4; FIG. 6 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIGS. 4 and 5; FIG. Figure 7 is an exploded view of a portion of the replaceable surgical tool assembly of Figures 4-6; 8 is an enlarged plan view of a portion of the resilient spine assembly of the interchangeable surgical tool assembly of FIG. 7; FIG. 8 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 4-7; FIG. 9 is another cross-sectional perspective view of the surgical end effector portion of the replaceable surgical tool assembly of FIGS. 4-8; FIG. 10 is an exploded view of the surgical end effector portion of the replaceable surgical tool assembly shown in FIG. 9; FIG. 11A and 11B are perspective, side elevational, and front views of an embodiment of a firing member that may be used in the replaceable surgical tool assembly of FIG. 10; 5 is a perspective view of an anvil that may be used with the replaceable surgical tool assembly of FIG. 4; FIG. Figure 13 is a cross-sectional side elevational view of the anvil of Figure 12; Figure 14 is a bottom view of the anvil of Figures 12 and 13; A cross-sectional side elevation of a portion of the surgical end effector and shaft portion of the replaceable surgical tool assembly of FIG. It is a plan view. 16 is another cross-sectional side elevational view of the surgical end effector and shaft portion of FIG. 15 after the surgical staple cartridge has been at least partially fired and its firing members have been retracted to the starting position; FIG. 17 is another cross-sectional side elevational view of the surgical end effector and shaft portion of FIG. 16 after the firing member has been fully retracted to the starting position; FIG. 16 is a top cross-sectional view of the surgical end effector and shaft portion shown in FIG. 15 with an unused or unfired surgical staple cartridge properly seated in an elongated channel of the surgical end effector; FIG. 19 is another top cross-sectional view of the surgical end effector of FIG. 18 with a surgical staple cartridge mounted therein showing the firing member at least partially fired and retained in a locked position; FIG. 5 is a partial cross-sectional view of a portion of the anvil and elongated channel of the replaceable tool assembly of FIG. 4; FIG. 21 is an exploded side elevational view of a portion of the anvil and elongated channel of FIG. 20; FIG. FIG. 11 is a rear perspective view of an anvil mounting portion of an anvil embodiment; FIG. 10 is a rear perspective view of an anvil mounting portion of another anvil embodiment; FIG. 10 is a rear perspective view of an anvil mounting portion of another anvil embodiment; FIG. 3 is a perspective view of an anvil embodiment; 26 is an exploded perspective view of the anvil of FIG. 25; FIG. 26 is a cross-sectional end view of the anvil of FIG. 25; FIG. FIG. 10 is a perspective view of another anvil embodiment; 29 is an exploded perspective view of the anvil embodiment of FIG. 28; FIG. 29 is a plan view of the distal end portion of the anvil body portion of the anvil of FIG. 28; FIG. FIG. 10 is a plan view of the distal end portion of the anvil body portion of another anvil embodiment; 32 is a cross-sectional end perspective view of the anvil of FIG. 31; FIG. FIG. 10 is a cross-sectional end perspective view of another anvil embodiment; FIG. 10 is a perspective view of an embodiment of a closure member comprising a distal closure tube portion; 35 is a cross-sectional side elevational view of the closure member embodiment of FIG. 34; FIG. FIG. 12 is a partial cross-sectional view of an embodiment of an interchangeable surgical tool assembly showing the position of the anvil mounting portion of the anvil in the fully closed position and its firing member in the starting position; 37 is another partial cross-sectional view of the replaceable surgical tool assembly of FIG. 36 at the beginning of the opening process; FIG. 38 is another partial cross-sectional view of the replaceable surgical tool assembly of FIG. 37 with the anvil in a fully open position; FIG. 37 is a side elevational view of a portion of the replaceable surgical tool assembly of FIG. 36; FIG. 38 is a side elevational view of a portion of the replaceable surgical tool assembly of FIG. 37; FIG. 39 is a side elevational view of a portion of the replaceable surgical tool assembly of FIG. 38; FIG. [0014] Fig. 4 is a cross-sectional side elevational view of an embodiment of a closure member; Figure 43 is a cross-sectional end view of the closure member of Figure 42; FIG. 10 is a cross-sectional end view of another closure member embodiment; [0014] Fig. 4 is a cross-sectional end view of an embodiment of a closure member; FIG. 10 is a cross-sectional end view of another closure member embodiment; 2 is a partial cross-sectional view of a portion of the surgical end effector of the interchangeable tool assembly illustrated in FIG. 1; FIG. 6 is a partial cross-sectional view of a portion of the surgical end effector of the replaceable surgical tool assembly of FIG. 5; FIG. 49 is another cross-sectional view of the surgical end effector of FIG. 48; FIG. FIG. 12 is a partial perspective view of a portion of the underside of an anvil embodiment; 6 is a partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 5 with its surgical end effector anvil in a fully open position; FIG. 52 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 51 with the anvil of its surgical end effector in a first closed position in a fully closed position; FIG. 52 at the beginning of the firing process with the anvil in the first closed position and the firing member of its surgical end effector moved distally from the starting position; FIG. Fig. 3 is another partial cross-sectional view of the; FIG. 52 is another portion of the replaceable surgical tool assembly portion of FIG. 51 with the anvil in the second closed position and the firing member advanced distally into the surgical staple cartridge of its surgical end effector; is a typical cross-sectional view. 4 is a graphical comparison of firing energy versus time for different interchangeable surgical tool assemblies; 4 is a graphical representation of a comparison of force to firing improvement and firing load versus firing distance the firing member traveled for four different interchangeable surgical tool assemblies; FIG. 122 is a perspective view of an end effector of a surgical stapling instrument including a staple cartridge in accordance with at least one embodiment; 58 is an exploded view of the end effector of FIG. 57; FIG. 58 is a perspective view of the staple cartridge of FIG. 57; FIG. 57 is a partial perspective view of the channel of the end effector of FIG. 57 configured to receive a staple cartridge; FIG. 61 is a partial perspective view of the channel of FIG. 60; FIG. 60 is a circuit diagram of the cartridge circuitry of the staple cartridge of FIG. 59; FIG. 58 is a circuit diagram of the carrier circuit of the end effector of FIG. 57; FIG. 58 is a bottom partial view of the end effector of FIG. 57 illustrating the intact trace element and sled in a starting position in accordance with at least one embodiment; FIG. 58 is a bottom partial view of the end effector of FIG. 57 illustrating broken trace elements and threads in a partially advanced position in accordance with at least one embodiment; FIG. 1 is a block diagram illustrating an electrical circuit, in accordance with at least one embodiment; FIG. 1 is a block diagram illustrating an electrical circuit, in accordance with at least one embodiment; FIG. 1 is a block diagram illustrating an electrical circuit, in accordance with at least one embodiment; FIG. 1 is a block diagram illustrating an electrical circuit, in accordance with at least one embodiment; FIG. 58 is a schematic diagram of a safety mechanism of the end effector of FIG. 57, according to at least one embodiment; FIG. 64 is the switch of the schematic of FIG. 63 in an open configuration, according to at least one embodiment; Figure 65 illustrates the switch of Figure 64 in a closed configuration; 58 is a safety feature of the end effector of FIG. 57, according to at least one embodiment; FIG. 100 is a logic diagram of a method for controlling firing of a surgical stapling and cutting instrument in accordance with at least one embodiment; FIG. 222 is a partial perspective view of a staple cartridge including a conductive gate in accordance with at least one embodiment; 67 is a partially exploded view of the staple cartridge of FIG. 66; FIG. 68 is a cross-sectional view of the staple cartridge of FIG. 67 showing the conductive gate in a fully closed configuration; FIG. 68 is a cross-sectional view of the staple cartridge of FIG. 67 showing the conductive gate in an open configuration; FIG. 68 is a cross-sectional view of the staple cartridge of FIG. 67 showing the conductive gate transitioning from an open configuration to a partially closed configuration; FIG. FIG. 100 is a block diagram illustrating an electrical circuit configured to activate/deactivate a firing system of a surgical stapling and severing instrument in accordance with at least one embodiment; 4 illustrates a controller for a surgical stapling and severing instrument, according to at least one embodiment; 4 illustrates combinatorial logic for a surgical stapling and severing instrument in accordance with at least one embodiment; 4 illustrates a sequential logic circuit of a surgical stapling and severing instrument in accordance with at least one embodiment; An electromagnetic lockout mechanism for a surgical stapling and cutting instrument, according to at least one embodiment. Figure 76 illustrates the electromagnetic lockout mechanism of Figure 75 in a locked configuration; Figure 76 illustrates the electromagnetic lockout mechanism of Figure 75 in an unlocked configuration; 1 is a schematic diagram of an electrical circuit, in accordance with at least one embodiment; FIG. FIG. 100 is a schematic diagram of an electrical circuit of a powered surgical stapling and severing instrument in accordance with at least one embodiment; 4 is an electrical circuit configured to detect staple firing member position and advancement, illustrating the staple firing member in a fully fired position; 79B illustrates the staple firing member of FIG. 79A in a fully retracted position; 1 is a perspective view of a powered surgical stapling and severing instrument comprising a power supply assembly, a handle assembly and an interchangeable shaft assembly; FIG. 81 is a perspective view of the surgical instrument of FIG. 80 having an interchangeable shaft assembly separated from the handle assembly; FIG. Figure 81 illustrates a schematic diagram of the surgical instrument of Figure 80; Figure 81 illustrates a schematic diagram of the surgical instrument of Figure 80; FIG. 100 is a circuit diagram of a powered surgical stapling and severing instrument in accordance with at least one embodiment; FIG. 100 is a circuit diagram of a powered surgical stapling and severing instrument in accordance with at least one embodiment; 4 illustrates minimum and maximum threshold current drawn by a motor of a powered surgical stapling and severing instrument, according to at least one embodiment; FIG. 4 is a circuit diagram illustrating a start-of-stroke switch circuit and an end-of-stroke switch circuit in accordance with at least one embodiment; 1 is a logic diagram illustrating a fault response system, in accordance with at least one embodiment; FIG. 1 is a logic diagram illustrating a fault response system, in accordance with at least one embodiment; FIG. 1 is a logic diagram illustrating a fault response system, in accordance with at least one embodiment; FIG. 1 is a logic diagram illustrating a fault response system, in accordance with at least one embodiment; FIG. Corresponding reference characters indicate corresponding parts throughout the several drawings. The exemplifications set forth herein are intended to illustrate various embodiments of the invention in one form, and such exemplifications are to be construed as limiting the scope of the invention in any manner. shouldn't.

The applicant of the present application owns the following US patent applications, filed December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- US patent application Ser. No. 15/386,185 entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF";
- US patent application Ser. No. 15/386,230, entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS",
- US patent application Ser. No. 15/386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS",
- US patent application Ser. No. 15/386,209, entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF",
- US patent application Ser. No. 15/386,198, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES"; FIRING MEMBERS THEREFOR'.

The applicant of the present application owns the following US patent applications, filed December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
－米国特許出願第１５／３８５，９４１号、発明の名称「ＳＵＲＧＩＣＡＬ ＴＯＯＬ ＡＳＳＥＭＢＬＩＥＳ ＷＩＴＨ ＣＬＵＴＣＨＩＮＧ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＳＨＩＦＴＩＮＧ ＢＥＴＷＥＥＮ ＣＬＯＳＵＲＥ ＳＹＳＴＥＭＳ ＷＩＴＨ ＣＬＯＳＵＲＥ ＳＴＲＯＫＥ ＲＥＤＵＣＴＩＯＮ ＦＥＡＴＵＲＥＳ ＡＮＤ ＡＲＴＩＣＵＬＡＴＩＯＮ ＡＮＤ ＦＩＲＩＮＧ ＳＹＳＴＥＭＳ」、
- US Patent Application No. 15/385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
- U.S. patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 15/385,946, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
- US patent application Ser. No. 15/385,951 entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE"
- US patent application Ser. No. 15/385,953, entitled "METHODS OF STAPLING TISSUE",
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,955, entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS",
- US Patent Application No. 15/385,948, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
- US patent application Ser. No. 15/385,956, entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES",
- U.S. patent application Ser. Name "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN".

The applicant of the present application owns the following US patent applications, filed December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- US patent application Ser. No. 15/385,896, entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT",
- US patent application Ser. No. 15/385,898 entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES"
- US patent application Ser. No. 15/385,899 entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL";
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,902, entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER",
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,905, entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT",
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,908, entitled "FIRING ASSEMBLY COMPRISING A FUSE"; and - US patent application Ser. .

The applicant of the present application owns the following US patent applications, filed December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- US patent application Ser. No. 15/385,920, entitled "STAPLE FORMING POCKET ARRANGEMENTS",
- US patent application Ser. No. 15/385,913, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS",
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,927 entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES",
- US patent application Ser. No. 15/385,917 entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS"
- U.S. patent application Ser.
- US Patent Application No. 15/385,931, entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS",
- US patent application Ser. No. 15/385,915, entitled "FIRING MEMBER PIN ANGLE",
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,922, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES",
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,910, entitled "ANVIL HAVING A KNIFE SLOT WIDTH",
- US patent application Ser. No. 15/385,903, entitled "CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS"; and - US patent application Ser. No. 15/385,906, entitled "FIRING MEMBER PIN CONFIGURATIONS."

The applicant of the present application owns the following US patent applications, filed December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
- US patent application Ser. No. 15/386,192, entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES"
- US patent application Ser. No. 15/386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES",
- U.S. patent application Ser.
- U.S. patent application Ser. UNITS FOR SURGICAL STAPLING INSTRUMENTS".

The applicant of the present application owns the following US patent applications, filed December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT"; and - US patent application Ser.

The applicant of the present application owns the following US patent applications, filed December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- US patent application Ser. No. 15/385,916, entitled "SURGICAL STAPLING SYSTEMS"
- US patent application Ser. No. 15/385,918, entitled "SURGICAL STAPLING SYSTEMS"
- US patent application Ser. No. 15/385,919, entitled "SURGICAL STAPLING SYSTEMS"
- U.S. patent application Ser.
- US patent application Ser. No. 15/385,923, entitled "SURGICAL STAPLING SYSTEMS"
－米国特許出願第１５／３８５，９２５号、発明の名称「ＪＡＷ ＡＣＴＵＡＴＥＤ ＬＯＣＫ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＰＲＥＶＥＮＴＩＮＧ ＡＤＶＡＮＣＥＭＥＮＴ ＯＦ Ａ ＦＩＲＩＮＧ ＭＥＭＢＥＲ ＩＮ Ａ ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲ ＵＮＬＥＳＳ ＡＮ ＵＮＦＩＲＥＤ ＣＡＲＴＲＩＤＧＥ ＩＳ ＩＮＳＴＡＬＬＥＤ ＩＮ ＴＨＥ ＥＮＤ ＥＦＦＥＣＴＯＲ」、
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. The name "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES".

The applicant of this application owns the following US patent applications, filed June 24, 2016, each of which is hereby incorporated by reference in their respective entireties:
- US patent application Ser. No. 15/191,775, entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES"
- US patent application Ser. No. 15/191,807, entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES,"
- U.S. patent application Ser.
- US patent application Ser. No. 15/191,788, entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES," and - US patent application Ser.

The applicant of this application owns the following US patent applications, filed June 24, 2016, each of which is hereby incorporated by reference in their respective entireties:
- US Design Patent Application No. 29/569,218, entitled "SURGICAL FASTENER";
- US Design Patent Application No. 29/569,227, entitled "SURGICAL FASTENER";
- US Design Patent Application No. 29/569,259, entitled "SURGICAL FASTENER CARTRIDGE," and - US Design Patent Application No. 29/569,264, entitled "SURGICAL FASTENER CARTRIDGE."

The applicant of the present application owns the following U.S. patent applications, filed April 1, 2016, each of which is hereby incorporated by reference in their respective entireties:
- US Patent Application No. 15/089,325, entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM",
- US patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 15/089,263, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION",
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- US patent application Ser.
- US Patent Application No. 15/089,203, entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT",
- U.S. patent application Ser.
- US Patent Application No. 15/089,324, entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM",
- U.S. patent application Ser.
- US patent application Ser. No. 15/089,339, entitled "SURGICAL STAPLING INSTRUMENT",
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 15/089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS",
- US Patent Application No. 15/089,336, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES",
- U.S. patent application Ser.
- US patent application Ser. No. 15/089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM," and - US patent application Ser.

The applicant of the present application also owns the following identified U.S. patent applications filed December 31, 2015, each of which is incorporated herein by reference in its respective entirety: incorporated.
- U.S. patent application Ser.
- U.S. patent application Ser. AND MOTOR CONTROL CIRCUITS'.

The applicant of this application also owns the following identified U.S. patent applications filed on February 9, 2016, each of which is incorporated herein by reference in its respective entirety: incorporated.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";
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- U.S. patent application Ser.
- US Patent Application No. 15/019,235, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS",
- US patent application Ser. No. 15/019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; REDUCTION ARRANGEMENTS".

The applicant of this application also owns the following identified U.S. patent applications filed on February 12, 2016, each of which is incorporated herein by reference in its respective entirety: incorporated.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicant of this application owns the following US patent applications, filed June 18, 2015, each of which is hereby incorporated by reference in their respective entireties:
- US patent application Ser. No. 14/742,925, entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS",
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser. No. 14/742,885, entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS"; FOR ARTICULATABLE SURGICAL INSTRUMENTS".

The applicant of the present application owns the following US patent applications, filed March 6, 2015, each of which is hereby incorporated by reference in their respective entireties:
- US patent application Ser. No. 14/640,746, entitled "POWERED SURGICAL INSTRUMENT", now US patent application publication no.
- U.S. patent application Ser.
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- US Patent Application No. 14/640,799, entitled "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, 780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING," now U.S. Patent Application Publication No. 2016/0256161.

The applicant of the present application owns the following US patent applications, filed February 27, 2015, each of which is hereby incorporated by reference in their respective entireties:
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- US patent application Ser. SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER”, now US Patent Application Publication No. 2016/0249917.

The applicant of this application owns the following US patent applications, filed December 18, 2014, each of which is hereby incorporated by reference in their respective entireties:
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- US Patent Application No. 14/574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM", now US Patent Application Publication No. 2016/0174970, and - US Patent Application No. 14/574,500 , entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM", now U.S. Patent Application Publication No. 2016/0174971.

The applicant of this application owns the following US patent applications, filed March 1, 2013, each of which is hereby incorporated by reference in their respective entireties:
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- US Patent Application No. 13/782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM", now US Patent No. 9,398,911, and - US Patent Application No. 13/782,536. No., entitled "SURGICAL INSTRUMENT SOFT STOP", now U.S. Pat. No. 9,307,986.

The applicant of this application also owns the following US patent applications, filed March 14, 2013, each of which is hereby incorporated by reference in their respective entireties:
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- US Patent Application No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent No. 9,351,727, and - US Patent Application No. 13/803,159. , entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0277017.

The applicant of this application also owns the following US patent applications, filed March 7, 2014, each of which is hereby incorporated by reference in their respective entireties:
- US patent application Ser.

The applicant of this application also owns the following US patent applications, filed March 26, 2014, each of which is hereby incorporated by reference in their respective entireties:
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- U.S. patent application Ser.
- US patent application Ser. "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now U.S. Patent Application Publication No. 2015/0280384.

The applicant of this application also owns the following US patent applications filed on September 5, 2014, each of which is hereby incorporated by reference in their respective entirety:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 14/479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now US Patent Application Publication No. 2016/0066916, and - US Patent Application No. 14/479,108, Title of Invention "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", now US Patent Application Publication No. 2016/0066913.

The applicant of the present application also owns the following US patent applications, filed April 9, 2014, each of which is hereby incorporated by reference in their respective entireties:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
－米国特許出願第１４／２４８，５８４号、発明の名称「ＭＯＤＵＬＡＲ ＭＯＴＯＲ ＤＲＩＶＥＮ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＡＬＩＧＮＭＥＮＴ ＦＥＡＴＵＲＥＳ ＦＯＲ ＡＬＩＧＮＩＮＧ ＲＯＴＡＲＹ ＤＲＩＶＥ ＳＨＡＦＴＳ ＷＩＴＨ ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲ ＳＨＡＦＴＳ」、現在は米国特許出願公開第２０１４／０３０５９９４号、
- U.S. patent application Ser.
- US Patent Application No. 14/248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0305990, and - US Patent Application No. 14/248,607. , entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", now U.S. Patent Application Publication No. 2014/0305992.

The applicant of this application also owns the following US patent applications, filed on April 16, 2013, each of which is hereby incorporated by reference in their respective entireties:
- US Provisional Patent Application No. 61/812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";
- US Provisional Patent Application No. 61/812,376, entitled "LINEAR CUTTER WITH POWER",
- US Provisional Patent Application No. 61/812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP",
- U.S. Provisional Application No. 61/812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL," and - U.S. Provisional Application No. 61/812,372, entitled "SURGICAL INSTRUMENT WITH." MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

Numerous specific details are set forth in the specification to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components and elements have not been described in detail so as not to obscure the embodiments described herein. The reader should understand that the embodiments described and illustrated herein are non-limiting examples and, as such, that the specific structural and functional details disclosed herein may be exemplary and illustrative. you will understand. Variations and changes can be made thereto without departing from the scope of the claims.

"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 “including”) and “contain” (any form of contain, such as “contains” and “containing”) are used to describe open-ended It is a linking verb. As a result, a surgical system, device, or instrument that "comprises," "has," "includes," or "contains" one or more elements may refer to one or more of those elements. have, but are not limited to having only one or more of them. Similarly, an element of a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features may refer to those one or more features. have, but are not limited to having only one or more of those features.

The terms "proximal" and "distal" are used herein with respect to the clinician manipulating the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located farther from the clinician. It will be further appreciated that for convenience and clarity, spatial terms such as "vertical," "horizontal," "above," and "below" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive 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, for example, those associated with open surgery. By reading the detailed description of this specification, the reader will understand that the various devices disclosed herein have been formed into tissue, e.g., through a natural orifice. It will further be appreciated that it may be inserted into the body in any manner, such as through an incision or puncture. The working or end effector portion of these instruments can be inserted directly into the patient's body, or access devices having working channels through which the end effector and elongated shaft of the surgical instrument can be advanced. can be inserted through

A surgical stapling 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 includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, but the staple cartridge is not removable from the first jaw, or at least Other embodiments are envisioned that are not easily replaceable. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. the second jaw is pivotable relative to the first jaw about the closing axis, wherein the first jaw is pivotable relative to the second jaw; Embodiments are envisaged. The surgical stapling system further comprises an articulation joint configured to allow the end effector to rotate or articulate with respect to the shaft. The end effector is rotatable about an articulation axis that extends through the articulation joint. Other embodiments are envisioned that do not include an articulation joint.

The staple cartridge has a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal and distal ends. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress and clamp tissue against the deck. Staples removably stored within the cartridge body can then be deployed into tissue. The cartridge body includes staple cavities defined therein, and staples are removably stored within the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on the first side of the longitudinal slot and three rows of staple cavities are positioned on the second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

The staples are supported by staple drivers within the cartridge body. The driver is movable between a first or unfired position and a second or fired position for firing staples from the staple cavities. The driver is retained within the cartridge body by a retainer extending around the bottom of the cartridge body and includes a resilient member configured to grip the cartridge body to hold the retainer against the cartridge body. include. The drivers are movable between their unfired and their fired positions by sleds. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramps configured to slide under and lift the driver, and staples are supported thereon toward the anvil.

In addition to the above, the sled is moved distally by the firing member. A firing member is configured to contact the sled and push the sled toward the distal end. A longitudinal slot defined within the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam engaging the first jaw and a second cam engaging the second jaw. The first cam and the second cam can control the distance between the deck of the staple cartridge and the anvil, or the tissue gap, when advancing the firing member distally. The firing member also includes a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the ramp so that the staples are ejected forward of the knife.

FIG. 1 shows a motorized surgical system 10 that can be used to perform a variety of different surgical procedures. As can be seen in this figure, one example of surgical system 10 includes four interchangeable surgical tool assemblies 100 , 200 , 300 each adapted for interchangeable use with handle assembly 500 . , and 1000. Each replaceable surgical tool assembly 100, 200, 300, and 1000 may be designed for use in connection with performing one or more specific surgical procedures. In another surgical system embodiment, the interchangeable surgical tool assembly can be effectively used with the tool drive assembly of a robotic or automated surgical system. For example, the surgical tool assembly disclosed herein is disclosed in U.S. Pat. No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTS", which is incorporated herein by reference in its entirety. ARRANGEMENTS”, including but not limited to, various robotic systems, instruments, components, and methods.

FIG. 2 illustrates one form of interchangeable surgical tool assembly 100 operably coupled to handle assembly 500 . FIG. 3 shows the attachment of replaceable surgical tool assembly 100 to handle assembly 500 . The mounting arrangement and process illustrated in FIG. 3 also relate to mounting any of the replaceable surgical tool assemblies 100, 200, 300, and 1000 to a tool drive portion or tool drive housing of a robotic system. , may be used. Handle assembly 500 may comprise a handle housing 502 that includes a pistol gripping portion 504 that may be grasped and manipulated by a clinician. As discussed briefly below, handle assembly 500 provides various control movements to corresponding portions of interchangeable surgical tool assemblies 100, 200, 300, and/or 1000 operably attached thereto. A plurality of drive systems configured to generate and apply are operatively supported.

Referring now to FIG. 3, the handle assembly 500 may further include a frame 506 that operably supports multiple drive systems. For example, frame 506 may operably support a “first” or closure drive system, generally indicated as 510 , which is operably attached or coupled to handle assembly 500 . 100, 200, 300, and 1000, to apply closing and opening motions. In at least one form, closure drive system 510 may include an actuator in the form of closure trigger 512 pivotally supported by frame 506 . Such an arrangement allows the clinician to manipulate the closure trigger 512 such that when the clinician grasps the pistol gripping portion 504 of the handle assembly 500, the closure trigger 512 is in the starting position. or can be easily pivoted from a "non-actuated" position to an "actuated" position, more specifically to a fully compressed or fully actuated position. In various forms, the closure drive system 510 further includes a closure coupling assembly 514 pivotally coupled to or otherwise operably joined to the closure trigger 512 . As will be described in greater detail below, in the exemplary embodiment, closure coupling assembly 514 includes lateral mounting pins 516 that facilitate attachment to a corresponding drive system on a surgical tool assembly. In use, the clinician depresses the closure trigger 512 toward the pistol grip portion 504 to activate the closure drive system. More details in U.S. patent application Ser. As described, when the clinician fully depresses the closure trigger 512 to achieve a full closure stroke, the closure drive system moves the closure trigger 512 to the fully depressed or fully actuated position. configured to lock to When the clinician desires to unlock and bias the closure trigger 512 to the non-actuated position, the clinician simply activates the closure release button assembly 518, thereby deactivating the closure trigger. It is possible to return to the position. Closure release button 518 may also be configured to interact with various sensors in communication with microcontroller 520 within handle assembly 500 to track the position of closure trigger 512 . Further details regarding the construction and operation of the closure release button assembly 518 may be found in US Patent Application Publication No. 2015/0272575.

In at least one form, handle assembly 500 and frame 506 are configured to apply a firing motion to a corresponding portion of an interchangeable surgical tool assembly attached thereto. Another drive system may be operatively supported, referred to as firing drive system 530 . As described in detail in US Patent Application Publication No. 2015/0272575, the firing drive system 530 may employ an electric motor (not shown in FIGS. 1-3), and the pistol of the handle assembly 500. located in the gripping portion 504; In various forms, the motor may be, for example, a brushed DC drive motor having a maximum speed of about 25,000 RPM. In other arrangements, the motor may include a brushless motor, cordless motor, synchronous motor, stepper motor, or any other suitable electric motor. The motor may be powered by power supply 522, which in one form may comprise a removable power pack. The power pack may support multiple lithium-ion (“Li”) or other suitable batteries therein. Multiple batteries that can be connected in series may be used as power source 522 for surgical system 10 . Note that the power source 522 may be replaceable and/or rechargeable.

The electric motor is configured to axially drive the longitudinally movable drive member 540 in distal and proximal directions, depending on the polarity of the motor. For example, when the motor drives in one rotational direction, longitudinally movable drive member 540 may drive axially in distal direction "DD". As the motor drives in the opposite rotational direction, drive member 540 may drive axially in the proximal direction “PD”. The handle assembly 500 can include a switch 513 that can be configured to reverse the polarity applied to the electric motor by the power source 522 or to control the motor. Handle assembly 500 may further include a sensor (not shown) configured to detect the position of drive member 540 and/or the direction in which drive member 540 is moving. Motor actuation may be controlled by a firing trigger 532 (FIG. 1) pivotally supported on handle assembly 500 . Firing trigger 532 may be pivoted between an unactuated position and an actuated position. Firing trigger 532 may be biased to an unactuated position by a spring or other biasing arrangement such that when the clinician releases firing trigger 532, it is pushed by the spring or other biasing arrangement. It may be pivoted or otherwise returned to an inoperative position. In at least one form, the firing trigger 532 can be positioned "outside" the closing trigger 512, as described above. As described in U.S. Patent Application Publication No. 2015/0272575, handle assembly 500 may also be equipped with a firing trigger safety button (not shown) to prevent accidental actuation of firing trigger 532. good. When the closure trigger 512 is in the unactuated position, the safety button is housed within the handle assembly 500 such that the clinician cannot easily access the safety button and the safety button prevents activation of the firing trigger 532. It cannot be actuated between the position and the firing position where the firing trigger 532 can be fired. When the clinician depresses the closure trigger 512, the safety button and firing trigger 532 pivot downward and then become available for operation by the clinician.

In at least one form, the longitudinally moveable drive member 540 has teeth (see FIG. 2) formed thereon for meshing engagement with a corresponding drive gear arrangement (not shown) that interacts with the motor. (not shown). Further details regarding these mechanisms can be found in US Patent Application Publication No. 2015/0272575. There is also a manually actuated "emergency breakaway" assembly configured to allow the clinician to manually retract the longitudinally movable drive member 540 in the event of motor failure. Included in at least one form. The emergency release assembly may include a lever or emergency release handle assembly stored within handle assembly 500 under releasable door 550 . The lever is configured to be manually pivoted into ratcheting engagement with the teeth of drive member 540 . Accordingly, the clinician can manually retract drive member 5400 by ratcheting drive member 540 proximally “PD” using the emergency disengagement handle assembly. U.S. patent application Ser. No. 12/249,117, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRRING SYSTEM," now U.S. Pat. No. 045 discloses other components, arrangements, and systems that may be used with the emergency release arrangement as well as the various surgical tool assemblies disclosed herein.

Referring now to FIG. 2, an interchangeable surgical tool assembly 100 includes a surgical end effector 110 having first and second jaws. In one arrangement, first jaw includes elongated channel 112 configured to operably support surgical staple cartridge 116 therein. The second jaw includes an anvil 114 pivotally supported relative to elongated channel 112 . Interchangeable surgical tool assembly 100 also includes a locking articulation joint 120 that can be configured to releasably retain end effector 110 in a desired position relative to shaft axis SA. Details regarding the various structures and operations of the end effector 110, the articulation joint 120 and the articulation lock are provided in U.S. patent application Ser. INSTRUMENT COMPRISING AN ARTICULATION LOCK”, now described in US Patent Application Publication No. 2014/0263541. 2 and 3, the replaceable surgical tool assembly 100 can be utilized to close and/or open the proximal housing or nozzle 130 and the anvil 114 of the end effector 110. A closure tube assembly 140 may be included. As described in U.S. Patent Application Publication No. 2015/0272575, the closure tube assembly 140 is mounted on a spine 145 supporting an articulation driver arrangement 147 for applying articulation to the surgical end effector 110; movably supported. Spine 145 is configured to (1) slidably support firing member 170 therein and (2) slidably support closure tube assembly 140 extending about spine 145 . . Under various circumstances, spine 145 includes a proximal end that is rotatably supported on chassis 150 . See FIG. In one arrangement, for example, the proximal end of spine 145 is attached to a spine bearing (not shown) configured to be supported within chassis 150 . Such an arrangement facilitates rotatable attachment of spine 145 to chassis 150, and spine 145 may be selectively rotated relative to chassis 150 about shaft axis SA.

Still referring to FIG. 3, replaceable surgical tool assembly 100 includes closure shuttle 160 slidably supported therein so as to be axially moveable relative to chassis 150 . As can be seen in FIG. 3 , closure shuttle 160 includes a pair of proximally projecting hooks 162 that lead to attachment pins 516 attached to closure linkage assembly 514 of handle assembly 500 . configured to be installed. A proximal closure tube section 146 of closure tube 140 is coupled to closure shuttle 160 for relative rotation therewith. Thus, when hook 162 is caught over pin 516 , actuation of closure trigger 512 results in axial movement of closure shuttle 160 and ultimately closure tube assembly 140 on spine 145 . A closure spring (not shown) is journaled on closure tube 140 and serves to bias closure tube 140 in the proximal direction “PD”, thereby pulling shaft assembly 100 into handle assembly 500 . When operably coupled, it can serve to pivot the closure trigger 512 to an unactuated position. In use, closure tube assembly 140 translates distally (direction “DD”) to close anvil 114 , eg, in response to actuation of closure trigger 512 . Closure tube assembly 140 includes distal closure tube section 142 pivotally pinned to the distal end of proximal closure tube section 146 . Distal obturating tube section 142 is configured to move axially with proximal obturating tube section 146 relative to surgical end effector 110 . When the distal end of distal obturator tube segment 142 impacts the proximal surface or ledge 115 on anvil 114, anvil 114 is pivoted closed. Further details regarding closing the anvil 114 can be found in the aforementioned US Patent Application Publication No. 2014/0263541 and are discussed in further detail below. The anvil 114 is opened by proximally translating the distal obturator section 142, as described in detail in US Patent Application Publication No. 2014/0263541. Distal obturator tube section 142 has a downwardly extending return tab (see FIG. 10) that cooperates with anvil tab 117 formed on the proximal end of anvil 114 to pivot anvil 114 back to the open position. (not shown). In the fully open position, the closure tube assembly 140 is in its proximal-most or non-actuated position.

As also mentioned above, the replaceable surgical tool assembly 100 further includes a firing bar 170 supported for axial movement within the shaft spine 145 . Firing bar 170 includes an intermediate firing shaft portion configured to attach to a distal cutting portion or knife bar configured to move axially through surgical end effector 110 . In at least one arrangement, replaceable surgical tool assembly 100 includes a clutch assembly (not shown) that may be configured to selectively and releasably couple articulation driver to firing bar 170 . Further details regarding clutch assembly mechanics and operation can be found in US Patent Application Publication No. 2014/0263541. As described in U.S. Patent Application Publication No. 2014/0263541, when the clutch assembly is in its engaged position, distal movement of firing bar 170 causes articulation driver arrangement 147 to move farther. proximally, and correspondingly, proximal movement of firing bar 170 can cause articulation driver disposition 147 to move proximally. When the clutch assembly is in its disengaged position, movement of the firing bar 170 is not transmitted to the articulation driver arrangement 147 so that the firing bar 170 operates independently of the articulation driver arrangement 147. can move. The replaceable surgical tool assembly 100 may also include a slip ring assembly (not shown) that conducts power to and/or from the end effector 110, and /or may be configured to communicate signals to and/or from the end effector 110 . Further details regarding the slip ring assembly can be found in US Patent Application Publication No. 2014/0263541. US patent application Ser. US Pat. No. 9,345,481, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," is hereby incorporated by reference in its entirety.

Still referring to FIG. 3, chassis 150 includes at least one, preferably at least one, housing formed thereon adapted to be received within corresponding dovetail slots 507 formed in the distal end of frame 506 . includes two tapered mounting portions 152 . Each dovetail slot 507 may be tapered, or in other words somewhat V-shaped, to seatably receive the mounting portion 152 therein. As can be further seen in FIG. 3, shaft mounting lugs 172 are formed on the proximal end of firing shaft 170 . When the replaceable surgical tool assembly 100 is coupled to the handle assembly 500, the shaft mounting lug 172 is a firing shaft mounting cradle 542 formed at the distal end of the longitudinally movable drive member 540. accepted by Interchangeable surgical tool assembly 100 also employs latch system 180 to releasably latch shaft assembly 100 to frame 506 of handle assembly 500 . In at least one form, for example, latch system 180 includes a locking member or locking yoke 182 movably coupled to chassis 150 . Locking yoke 182 includes two proximally projecting locking lugs 184 configured to releasably engage corresponding locking detents or grooves 509 in the distal mounting flange of frame 506 . In various forms, locking yoke 182 is biased proximally by a spring or biasing member. Actuation of lock yoke 182 may be accomplished by a latch button 186 slidably mounted on a latch actuator assembly mounted on chassis 150 . Latch button 186 may be biased proximally against locking yoke 182 . As will be described in more detail below, locking yoke 182 may be moved to the unlocked position by distally biasing latch button 186, which causes locking yoke 182 to pivot. to move it out of retaining engagement with the distal mounting flange of frame 506 . When locking yoke 182 is in “retaining engagement” with the distal mounting flange of frame 506 , locking lugs 184 are retained and seat within corresponding locking detents or grooves 509 in the distal end of frame 506 . Further details regarding the latch system can be found in US Patent Application Publication No. 2014/0263541.

Attachment of replaceable surgical tool assembly 100 to handle assembly 500 will now be described with respect to FIG. To begin the coupling process, the clinician unzips chassis 150 of interchangeable surgical tool assembly 100 such that tapered mounting portion 152 formed on chassis 150 is aligned with dovetail slot 507 of frame 506 . may be positioned above or adjacent to the distal end of frame 506 . The clinician then moves surgical tool assembly 100 along installation axis IA perpendicular to shaft axis SA to align tapered mounting portion 152 with a corresponding dovetail receiving slot in the distal end of frame 506. 507 to be seated. In doing so, the shaft mounting lug 172 on the firing shaft 170 also seats in a cradle 542 on the longitudinally movable drive member 540 and a portion of the pin 516 on the closure link 514 engages a corresponding hook on the closure shuttle 160. Seated at 162. As used herein, the term "operable engagement" in the context of two components means that the two components are fully engaged with each other such that when an actuation motion is applied to them, the configuration It means that the element can perform the intended action, function and/or procedure.

Referring now to FIG. 1, the surgical system 10 shown therein includes four interchangeable surgical tool assemblies 100, 200, 300, and 1000, each of which works in conjunction with the same handle assembly 500. can be used to perform different surgical procedures. The construction of an exemplary form of interchangeable surgical tool assembly 100 is described briefly above and in more detail in US Patent Application Publication No. 2014/0263541. Various details regarding interchangeable surgical tool assemblies 200 and 300 may be found in various US patent applications filed on even date herewith and incorporated herein by reference. Various details regarding the replaceable surgical tool assembly 1000 are described in greater detail below.

As illustrated in FIG. 1, each of surgical tool assemblies 100, 200, 300, and 1000 includes a pair of jaws, at least one of the jaws having a tissue thickness between the two jaws and the jaws. It is movable between an open position where it can be captured or manipulated between closed positions, and a closed position where tissue is securely retained therebetween. The movable jaws or jaws are in an open position upon application of closing and opening movements applied thereto from a robot or automated surgical system to which the handle assembly or surgical tool assembly is operably coupled. and closed positions. It should be noted that each of the illustrated interchangeable surgical tool assemblies cuts tissue and engages one of the jaws in response to a firing motion applied thereto by the handle assembly or robotic system. A firing member configured to fire staples from the supported cartridge is included. Each surgical tool assembly may be uniquely designed, for example, to perform a particular procedure for cutting and fastening tissue types and thicknesses within a particular region of the body. The closing, firing, and articulation control system in the handle assembly 500 or robotic system provides axial and/or rotational control motion, depending on the type of closing, firing, and articulation system configuration used in the surgical tool assembly. may be configured to generate In one arrangement, when the closure control system in the handle assembly or robotic system is fully activated, one of the closure system control components may comprise, for example, the closure tube assembly described above, and is inactive. It can move axially from position to its fully actuated position. The axial distance a closure tube assembly travels between its inoperative position and its fully actuated position may be referred to herein as the "closure stroke length." Similarly, when the handle assembly or the firing system in the robotic system is fully activated, one of the firing system control components may comprise, for example, the longitudinally movable drive member described above, and is deactivated. It can move axially from position to its fully actuated or fired position. The axial distance traveled by the longitudinally movable drive member between its inoperative position and its fully fired position may be referred to herein as the "firing stroke length." For those surgical tool assemblies that use an articulatable end effector arrangement, the handle assembly or robotic system uses an articulation control component that moves axially through an "articulation stroke length." good too. In many situations, the closing stroke length, firing stroke length, and articulation stroke length are fixed for a particular handle assembly or robotic system. Accordingly, each of the surgical tool assemblies can be operated through their respective stroke lengths without placing undue stress on the surgical tool components that could result in damage or catastrophic failure of the surgical tool assembly. It must be adaptable for controlled movement of the closing, firing, and/or articulating components over time.

4-10, an interchangeable surgical tool assembly 1000 includes a surgical end effector 1100 having an elongated channel 1102 configured to operably support a staple cartridge 1110 therein. include. End effector 1100 may further include an anvil 1130 pivotally supported relative to elongated channel 1102 . Interchangeable surgical tool assembly 1000 can be configured to releasably retain end effector 1100 in a desired articulated position with respect to shaft axis SA, with articulation joint 1200 and articulation lock 1210 (see FIG. 5 and FIGS. 8-10). Details regarding the construction and operation of articulation lock 1210 are provided in U.S. patent application Ser. can be found in US Patent Application Publication No. 2014/0263541. Further details regarding articulation locks are also provided in U.S. patent application Ser. MECHANISM WITH SLOTTED SECONDARY CONSTRAINT". As can be seen in FIG. 7, the replaceable surgical tool assembly 1000 includes a proximal housing or nozzle 1300 comprised of nozzle portions 1302, 1304 and the nozzle portions assembled by snaps, lugs, screws, or the like. An actuator wheel portion 1306 configured to couple to 1302, 1304 can also be included. As described in more detail below, the replaceable surgical tool assembly 1000 further includes a closure tube assembly 1400 that can be utilized to close and/or open the anvil 1130 of the end effector 1100. can be done. Referring primarily to FIGS. 8 and 9 , replaceable surgical tool assembly 1000 can include spine assembly 1500 that can be configured to support articulation lock 1210 . In the illustrated arrangement, spine assembly 1500 comprises a "elastic" spine or frame member 1510, which is described in greater detail below. Distal end portion 1522 of resilient spine member 1510 is attached to a distal frame section 1560 that operably supports articulation lock 1210 therein. As can be seen in FIGS. 7 and 8, the spine 1500 extends (1) to slidably support the firing member assembly 1600 therein and (2) around the spine 1500. It is configured to slidably support the closure tube assembly 1400 . Spine assembly 1500 can also be configured to slidably support proximal articulation driver 1700 .

As can be seen in FIG. 10, distal frame section 1560 is pivotally coupled to elongated channel 1102 by end effector mounting assembly 1230 . In one arrangement, for example, distal end 1562 of distal frame section 1560 has a pivot pin 1564 formed thereon. Pivot pin 1564 is adapted to be pivotally received within pivot hole 1234 formed in pivot base 1232 of end effector mounting assembly 1230 . End effector mounting assembly 1230 is attached to proximal end 1103 of elongated channel 1102 by spring pin 1105 or other suitable member. Pivot pin 1564 defines an articulation axis BB transverse to shaft axis SA. Please refer to FIG. Such an arrangement facilitates pivotal movement (ie, articulation) of end effector 1100 about articulation axis BB relative to spine assembly 1500 .

Still referring to FIG. 10 , in the illustrated embodiment, articulation driver 1700 has a distal end 1702 configured to operatively engage articulation lock 1210 . Articulation lock 1210 includes an articulation frame 1212 adapted to operatively engage drive pin 1238 on pivot base 1232 of end effector mounting assembly 1230 . Note that the cross link 1237 may be coupled to the drive pin 1238 and the articulation frame 1212 to assist in articulating the end effector 1100 . As noted above, further details regarding the operation of articulation lock 1210 and articulation frame 1212 may be found in US Patent Application No. 13/803,086, now US Patent Application Publication No. 2014/0263541. Further details regarding end effector mounting assemblies and cross-links are found in U.S. patent application Ser. (filed February 9, 2016). In various situations, resilient spine member 1510 includes a proximal end 1514 rotatably supported on chassis 1800 . In one arrangement, for example, proximal end 1514 of resilient spine member 1510 is formed thereon for threaded attachment to a spine bearing (not shown) configured to be supported within chassis 1800 . It also has screws 1516 . Such an arrangement facilitates rotatable attachment of resilient spine member 1510 to chassis 1800, thereby selectively rotating spine assembly 1500 relative to chassis 1800 about shaft axis SA. obtain.

Referring primarily to FIG. 7, replaceable surgical tool assembly 1000 includes closure shuttle 1420 slidably supported within chassis 1800 so that it can be moved axially relative to chassis 1800 . In one form, closure shuttle 1420 includes a pair of proximally projecting hooks 1421 that attach to mounting pins 516 attached to closure linkage assembly 514 of handle assembly 500, as described above. is configured as A proximal end 1412 of closure tube section 1410 is coupled to closure shuttle 1420 for relative rotation therewith. For example, U-shaped connector 1424 is inserted into annular slot 1414 at proximal end 1412 of closure tube section 1410 and retained within vertical slot 1422 in closure shuttle 1420 . See FIG. Such a configuration allows the proximal closure tube assembly 1400 to rotate relative to the closure shuttle 1420 about the shaft axis SA while moving axially therewith. Assists in attaching section 1410 to closure shuttle 1420 . A closure spring (not shown) is journalled on the proximal end 1412 of the proximal closure tube segment 1410 and serves to bias the closure tube assembly 1400 in the proximal direction PD, thereby: When replaceable surgical tool assembly 1000 is operably coupled to handle assembly 500, it serves to pivot closure trigger 512 (FIG. 3) on handle assembly 500 to an unactuated position.

As mentioned above, the illustrated interchangeable surgical tool assembly 1000 includes an articulation joint 1200 . However, other interchangeable surgical tool assemblies may not be articulatable. As can be seen in FIG. 10 , upper and lower projections 1415 , 1416 project distally from the distal end of proximal closure tube section 1410 to provide end effector closure sleeve or closure tube assembly 1400 closure tube assembly 1400 . It is movably connected to the distal obturator tube segment 1430 . As can be seen in FIG. 10, distal obturator tube section 1430 includes upper and lower projections 1434, 1436 protruding proximally from its proximal end. The upper dual pivot link 1220 includes proximal and distal pins that engage corresponding holes in the upper projections 1415 , 1434 of the proximal closure tube segment 1410 and the distal closure tube segment 1430 . Similarly, lower double pivot link 1222 includes proximal and distal pins that engage corresponding holes in lower projections 1416 and 1436 of proximal closure tube segment 1410 and distal closure tube segment 1430 . Distal and proximal axial translation of closure tube assembly 1400 may effect closure and opening of anvil 1130 relative to elongated channel 1102, as described in greater detail below.

As previously mentioned, replaceable surgical tool assembly 1000 further includes firing member assembly 1600 supported for axial movement within spine assembly 1500 . In the illustrated embodiment, firing member assembly 1600 includes an intermediate firing shaft portion 1602 configured for attachment to a distal cutting portion or knife bar 1610 . Firing member assembly 1600 may also be referred to herein as a "second shaft" and/or a "second shaft assembly." As can be seen in FIGS. 7-10, the intermediate firing shaft portion 1602 may include a longitudinal slot 1604 at its distal end that accommodates a tab (see FIG. 10) on the proximal end of the knife bar 1610. not shown). The longitudinal slot 1604 and the proximal end of the knife bar 1610 can be sized and configured to allow relative movement therebetween and can include a slip joint 1612 . Slip joint 1612 allows intermediate firing shaft portion 1602 of firing member assembly 1600 to move to articulate end effector 1100 without moving knife bar 1610, or at least substantially without moving. can do. Once end effector 1100 is suitably oriented, intermediate firing shaft portion 1602 is advanced distally to advance knife bar 1610 until the proximal sidewalls of longitudinal slot 1604 contact the projections on knife bar 1610 . , and staple cartridge 1110 located within channel 1102 can be fired. As can be further seen in FIGS. 8 and 9, the resilient spine member 1520 includes elongated openings or windows to facilitate assembly and insertion into the resilient spine member 1520 of the intermediate firing shaft portion 1602. 1525. Once intermediate firing shaft portion 1602 is inserted therein, top frame section 1527 may engage resilient spine member 1520 to enclose intermediate firing shaft portion 1602 and knife bar 1610 therein. Further description regarding the operation of firing member assembly 1600 may be found in US Patent Application No. 13/803,086, now US Patent Application Publication No. 2014/0263541.

Further to the above, interchangeable tool assembly 1000 can include a clutch assembly 1620 that can be configured to selectively and releasably couple articulation driver 1800 to firing member assembly 1600 . . In one form, the clutch assembly 1620 includes a locking collar or sleeve 1622 positioned about the firing member assembly 1600 , the locking sleeve 1622 connecting the articulation driver 1700 to the firing member assembly 1600 . and a disengaged position in which articulation driver 1700 is not operably coupled to firing member assembly 1600. When locking sleeve 1622 is in its engaged position, distal movement of firing member assembly 1600 may cause distal movement of firing member assembly 1600 and, correspondingly, proximal movement of firing member assembly 1600 . Movement may cause articulation driver 1700 to move proximally. When locking sleeve 1622 is in its disengaged position, movement of firing member assembly 1600 is not transmitted to 1700 such that firing member assembly 1600 moves independently of articulation driver 1700. can be done. In various situations, articulation lock 1210 can hold articulation driver 1700 in place when 1700 is not being moved proximally or distally by firing member assembly 1600 .

Referring primarily to FIG. 7, locking sleeve 1622 has a cylindrical, or at least substantially cylindrical, longitudinal opening 1624 defined therein that is configured to receive firing member assembly 1600. can have a body of The locking sleeve 1622 can include diametrically opposed inwardly directed locking projections 1626 , 1628 and an outwardly directed locking member 1629 . Locking projections 1626 , 1628 may be configured to selectively engage intermediate firing shaft portion 1602 of firing member assembly 1600 . More specifically, when locking sleeve 1622 is in its engaged position, locking projections 1626, 1628 are positioned within drive notches 1605 defined in intermediate firing shaft portion 1602, thereby providing a distal pushing force. and/or a proximal pulling force may be transferred from firing member assembly 1600 to locking sleeve 1622 . When locking sleeve 1622 is in its engaged position, second locking member 1629 is received within drive notch 1704 defined at 1700 , thereby exerting a distal pushing force and/or pressure on locking sleeve 1622 . Or a proximal pulling force may be transmitted to the articulation driver 1700 . Substantially, firing member assembly 1600, locking sleeve 1622, and articulation driver 1700 may move together when locking sleeve 1622 is in its engaged position. On the other hand, when locking sleeve 1622 is in its disengaged position, locking projections 1626, 1628 cannot be positioned within drive notch 1605 of intermediate firing shaft portion 1602 of firing member assembly 1600, resulting in a far Pushing forces in the proximal direction and/or pulling forces in the proximal direction cannot be transferred from firing member assembly 1600 to locking sleeve 1622 . Correspondingly, distal pushing forces and/or proximal pulling forces may not be transmitted to the articulation driver 1700 . Under such circumstances, firing member assembly 1600 may be slid proximally and/or distally relative to locking sleeve 1622 and proximal articulation driver 1700 . Clutch assembly 1620 further includes switch drum 1630 that interacts with lock sleeve 1622 . Further description regarding the operation of the switch drum and lock sleeve 1622 can be found in U.S. Patent Application No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541, and U.S. Patent Application No. 15/019,196. can be issued. The switch drum 1630 can further include at least partially circumferential openings 1632, 1634 defined therein, which openings extend from the nozzle halves 1302, 1304 and extend from the nozzle halves 1302, 1304. It receives the mounting seat 1305 and allows relative rotation, but not translation, between the switch drum 1630 and the proximal nozzle 1300 . See FIG. Rotating nozzle 1300 to the point where the mounting seats reach the ends of respective slots 1632, 1634 in switch drum 1630 may cause switch drum 1630 to rotate about shaft axis SA. Rotation of switch drum 1630 may eventually cause locking sleeve 1622 to rotate between its engaged and disengaged positions. In an alternative embodiment, nozzle 1300 may be used to operably engage and disengage the articulation drive system with the firing drive system. As indicated above, the clutch assembly 1620 is based on US patent application Ser. and US patent application Ser. No. 15/019,196.

In the illustrated arrangement, switch drum 1630 includes an L-shaped slot 1636 that extends to a distal opening 1637 of switch drum 1630 . Distal opening 1637 receives lateral pin 1639 of shifter plate 1638 . In one example, the shifter plate 1638 is received within a longitudinal slot (not shown) provided in the locking sleeve 1622 such that when the locking sleeve 1622 is engaged with the articulation driver 1700, the locking sleeve 1622 is pushed forward. Facilitates axial movement. Further details regarding the operation of the shifter plate and shift drum arrangement are provided in U.S. patent application Ser. POWERED FIRING AND POWERED ARTICULATION” (filed September 28, 2015).

7 and 8, the replaceable tool assembly 1000 may, for example, conduct power to and/or communicate signals with the end effector 1100. , the handle assembly or a slip ring assembly 1640 that can be configured to return to the microprocessor in the robot system controller. Further details regarding the slip ring assembly 1640 and associated connectors are each of U.S. patent application Ser. No. 13/803,086, now U.S. patent application Ser. Publication No. 2014/0263541, and U.S. Patent Application No. 15/019,196, and U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE", which are hereby incorporated by reference in their entirety. THICKNESS SENSOR SYSTEM”, now can be found in US Patent Application Publication No. 2014/0263552. Interchangeable surgical tool assembly 1000 also includes at least one switch configured to detect the position of switch drum 1630, as described in more detail in the aforementioned patent application, which is incorporated herein by reference. A sensor can be provided.

Referring again to FIG. 7, chassis 1800 is adapted to be received within corresponding dovetail slots 507 formed in the distal end portion of frame 506 of handle assembly 500, as described above. It includes at least one and preferably two tapered attachment portions 1802 formed thereon. As can be further seen in FIG. 7, shaft mounting lugs 1605 are formed on the proximal end of intermediate firing shaft 1602 . As will be described in greater detail below, when interchangeable surgical tool assembly 1000 is coupled to handle assembly 500, shaft mounting lugs 1605 are formed on the distal end of longitudinal drive member 540. It is received in shaft mounting cradle 542 . See FIG.

Various interchangeable surgical tool assemblies employ a latch system 1810 for releasably coupling interchangeable surgical tool assembly 1000 to frame 506 of handle assembly 500 . As can be seen in FIG. 7, for example, in at least one form latch system 1810 includes a locking member or locking yoke 1812 movably coupled to chassis 1800 . In the illustrated embodiment, for example, locking yoke 1812 has a U-shape with two spaced downwardly extending legs 1814 . Legs 1814 each have pivot lugs (not shown) adapted to be received in corresponding holes 1816 formed in chassis 1800 . Such an arrangement facilitates pivotal attachment of lock yoke 1812 to chassis 1800 . Locking yoke 1812 has two proximally projecting locking lugs 1818 configured to releasably engage corresponding locking detents or grooves 509 in the distal end of frame 506 of handle assembly 500 . may contain. See FIG. In various forms, locking yoke 1812 is biased proximally by a spring or biasing member 1819 . Actuation of lock yoke 1812 may be accomplished by latch button 1820 slidably mounted on latch actuator assembly 1822 mounted on chassis 1800 . Latch button 1820 may be biased proximally against locking yoke 1812 . Lock yoke 1812 may be moved to an unlocked position by distally biasing latch button 1820 , which pivots lock yoke 1812 against the distal end of frame 506 . out of retaining engagement. When locking yoke 1812 is in “retaining engagement” with the distal end of frame 506 , locking lugs 1818 are retained and seat within corresponding locking detents or grooves 509 in the distal end of frame 506 .

In the illustrated arrangement, the locking yoke 1812 includes at least one and preferably two locking hooks 1824 adapted to contact corresponding locking lug portions 1426 formed on the closure shuttle 1420. When closure shuttle 1420 is in the unactuated position, locking yoke 1812 can be pivoted distally to unlock replaceable surgical tool assembly 1000 from handle assembly 500 . When in that position, locking hook 1824 does not contact locking lug portion 1426 on closure shuttle 1420 . However, when the closure shuttle 1420 moves to the actuated position, the locking yoke 1812 is prevented from pivoting to the unlocked position. In other words, if the clinician attempts to pivot the locking yoke 1812 to the unlocked position, or if, for example, the locking yoke 1812 is otherwise pivoted in a distal direction, the lock yoke 1812 may be displaced. If accidentally bumped or contacted, locking hooks 1824 on locking yoke 1812 contact locking lugs 1426 on closure shuttle 1420 and prevent locking yoke 1812 from moving to the unlocked position.

Still referring to FIG. 10, knife bar 1610 may comprise a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands interconnected by welding or pinning together at their proximal ends and/or elsewhere along their lengths. . In an alternative embodiment, the distal ends of the bands are not coupled together to allow the laminations or bands to spread relative to each other when the end effector articulates. Such an arrangement allows the knife bar 1610 to be flexible enough to accommodate articulation of the end effector. Various laminated knife bar arrangements are disclosed in US patent application Ser. No. 15/019,245. As can be seen in FIG. 10, intermediate support member 1614 is configured to provide lateral support to knife bar 1610 as intermediate support member 1614 flexes to accommodate articulation of surgical end effector 1100 . Used. Further details regarding intermediate support members and alternative knife bar support arrangements are disclosed in US patent application Ser. No. 15/019,245. As can be seen in FIG. 10, a firing member or knife member 1620 is attached to the distal end of knife bar 1610 .

FIG. 11 shows one form of firing member 1660 that may be used with interchangeable tool assembly 1000. FIG. In one exemplary form, firing member 1660 includes a proximally extending connector member 1663 configured to be received in a correspondingly shaped connector opening 1614 at the distal end of knife bar 1610 . , with a body portion 1662 . See FIG. Connector 1663 may be retained within connector opening 1614 by friction and/or welding, a suitable adhesive, or the like. Body portion 1662 projects through elongate slot 1104 within elongate channel 1102 and terminates in laterally extending leg members 1664 on each side of body portion 1662 . As firing member 1660 is driven distally through surgical staple cartridge 1110 , foot member 1664 rides within passageway 1105 in elongated channel 1102 located below surgical staple cartridge 1110 . As can be seen in FIG. 11, one form of firing member 1660 may further include a laterally projecting central tab, pin, or retainer mechanism 1680 . Central retainer mechanism 1680 rides on inner surface 1106 of elongate channel 1102 as firing member 1660 is driven distally through surgical staple cartridge 1110 . Body portion 1662 of firing member 1660 further includes a tissue cutting edge or feature 1666 disposed between distally projecting hook feature 1665 and distally projecting upper nose portion 1670 . As can be further seen in FIG. 11, firing member 1660 may further include two laterally extending upper tabs, pins, or anvil engagement features 1665 . As firing member 1660 is driven distally, the top portion of body 1662 extends through centrally-disposed anvil slot 1138 , with top anvil engagement features 1672 extending on each side of anvil slot 1134 . rides on corresponding ledges 1136 formed in the . See FIGS. 13 and 14. FIG.

Returning to FIG. 10, firing member 1660 is configured to operably interface with sled assembly 1120 operably supported within body 1111 of surgical staple cartridge 1110 . Sled assembly 1120 is slidable within surgical staple cartridge body 1111 from a proximal starting position adjacent proximal end 1112 of cartridge body 1111 to an ending position adjacent distal end 1113 of cartridge body 1111 . can be displaced to Cartridge body 1111 operatively supports therein a plurality of staple drivers (not shown) aligned with rows on each side of centrally located slot 1114 . Centrally located slot 1114 allows firing member 1660 to pass therethrough to cut tissue clamped between anvil 1130 and staple cartridge 1110 . The drivers are associated with corresponding pockets 1116 that open through the upper deck surface 1115 of the cartridge body. Each staple driver supports one or more surgical staples or fasteners (not shown). Sled assembly 1120 includes a plurality of angled or wedge-shaped cams 1122 , each cam 1122 corresponding to a particular line of fasteners or drivers located on the sides of slot 1114 . In the illustrated example, one cam 1122 is aligned with one line of a “dual” driver each supporting two staples or fasteners thereon, and another cam 1122 is aligned with the same line of slot 1114 . Aligned with another line of "single" drivers on the side, each operatively supporting a single surgical staple or fastener thereon. Thus, in the illustrated example, when surgical staple cartridge 1110 is "fired," there may be three lines of staples on each lateral side of the tissue cut line. However, other cartridge and driver configurations can be used to fire other staple/fastener arrangements. Sled assembly 1120 has a central body portion 1124 configured to be engaged by hook portion 1665 of firing member 1660 . Thus, when firing member 1660 is fired or driven distally, firing member 1660 likewise drives sled assembly 1120 distally. As firing member 1660 moves distally through cartridge 1110, tissue cutting mechanism 1666 cuts the tissue clamped between anvil assembly 1130 and cartridge 1110, and sled assembly 1120 cuts the driver. upward in the cartridge, which drives the corresponding staples or fasteners to make contact with the anvil assembly 1130 .

In embodiments where the firing member includes a tissue-cutting surface, it prevents accidental advancement of the firing member unless an unused staple cartridge is properly supported within the elongated channel 1102 of the surgical end effector 1100. It may be desirable to construct the elongated shaft assembly in such a manner. For example, if no staple cartridge is present and the firing member is advanced distally through the end effector, tissue will be cut but not stapled. Similarly, if a spent staple cartridge (i.e., a staple cartridge with at least some of the staples already fired) is present in the end effector and the firing member is advanced, tissue will be cut, but the staples will be fired. Even if it is fastened, it may not be completely. It will be appreciated that the occurrence of such phenomena can lead to undesirable catastrophic results during surgical procedures.米国特許第６，９８８，６４９号、発明の名称「ＳＵＲＧＩＣＡＬ ＳＴＡＰＬＩＮＧ ＩＮＳＴＲＵＭＥＮＴ ＨＡＶＩＮＧ Ａ ＳＰＥＮＴ ＣＡＲＴＲＩＤＧＥ ＬＯＣＫＯＵＴ」、米国特許第７，０４４，３５２号、発明の名称「ＳＵＲＧＩＣＡＬ ＳＴＡＰＬＩＮＧ ＩＮＳＴＲＵＭＥＮＴ ＨＡＶＩＮＧ Ａ ＳＩＮＧＬＥ ＬＯＣＫＯＵＴ ＭＥＣＨＡＮＩＳＭ ＦＯＲ ＰＲＥＶＥＮＴＩＯＮ ＯＦ ＦＩＲＩＮＧ and U.S. Patent No. 7,380,695, entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING," and U.S. Patent Application No. 14/742,933, entitled "SURGICAL INSTRUMENTS LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING each disclose a variety of firing member lockout configurations. Each of these references is incorporated herein by reference in its entirety.

An "unfired," "unused," "new" or "new" cartridge 1110, as used herein, means that the cartridge 1110 has all of its fasteners in their ready-to-fire position. When in that position, sled assembly 1120 is in its starting position. A new cartridge 1110 seats within the elongated channel 1102 and may be retained therein by a snap mechanism on the cartridge body configured for retaining engagement with corresponding portions of the elongated channel 1102 . 15 and 18 show a portion of surgical end effector 1100 with new or unfired surgical staples 1110 seated therein. As can be seen in these figures, sled assembly 1120 is in the starting position. To prevent the firing system from actuating unless an unfired or fresh surgical staple cartridge is properly seated within elongated channel 1102, more precisely, firing member 1660 is pushed distally through end effector 1110. To prevent directional driving, the illustrated replaceable surgical tool assembly 1000 employs a firing member lockout system generally designated as 1650 .

10 and 15-19, in one form, firing member lockout system 1650 locks firing member 1660 and firing member 1660 together when surgical staple cartridge 1110 is not properly seated within elongated channel 1102. Includes a moveable locking member 1652 configured for retaining engagement. Locking member 1652 includes at least one laterally moving locking portion 1654 configured for retaining engagement with a corresponding portion of the firing member when sled assembly 1120 is not present within cartridge 1110 in its starting position. Prepare. In the illustrated arrangement, locking member 1652 employs two laterally moving locking portions 1654 , each locking portion 1654 engaging a laterally extending portion of firing member 1660 .

In the illustrated embodiment, the locking member 1652 comprises a generally U-shaped spring member with each laterally movable leg or locking portion 1654 extending from a central spring portion 1653 and shown in FIGS. It is configured to move in the lateral direction represented by the “L” in 19 . It will be understood that the term "lateral" means a direction transverse to the shaft axis SA. Spring or locking member 1652 may be manufactured from high strength spring steel or similar material. Central spring portion 1653 may seat within slot 1236 in end effector mounting assembly 1230 . See FIG. As can be seen in FIGS. 15-17, each laterally movable leg or locking portion 1654 has a distal end 1656 with a locking window 1658 therein. When locking member 1652 is in the locked position, a central retainer mechanism 1680 on each outer portion extends into a corresponding locking window 1658 to retain the distal axial advancement of the firing member. effectively prevent

Operation of the firing member lockout system is described with respect to FIGS. 15-19. 15 and 18 show a portion of surgical end effector 1100 with a new, unfired cartridge 1110 properly installed therein. As can be seen in these figures, sled assembly 1120 includes unlocking mechanisms 1126 corresponding to each of laterally movable locking portions 1654 . In the illustrated arrangement, the unlocking mechanism 1126 is provided on or extends proximally from each of the central wedge-shaped cams 1122 . In an alternative arrangement, unlocking mechanism 1126 may comprise a proximally projecting portion of corresponding wedge-shaped cam 1122 . As can be seen in FIG. 18, when the sled assembly 1120 is in its starting position, the unlocking mechanism 1124 engages the corresponding locking portion 1654 and corresponds in a direction transverse to the shaft axis SA. biases locking portion 1654 laterally; When locking portions 1654 are in their unlocked orientations, central retainer mechanisms 1680 are not in retaining engagement with their corresponding locking windows 1658 . In these orientations, firing member 1660 may be axially advanced (fired) distally. However, if no cartridge is present in elongated channel 1102, or if the sled assembly is displaced from its starting position (meaning that the cartridge is partially or fully fired), locking portion 1654 is laterally disengaged. A spring is applied to retain engagement with firing member 1660 . When in its position as illustrated in FIG. 19, firing member 1660 cannot move distally.

16 and 17 show the retraction of firing member 1660 to the starting position after firing cartridge 1110 and driving sled assembly 1120 distally. FIG. 16 shows the initial re-engagement of the retention mechanism 1680 with the corresponding locking window 1658 . FIG. 17 shows the retention mechanism in the locked position with firing member 1660 fully retracted to its starting position. To assist lateral displacement of locking portions 1654 when locking portions 1654 are each initially contacted by retaining mechanisms 1680 moving proximally, each of retaining mechanisms 1680 faces proximally. It may be provided with a laterally tapered end portion. Such a lockout system prevents actuation of firing member 1660 when there is no new unfired cartridge or when there is a new unfired cartridge, but not properly seated within elongated channel 1102. . Additionally, the lockout system may prevent a clinician from advancing the firing member distally if a used or partially fired cartridge is accidentally properly seated within the elongated channel. . Another advantage that may be provided by the lockout system 1650 is that other firing member lockout arrangements that require movement of the firing member into and out of alignment with corresponding slots/passages in the staple cartridge. Unlike the design, the firing member 1660 remains aligned with the cartridge passageway while in the locked and unlocked positions. Locking portion 1654 is designed to move laterally into and out of engagement with corresponding sides of the firing member. Such lateral movement of the locking portion(s) or locking portion(s) is distinguishable from other locking arrangements that move vertically to engage and disengage portions of the firing member. .

13 and 14, in one form, anvil 1130 includes an elongated anvil body portion 1132 and a proximal anvil mounting portion 1150. As shown in FIG. Elongated anvil body portion 1132 includes an outer surface 1134 that defines two downwardly extending tissue stop members 1136 adjacent proximal anvil mounting portion 1150 . Elongated anvil body portion 1132 also includes a lower surface 1135 that defines elongated anvil slot 1138 . In the arrangement shown in FIG. 14, anvil slot 1138 is centrally located within lower surface 1135 . Lower surface 1135 includes three rows 1140 , 1141 , 1142 of staple forming pockets 1143 , 1144 , and 1145 located on each side of anvil slot 1138 . Adjacent each side of anvil slot 1138 are two elongated anvil passages 1146 . Each passageway 1146 has a proximal ramp portion 1148 . Please refer to FIG. As firing member 1660 advances distally, top anvil engagement mechanism 1632 enters corresponding proximal ramp portion 1148 first and then enters corresponding elongated anvil passageway 1146 .

12 and 13 , anvil slot 1138 and proximal ramp portion 1148 extend to anvil mounting portion 1150 . In other words, anvil slot 1138 divides or bifurcates anvil mounting portion 1150 into two anvil mounting flanges 1151 . Anvil mounting flanges 1151 are linked together at their proximal ends by connecting bridge 1153 . The connecting bridge 1153 functions to provide support to the anvil mounting flange 1151 and may function so that the anvil mounting portion 1150 is more rigid than the mounting portions of other anvil arrangements, allowing the anvil mounting flange to are not connected at their proximal ends. As can also be seen in FIGS. 12 and 14, anvil slot 1138 has a widened portion 1139 for receiving the top portion of firing member 1660 and top anvil engagement mechanism 1632 .

As can be seen in FIGS. 13 and 20-24, each of the anvil mounting flanges 1151 has a lateral mounting hole 1156 configured to receive a pivot pin 1158 (FIGS. 10 and 20) therethrough. including. Anvil mounting portion 1150 is pivotally pinned to proximal end 1103 of elongated channel 1102 by pivot pin 1158, which includes mounting holes 1107 and 1107 at proximal end 1103 of elongated channel 1102. It extends through mounting hole 1156 in anvil mounting portion 1150 . Such an arrangement functions to pivotally secure anvil 1130 to elongated channel 1102 for selective pivotal movement about fixed anvil axis AA transverse to shaft axis SA. See FIG. Anvil mounting portion 1150 also includes a cam surface 1152 that extends from central firing member parking area 1154 to outer surface 1134 of anvil body portion 1132 .

In the illustrated arrangement, anvil 1130 moves between open and closed positions by axially advancing and retracting distal closure tube section 1430 . As described in more detail below, the distal end portion of distal obturator section 1430 has an internal camming surface formed thereon, which may be formed on camming surface 1552 or anvil mounting portion 1150 . configured for camming engagement with a camming surface formed on the surface. FIG. 22, for example, shows a camming surface 1152a formed on anvil mounting portion 1150 to establish a single contact path 1155a with internal camming surface 1444 on distal obturator section 1430. FIG. 23 is configured for an internal camming surface 1444 on the distal obturator section, between the camming surface 1152 on the anvil mounting portion 1150 and the internal camming surface 1444 on the distal obturator section 1430, two Cam surface 1152b is shown establishing separate and distinct arcuate contact paths 1155b. In addition to other potential advantages discussed herein, such an arrangement may serve to better distribute closure forces from distal closure tube segment 1430 to anvil 1130 . FIG. 24 shows three different contact areas 1155c and 1155d configured for the inner camming surface 1444 of the distal obturator section 1430 between the camming surface on the anvil mounting portion 1150 and the distal obturator section 1430. Establishing cam surface 1152c is shown. Regions 1155c and 1155d establish a larger area of camming contact between the camming surface(s) on distal closure tube segment 1430 and anvil mounting portion 1150 and close to anvil 1130. It can serve to distribute forces better.

As distal obturator tube segment 1430 cams into anvil mounting portion 1150 of anvil 1130, anvil 1130 pivots about anvil axis AA, thereby causing end 1133 of elongated anvil body portion 1132 to move. The distal end pivots toward distal end 1105 of surgical staple cartridge 1110 and elongated channel 1102 . As anvil body portion 1132 begins to pivot, the anvil contacts the tissue to be cut and stapled, thereby creating a gap between lower surface 1135 of elongated anvil body portion 1132 and deck 1116 of surgical staple cartridge 1110. Positioned in When anvil body portion 1132 is compressed onto tissue, anvil 1130 may experience a significant amount of resistive force. These resistance forces are overcome as distal obturator tube 1430 continues its distal advancement. However, depending on their size and point of application to anvil body portion 1132, these forces tend to bend portions of anvil 1130, which may generally be undesirable. For example, such bending may cause misalignment between firing member 1660 and passages 1148 , 1146 within anvil 1130 . If the bending is excessive, such bending will greatly increase the amount of firing force required to fire the instrument (i.e., move firing member 1660 through tissue from its start position to its end position). can be driven). Such excessive firing force can result in damage to the end effector, and/or firing member, and/or knife bar, and/or firing drive system components, and the like. Accordingly, it may be advantageous for the anvil to be configured to resist such bending.

Figures 25-27 illustrate alternative anvil embodiments that include features that may improve the stiffness of the anvil body and resistance to bending forces that may occur during the closing and/or firing process. Anvil 1130' may otherwise be identical in construction to anvil 1130 described above, except for the differences discussed herein. As can be seen in these figures, anvil 1130' has an elongated anvil body 1132' having an upper body portion 1165 with anvil cap 1170 attached thereto. In the embodiment shown in FIGS. 25-27, anvil cap 1170 is generally rectangular in shape and has an outer cap perimeter 1172 . Perimeter 1172 of anvil cap 1170 is inserted through a correspondingly shaped opening 1137 formed in upper body portion 1165 and received on an axially extending inner ledge portion 1139 formed therein. is configured as Please refer to FIG. Inner ledge portion 1139 is configured to support corresponding long sides 1177 of anvil cap 1170 . In an alternative embodiment, anvil cap 1170 may slide onto internal ledge 1139 through an opening (not shown) in distal end 1133 of anvil body 1132'. In yet another embodiment, no internal ledge portion is provided. Anvil body 1132' and anvil cap 1170 may be manufactured from a suitable metal that lends itself to welding. The first weld 1178 may extend around the entire cap perimeter 1172 of the anvil cap 1170 or along the long sides of the anvil cap 1170 rather than the distal end 1173 and/or its proximal end 1175 . 1177 only. The first weld 1178 may be continuous, or it may be discontinuous or intermittent. In such embodiments where the first weld 1178 is discontinuous or intermittent, the weld section may be evenly distributed along the long side 1177 of the anvil cap 1170, or the weld section may be They may be more closely spaced closer to the distal end of 1177 or more closely spaced closer to the proximal end of long side 1177 . In still other arrangements, the weld sections may be more closely spaced in the central region of the long side 1177 of the anvil cap 1170 .

28-30 show anvil cap 1170' configured to be “mechanically interlocked” to anvil body 1132' as well as welded to upper body portion 1165. FIGS. In this embodiment, a plurality of retention formations 1182 are formed into wall 1180 of upper body portion 1165 that defines opening 1137 . As used in this context, the term "mechanically interlocked" means, for example, regardless of the orientation of the elongated anvil body and without any additional retention or fastening such as welding and/or adhesives. Secondly, it means that the anvil cap remains fixed to the elongated anvil body. Retaining formations 1182 may project inwardly from opening wall 1180 into opening 1137 . Retaining structure 1182 may be integrally formed into wall 1180 or otherwise attached thereto. Retaining formations 1182 are designed to frictionally engage corresponding portions of anvil cap 1170' when anvil cap 1170' is installed in opening 1137 to frictionally retain anvil cap 1170' therein. do. In the illustrated embodiment, the retaining formation 1182 projects inwardly into the opening 1137 and is frictionally received within a correspondingly shaped engagement region 1184 formed in the perimeter 1172' of the anvil cap 1170'. is configured as In the illustrated arrangement, the retaining formation 1182 corresponds only to the long side 1177' of the anvil cap 1170', and the portion of the wall 1180 corresponding to the distal end 1173 or the proximal end 1175 of the anvil cap 1170'. not provided to In an alternative arrangement, retention formations 1182 may also be provided on portions of wall 1180 corresponding to distal and proximal ends 1173 and 1175 of anvil cap 1170' and long sides 1177' thereof. . In still other arrangements, retention formations 1182 may be provided only on a portion of wall 1180 corresponding to one or both of distal and proximal ends 1173, 1175 of anvil cap 1170'. . In yet other arrangements, the retention structure 1182 is a wall 1180 corresponding to the long side 1177' of the anvil cap 1170' and only one of the proximal and distal ends 1173, 1175 of the anvil cap 1170'. may be provided in part. It will further be appreciated that the retaining projections in all of the foregoing embodiments may alternatively be formed on the anvil cap with the engagement regions formed on the elongated anvil body.

28-30, the retaining formations 1182 are evenly spaced or evenly distributed along the wall portion 1180 corresponding to the long side 1177' of the anvil cap 1170'. In alternative embodiments, the retention structures 1182 may be more closely spaced closer to the distal end of the long side 1177' or more closely spaced closer to the proximal end of the long side 1177'. They may be closely spaced. In other words, the spacing between these retention structures adjacent the distal end, the proximal end, or both the distal and proximal ends is the configuration located in the central portion of the anvil cap 1170'. It may be smaller than the body spacing. In still other arrangements, the retaining formations 1182 may be more closely spaced in the central region of the long side 1177' of the anvil cap 1170'. Also, in alternate embodiments, a correspondingly shaped engagement region 1184 may not be provided on the outer perimeter 1172' or on a portion of the perimeter 1172' of the anvil cap 1170'. In other embodiments, the retention structure and correspondingly shaped engagement region may comprise different shapes and sizes. In an alternative arrangement, the retaining formations may be sized with respect to the engagement regions so that there is no interference fit between them. In such an arrangement, the anvil cap may be held in place by welding, adhesives, or the like.

In an exemplary embodiment, the weld 1178' may extend around the entire perimeter 1172 of the anvil cap 1170', or the weld 1178' may extend along the distal end 1173' and/or proximally thereof. It may be located only along the long side 1177' of the anvil cap 1170' and not the end 1175. Welds 1178' may be continuous, or they may be discontinuous or intermittent. In those embodiments where the weld 1178' is discontinuous or intermittent, the weld section may be evenly distributed along the long side 1177' of the anvil cap 1170', or the weld section may be ' may be more closely spaced near the distal end of the long side 1177', or may be more closely spaced near the proximal end of the long side 1177'. In still other arrangements, the weld sections may be more closely spaced in the central region of the long side 1177' of the anvil cap 1170'.

Figures 31 and 32 show another anvil arrangement 1130" having an anvil cap 1170" attached thereto. In the illustrated embodiment, anvil cap 1170' is generally rectangular in shape and has an outer cap perimeter 1172'. The outer cap perimeter 1172'' is inserted through a correspondingly-shaped opening 1137'' in the upper body portion 1165 of the anvil body 1132'' and has an axially extending inner ledge portion 1139'' formed therein. and 1190". See FIG. 32. Ledge portions 1139" and 1190" are configured to support corresponding long sides 1177" of anvil cap 1170". In an alternative embodiment, anvil cap 1170″ slides over internal ledges 1139″ and 1190″ through openings (not shown) in distal end 1133″ of anvil body 1132′. The anvil body 1132'' and the anvil cap 1170'' may be manufactured from a metallic material conducive to welding. A first weld 1178'' extends around the entire perimeter 1172'' of the anvil cap 1170''. It may extend or be located only along the long side 1177'' of the anvil cap 1170'', rather than the distal end 1173'' and/or its proximal end (not shown). Welding. The portion 1178 may be continuous, or discontinuous or intermittent.Continuous weld embodiments may be used, for example, in a straight weld such as the anvil cap shown in FIG. It will be appreciated that there is more weld surface area due to the irregularly shaped perimeter of the anvil cap 1170″ compared to embodiments with perimeters. In such embodiments where the weld 1178'' is discontinuous or intermittent, the weld section may be evenly distributed along the long side 1177'' of the anvil cap 1170'', or the weld section may be They may be more closely spaced closer to the distal ends of sides 1177'' or more closely spaced closer to the proximal ends of longer sides 1177''. Yet other arrangements. In, the weld sections may be more closely spaced in the central region of the long side 1177'' of the anvil cap 1170''.

Still referring to Figures 31 and 32, the anvil cap 1170" may be additionally welded to the anvil body 1132" by a plurality of second, separate "deep" welds 1192". For example, each weld 1192'' may be positioned at the bottom of a corresponding hole or opening 1194'' provided through the anvil cap 1170'', such that the separate welds 1192'' form a ledge 1190''. and 1139''. See FIG. 32. The weld 1192'' is evenly formed along the long side 1177'' of the anvil cap 1170''. or the welds 1192″ may be more closely spaced proximate the distal end of the long side 1177″, or proximate the proximal end of the long side 1177″. In still other arrangements, the welds 1192'' may be more closely spaced in the central region of the long side 1177'' of the anvil cap 1170''.

FIG. 33 shows another anvil cap 1170″ configured to be “mechanically interlocked” to the anvil body 1132″ and welded to the upper body portion 1165. In this embodiment, the “groove A "tongue-in" arrangement is employed along each long side 1177''' of the anvil cap 1170'''. Specifically, a laterally extending continuous or intermittent tab 1195''' protrudes from each of the long sides 1177''' of the anvil cap 1170'''. Each tab 1195'' corresponds to an axial slot 1197''' formed in the anvil body 1132'''. Anvil cap 1170''' has an opening ( (not shown) to "mechanically" secure the anvil cap to the anvil body 1132'''. Tabs 1195''' and slots 1197''' may be sized with respect to each other to establish a sliding friction fit therebetween. Note that the anvil cap 1170''' may be welded to the anvil body 1132'''. Anvil body 1132''' and anvil cap 1170''' may be manufactured from a metal that lends itself to welding. The weld 1178''' may extend around the entire perimeter 1172''' of the anvil cap 1170''' or only along the long side 1177''' of the anvil cap 1170'''. may be placed. Welds 1178''' may be continuous, or they may be discontinuous or intermittent. In such embodiments where the weld 1178''' is discontinuous or intermittent, the weld section may be evenly distributed along the long side 1177''' of the anvil cap 1170'''. Alternatively, the welded sections may be spaced more closely together near the distal end of the long side 1177''', or more closely spaced near the proximal end of the long side 1177'''. may be In still other arrangements, the weld sections may be more closely spaced in the central region of the long side 1177''' of the anvil cap 1170'''.

Anvil embodiments described herein with an anvil cap may provide several advantages. For example, one advantage may be easier processing of the anvil and firing member assembly. That is, the firing member may be installed through the opening in the anvil body while the anvil is attached to the elongated channel. Another advantage is that the top cap may improve the anvil's stiffness and resistance to the aforementioned bending forces that may be experienced when clamping tissue. By resisting such bending, the frictional forces normally encountered by firing member 1660 may be reduced. Accordingly, in a surgical staple cartridge, the amount of firing force required to drive the firing member from its start to end positions can also be reduced.

As described above, when anvil 1130 begins to pivot, anvil body 1132 contacts tissue to be cut and stapled, thereby creating a gap between the underside of elongated anvil body 1132 and the deck of surgical staple cartridge 1110. Positioned in When anvil body 1132 is compressed onto tissue, anvil 1130 may experience a significant amount of resistive force. These forces must be overcome by the distal obturator tube segment 1430 in camming the anvil mounting portion 1150 in order to continue the closure process. These forces may generally be applied to the distal obturator section 1430 in the vertical direction V, which, if excessive, may cause the distal obturator section 1430 to expand or elongate vertically. (the distance ID in FIG. 31 can be incremented). If distal obturator tube 1430 extends vertically, distal obturator tube segment 1430 may not be able to effectively close anvil 1130 and retain anvil 1130 in a fully closed position. When that condition occurs, the firing member 1660 may encounter dramatically higher resistance, which may then require a higher firing force to advance the firing member distally.

Figures 34 and 35 illustrate one form of closure member for applying a closing motion to movable jaws of a surgical instrument. In the illustrated arrangement, the closure member comprises a distal closure tube section 1430 having a closure body portion 1470, for example. As described above, one form of interchangeable surgical tool assembly 1000 is configured to facilitate selective articulation of surgical end effector 1100 . To facilitate such articulation, distal obturator tube section 1430 is articulated to proximal obturator tube section 1410 by upper and lower protrusions 1434 and 1436 and upper and lower dual pivot links 1220 and 1222 . movably connected to the See FIG. In one arrangement, distal obturator tube section 1430 may be machined or otherwise formed, for example, from circular bar stock manufactured from a suitable metallic material. In the illustrated arrangement, the closure 1470 has an outer surface 1431 and an inner surface 1433 that defines an upper wall 1440 having an upper wall cross-sectional thickness UWT and a lower wall 1442 having a lower wall thickness LWT. . Upper wall portion 1440 is positioned above shaft axis SA, and lower wall portion 1442 is positioned below shaft axis SA. A distal end 1441 of top wall 1440 has an internal cam surface 1444 formed thereon at a cam angle Θ. Also, in the illustrated embodiment, UWT>LWT, which functions to provide longer internal camming surfaces 1444, can be achieved otherwise when the distal obturator segment has a uniform wall thickness. A long internal cam surface may be advantageous in transmitting the closing force to the cam surface(s) on the anvil mounting portion 1150 . 34 and 35, transition sidewalls 1446, 1448 located on each side of shaft axis SA between upper wall 1440 and lower wall 1442 are generally parallel to each other. generally flat and vertically extending inner sidewall surfaces 1451, 1453. Transition sidewalls 1446, 1448 each have a wall thickness that transitions from an upper wall thickness to a lower wall thickness.

In the illustrated arrangement, distal obturator section 1430 also includes a positive jaw or anvil opening mechanism 1462 corresponding to and projecting inwardly from sidewalls 1446 and 1448, respectively. 34 and 35, the anvil opening mechanism 1462 is machined or otherwise formed in the transition sidewalls 1446, 1448 adjacent the distal end 1438 of the distal obturator tube section 1430. , are formed on a lateral mounting body 1460 sized to be received within correspondingly shaped cavities 1447 , 1449 . A positive anvil opening feature 1462 extends inwardly through corresponding openings 1450, 1452 in transition sidewalls 1446, 1448. FIG. In the illustrated arrangement, lateral mounting body 1460 is welded to distal obturator tube segment 1430 by weld 1454 . In addition to or instead of welds, the lateral mounting body 1460 may be held in place using a mechanical/friction fit, grooved tongue arrangement, adhesives, or the like.

FIGS. 36-41 show an example of the use of distal obturator tube section 1430 to move anvil 1130 from a fully closed position to a fully open position. 36 and 39 show the position of the distal obturator section 1430 and, more specifically, the position of one of the positive anvil opening mechanisms 1462 when the distal obturator section 1430 is in the fully closed position. indicate. In the illustrated embodiment, anvil opening ramps 1162 are formed on the lower surface of each of the anvil mounting flanges 1151 . When anvil 1130 and distal obturator tube segment 1430 are in their fully closed positions shown in FIG. Located in established cavity 1164 . When in that position, positive anvil opening mechanism 1462 does not contact anvil mounting portion 1150, or at least does not apply significant opening motion or force thereto. 37 and 40 show the position of anvil 1130 and distal obturator section 1430 upon initial application of an opening motion to distal obturator section 1430 in the proximal direction PD. As can be seen in FIG. 37, positive jaw opening mechanism 1462 first contacts anvil opening ramp 1164 causing anvil 1130 to begin pivoting to the open position. In the illustrated arrangement, each positive anvil opening mechanism 1462 has a beveled or rounded distal end 1463 to facilitate better camming contact with the corresponding anvil opening ramp 1162. . 38 and 41, distal obturator section 1430 has been retracted to its fully retracted position, in which positive anvil opening mechanism 1462 is positioned distally of anvil opening ramp 1162. In FIGS. , thereby pivoting the anvil 1130 to its fully open position, as shown therein. Other embodiments may not use a positive jaw opening mechanism, but to bias the anvil to the open position when the distal obturator segment is retracted to its proximal-most starting position. , springs or other biasing arrangements.

Figures 42 and 43 show another closure member for applying a closing motion to the movable jaws of a surgical instrument. In this example, the closure member comprises a distal closure tube segment 1430', which may be similar to distal closure tube segment 1430 without the positive anvil opening mechanism. Distal obturator tube segment 1430' has a closure 1470' having an outer surface 1440' and an inner surface 1433' defining upper and lower walls 1440' and 1442'. As discussed above, it is possible to use as large an internal cam surface 1444' as possible to maximize cam contact with the cam surface on the anvil mounting portion 1150, thereby effectively transmitting the closing force thereto. may be desirable. Accordingly, the upper wall portion 1440' of the distal obturator section 1430' may be provided with the thickest wall thickness UWT, and the lower portion of the distal obturator section 1430' has the thinnest wall thickness LWT. may For reference purposes, UWT and LWT are measured along a common reference line extending through the central axis or point C of distal obturator section 1430'. Therefore, UWT is the opposite of LWT, UWT>LWT. Such a wall thickness arrangement facilitates forming a longer internal cam surface 1444'.

As can be seen in FIG. 43, distal obturator tube segment 1430' has an outer surface 1431' with a circular cross-sectional shape. Distal obturator tube section 1430' may be machined from solid bar stock. In the illustrated embodiment, an inner radius R ₁ from the first central axis A _inner extends to the inner surface 1433' and an outer radius R ₂ from the second central axis A _outer extends to the outer surface 1431'. Extend. In the illustrated example, axis A _inner is offset from axis A _outer by a distance OR, and R ₂ >R ₁ .

FIG. 44 shows another closure member for applying a closing motion to movable jaws of a surgical instrument. In this example, the closure member comprises a distal closure tube section 1430'' having a closure 1470''. The closure 1470″ has an outer surface 1431′ and an upper wall portion 1440″ having an upper wall thickness UWT and a lower wall portion 1442″ having a lower wall thickness LWT and two sidewall portions 1435′ each having a sidewall pressure SWT. It has an inner surface 1433'' that defines a . In the illustrated example, UWT>LWT. Note that SWT>UWT. Therefore, SWT>UWT>LWT. In the illustrated arrangement, sidewall portions 1435' have the same sidewall thickness SWT. In other arrangements, sidewall portions 1435' may have different thicknesses. As can be seen in FIG. 44, each sidewall portion 1435' defines an interior surface portion 1437' extending vertically therein. In the illustrated embodiment, the vertically extending inner surface portions are substantially parallel to each other. Such thicker vertical sidewall portions 1435' may help prevent, or at least minimize, vertical stretching of the distal obturator tube segment 1430'' during use.

In the example shown in FIG. 45, R ₁ and R ₂ are measured from a common center point or central axis C and R ₁ >R ₂ . Each of the side wall portions 1435'' of the closure body portion 1470''' of the distal closure tube segment 1430''' extending between the upper portions 1431'' and 1433'' is aligned with the UWT at a point along the horizontal reference line HR. With approximately equal sidewall thicknesses SWT, a horizontal reference line HR extends through the central axis C and is vertical along a vertical reference line VR where UWT and LWT can be measured and compared.Therefore, SWT=UWT. In other embodiments, the SWT may be slightly less than the UWT as measured along the horizontal reference line HR The SWT is defined by sidewall portions 1435' having a constant lower wall thickness LWT. It may continue to decrease until it transitions to a lower portion 1433' having a corresponding vertical reference axis VR that is perpendicular to the horizontal reference axis HR and parallel to the vertical reference axis VR. ' extends at an angle _A2 .

FIG. 46 shows another closure member for applying a closing motion to movable jaws of a surgical instrument. In this example, the closure member comprises a distal closure tube section 1430" having a rounded outer surface 1431", a closure body 1470" having a rectangular internal passageway 1439 extending therethrough. The outer surface 1431" is: It is located at a distance R from the geometric center point or central axis C. As shown, the upper wall thickness UWT is equal to the lower wall thickness LWT when measured along a vertical reference axis VR extending through the center point or central axis C. When measured along a horizontal reference axis HR extending through a center point or central axis C and perpendicular to the vertical reference axis VR, the thickness SWT of the sidewall portion 1437'' is equal to the upper wall thickness and the lower wall thickness UWT. and LWT. Thus, SWT is greater than UWT and LWT. In other words, the portion of the distal obturator section 1430″ lying above the horizontal datum HR lies below the horizontal datum HR. In this example, the sides 1437 ″ are thicker than the upper and lower walls and the distal obturator segment tends to elongate vertically. may tend to prevent or minimize An internal camming surface may be formed on the distal end of top wall portion 1440″.

In the illustrated arrangement, anvil 1130 moves between open and closed positions by distally advancing distal closure tube section 1430 . As can be seen in FIG. 41, distal end 1163 of anvil mounting flange 1151 may extend above deck surface 1116 of staple cartridge 1110 when anvil 1130 is in the fully open position. Distal end 1163 of anvil mounting flange 1151 extends beyond deck surface 1116 of staple cartridge 1110 when the closure process is initiated by distally advancing the distal obturator tube segment in distal direction DD. This prevents infiltration of tissue between them that could interfere with the closure process. See FIG. Once the anvil 1130 is moved to the fully closed position by the distal obturator segment 1430, the distal end 1461 of the transverse mounting body on the distal obturator segment 1430 prevents tissue from infiltrating between them. It also acts to stop tissue to prevent. See FIG.

FIG. 47 shows a portion of a surgical end effector 110', which may be similar to surgical end effector 110 of interchangeable surgical tool assembly 100 of FIGS. 47, anvil 114 includes an elongated body portion 190 and an anvil mounting portion 192. As shown in FIG. Anvil mounting portion 192 includes two spaced apart anvil mounting flanges 194 projecting proximally from elongated body portion 190 . Each anvil mounting flange 194 has an outwardly extending trunnion 196 thereon. Each trunnion 196 is movably received within a corresponding kidney-shaped or elongated arcuate trunnion slot 197 provided in elongated channel 112 . When anvil 114 is in the "fully open" position, trunnion 196 generally rests on bottom portion 198 of elongated arcuate trunnion slot 197 . The anvil 114 can be moved to the closed position by distally advancing the distal obturator section 142 in the distal direction DD, whereby the end 148 of the distal obturator section 142 moves toward the anvil. It rides on a cam surface 193 formed on an anvil mounting portion 192 of 114 . As distal end 148 of distal obturator tube segment 142 advances distally along camming surface 193 on anvil mounting portion 192 , distal obturator tube segment 142 pivots body portion 190 of anvil 114 . and move axially relative to surgical staple cartridge 116 . When the distal obturator section 142 reaches the end of its closing stroke, the distal end 148 of the distal obturator section 142 abuts/contacts the abrupt anvil ledge 191 and also against the lower surface of the body portion 190. It functions to position the anvil 114 so that the forming pockets (not shown) are properly aligned with the staples in the cartridge. Anvil ledge 191 is defined between cam surface 193 on anvil mounting portion 192 and elongated anvil body portion 190 . In other words, in this arrangement, cam surface 193 does not extend to outermost surface 195 of anvil body 190 . After distal obturator tube 142 reaches this fully extended position, any further application of a closing motion/force to anvil 114 may cause damage to the anvil and/or closure system components. As can be seen in Figure 47, in this arrangement the closing force _FH is parallel to the shaft axis SA. The distance between the axis or plane _TA passing through the center of the trunnion 196 and the closing force vector _FH is represented as the distance _XR . The product of this distance X _R and the closing force F _H represents the closing motion _CM applied to the anvil 114 .

48 and 49 illustrate closure force configurations for anvil 1130 of surgical end effector 1100 of interchangeable tool assembly 1000. FIG. As described above, anvil trunnion 1158 is pivotally mounted within bore 1154 in elongated channel 1102 . Unlike anvil 114 described above, anvil 1130 does not move axially. Instead, anvil 1130 is constrained to only pivot about anvil axis AA. between inner camming surface 1444 on distal obturating tube segment 1430 and camming surface 1152 on anvil mounting portion 1150 when distal obturating tube segment 1430 is advanced in distal direction DD under horizontal closing force F _H1 interaction causes the distal obturator segment ₁₄₃₀ to experience a vertical closure force component VF. The resulting force vector F _N experienced by cam surface 1152 on anvil mounting portion 1150 is “perpendicular” or perpendicular to internal cam surface 1444 . Angle Θ in FIGS. 48 and 49 represents the angle of camming surface 1152, similar to internal camming surface 1440, horizontally. The resulting distance between the resulting force vector F _N and an axis or plane T _A extending through the center of the anvil trunnion 1158 is denoted as motion arm M _A . The product of this motion arm distance M _A and the resulting force vector F _N represents the closing motion C _M1 applied to anvil 1130 . Therefore, in applications where the horizontal closing force F _H =F _H1 , M _A >X _R , and therefore the closing motion applied to anvil 1130 exceeds the closing motion applied to anvil 114, is applied to anvil 1130. The actual amount of closing torque may exceed the amount of closing torque applied to anvil 114 . Figure 49 also shows the resistance established by the tissue during the closure process. _FT represents the force generated by tissue when it is clamped between the anvil and staple cartridge. This "opposite" motion M _T applied to the anvil 1130 is the distance X _T between the tissue force T _F extending through the center of the anvil trunnion 1158 and the axis or plane T _A and the tissue force equal to the product. Therefore, _CM1 must be _greater than MT to achieve the desired amount of anvil closure.

Returning to the embodiment shown in FIG. 47, firing bar 170 resides within elongated channel 112 when in the start or unfired position, and more particularly, the distal obturator section in place. It can be seen attached to firing member 174 located fully distal to 142 , with top portion 175 of firing member 174 contacting a portion of anvil 114 . Such an arrangement completely or completely closes the anvil 114 because the firing member 174 is positioned so that the top portion 175 can contact the anvil as the anvil 114 moves to the closed position. A greater closing force may be required to move it to the closed position. It should be noted that higher firing forces may be required to overcome frictional interference between top portion 175 of firing member 174 and anvil 114 when the firing system is activated. Conversely, in end effector 1100 , firing member 1660 is “parked” within firing member parking area 1154 within distal obturator section 1430 , as can be seen in FIG. 48 . When firing member 1660 is positioned within firing member parking region 1154 within distal obturator section 1430, it cannot generate significant frictional forces with the anvil. Accordingly, one of the advantages that may be achieved by having the firing member 1660 reside entirely within the distal closure tube segment 1430 is a reduction in the amount of closure force required to close the anvil to the fully closed position; /or reduction in the amount of firing force required to advance the firing member from a starting position to an ending position within the end effector. In other words, so that the firing member 1660 is fully proximal to the distal end of the distal obturator section 1430 and the internal cam surface 1444 thereon, and any frictional contact between the firing member and the anvil. Parking the firing member 1660 so that it is in an eliminated or reduced starting position may ultimately require lower closing and firing forces to be generated for end effector operation.

As noted above, excessive flexing of the anvil during the closing and firing process can result in the need for an undesirably higher firing force. Therefore, a stiffer anvil arrangement is generally desirable. 20 and 21, another advantage that may be provided by the anvil 1130 and the elongated channel 1102 shown therein is that the anvil mounting portion 1150 of the anvil 1130 is generally more robust, and thus is more robust than other anvils. and being stiffer than an elongated channel arrangement. 50 illustrates the use of a rigid gusset 199 between anvil mounting flange 194 and elongated anvil body portion 190. FIG. A similar gusset arrangement can be used between anvil mounting flange 1151 and anvil body 1132 of anvil 1130 to further increase anvil stiffness.

As described above, replaceable surgical tool 1000 includes resilient spine member 1520 . As can be seen in FIGS. 6, 7, 7A, 8, and 51-54, the distal end portion 1522 of the elastic spine member 1520 is stretched by a tensioning mechanism 1530 formed in the elastic spine member 1520. It is separated from the proximal end portion 1524 of the elastic spine member 15 . Note that the stretch limiting insert 1540 is retained and supported between the distal end portion 1522 and the proximal end portion 1524 . In various arrangements, the elastic spine member 1520 may be manufactured from a suitable polymeric material, rubber, etc., having a modulus of elasticity designated as ME ₁ for reference purposes, for example. The tensioning mechanism 1530 may include multiple tensioning cavities 1532 . As can be seen in FIG. 7A, the illustrated stretching mechanism 1530 includes four triangular shaped stretching cavities 1532 arranged to define a number of flexible wall sections 1534 therebetween. Other shapes and numbers of extension cavities 1532 may be used. Extension cavity 1532 may be molded or machined into resilient spine member 1520, for example.

Still referring to FIGS. 6, 7, and 51-54, stretch limiting insert 1540 includes a body portion 1541 having a modulus of elasticity designated as ME ₂ for reference purposes. As can be seen in FIG. 6, the body portion 1541 includes two downwardly extending mounting lugs 1542 each configured to seat within a mounting cavity 1535 formed in the resilient spine member 1520. . See also FIG. 7A. To provide the stretch limiting insert 1540 with a desired amount of stretchability and resilience, the body portion 1541 in the illustrated arrangement is provided with a plurality of upper cavities 1543 . The illustrated embodiment is relatively square or rectangular in shape and includes four upper cavities 1543 spaced apart to define flexible walls 1544 therebetween. Other embodiments may include other numbers and shapes of upper cavities. The body portion 1541 of the illustrated extension limiting insert 1540 also includes a centrally located, downwardly projecting central lug portion 1545 that is configured to seat in the central cavity 1536 above the tensioning mechanism 1530 . . See FIG. 7A. In the illustrated embodiment, central lug portion 1545 includes a pair of central passages 1546 extending laterally therethrough defining flexible walls 1547 therebetween.

Also, in the illustrated embodiment, the stretch-limiting insert 1540 includes elongated lateral cavities 1548 located on each outer side of the body portion 1541 . Only one lateral cavity 1548 can be seen in FIGS. 6 and 51-54. Each elongated lateral cavity 1548 is configured to support a corresponding extension limiter 1550 therein. Thus, in the described embodiment, two stretch limiters 1550 are used in stretch limiting insert 1540 . In at least one arrangement, extension limiter 1550 includes an elongated body portion 1552 that terminates in downwardly extending mounting lugs 1554 on each end. Each mounting lug 1554 is received in a corresponding lug cavity 1549 formed in body portion 1541 . The stretch limiter may have a modulus of elasticity of ME ₃ for reference purposes. In at _{least one} arrangement, _ME3 <ME2<ME1.

Operation of interchangeable surgical tool assembly 1000 when operably attached to handle assembly 500 will now be described in greater detail with respect to FIGS. 51-54. FIG. 51 shows anvil assembly 1130 in the open position. As can be seen in this view, distal obturator tube segment 1430 is in its starting or unactuated position and positive anvil opening mechanism 1462 has pivoted anvil 1130 to the open position. Note that the firing member 1660 is in a non-actuated or starting position and the upper portion, including the upper nose portion 1630 , is parked within the firing member parking area 1154 of the anvil mounting portion 1150 . When replaceable tool assembly 1000 is in this non-actuated state, extension limiting insert 1540 is in an unstretched state. The axial length of the stretch limiting insert 1540 when in the unstretched state is represented by L _US in FIG. L _US is between a reference axis A corresponding to the proximal end of the body portion 1541 of the extension limiting insert 1540 and a reference axis B corresponding to the distal end of the body portion 1541, as shown in FIG. represents the distance between The axis labeled F corresponds to the position of the distal end of staple cartridge 1110 properly seated within elongated channel 1102 . It will be appreciated that when tool assembly 1000 is in this non-actuated state, resilient spine member 1520 is in a relaxed, unstretched state.

FIG. 52 shows replaceable surgical tool assembly 1000 after closure drive system 510 has been actuated as described above to drive distal closure tube segment 1430 distally in distal direction DD. As distal closure tube segment 1430 moves distally, camming surface 1444 on distal end 1441 of upper wall 1440 of distal closure tube segment 1430 is cammed with camming surface 1152 on anvil mounting portion 1150 . contact and pivot the anvil 1130 to the closed position shown. The closure drive system 510 moves the distal closure tube segment 1430 through the entire closure stroke distance, then disables, and the distal closure tube segment is axially locked in position by the closure drive system 510. or otherwise held in place. The closure force caused by the distal advancement of distal obturator tube segment 1430 over anvil 1130 also forces anvil 1130 and elongated channel 1102 distally DD when distal obturator tube segment 1430 contacts anvil mounting portion 1150 . to advance axially. Stretching mechanism 1530 in elastic spine 1520 begins to stretch to accommodate this distal advancement of elongated channel 1102 and anvil 1130 . Axis B, as shown in FIG. 52, is the reference axis for the stretch limiting insert 1540 when in its relaxed or unstretched state. Axis C corresponds to the end of extension-limiting insert 1540 after the extension-limiting insert has been extended to its maximum length. Distance L _s represents the maximum amount or length that stretch limiting insert 1540 can be elongated. Axis G corresponds to the position of the distal end of surgical staple cartridge 1110 after anvil 1130 has been moved to its "first" closed position. Distance L _T between reference axis F G represents the axial distance that elongated channel 1102 and anvil 1130 have traveled during actuation of closure drive system 510 . This distance L _T can be equal to the distance L _S that the stretch limiting insert 1540 has stretched during the closing process, as limited by the stretch limiter 1550 .

Returning to FIG. 51, it can be seen that a space S exists between each mounting lug 1554 of the extension limiter 1550 and the respective inner wall 1551 of the lug cavity 1549 prior to initiation of the closing process. As can be seen in FIG. 52, the space S disappears. That is, each of the mounting lugs 1554 abuts a corresponding cavity wall 1549 in the extension limiting insert 1540 . Thus, stretch limiter 1550 functions to limit the amount of stretch experienced by stretch-limiting insert 1540 , which extends elongated channel 1102 relative to proximal end portion 1524 of elastic spine 1520 and distal of anvil 1130 . The amount of movement is sequentially restricted. Distal obturator tube 1430 is axially locked in place by closure drive system 510 . When in that position, anvil 1130 is retained in a “first” closed position relative to surgical staple cartridge 1110 . Firing member 1660 has not moved and remains parked in firing member parking area 1154 because firing drive system 530 has not yet been activated. The position of the lower surface of anvil 1130 when in the "first" closed position is represented by axis K in FIGS.

FIG. 53 shows the position of firing member 1660 after firing drive system 530 has been initially activated. As can be seen in this view, firing member 1660 has advanced distally from firing member parking area 1154 . Each of the top portions of firing members 1660 , and more specifically top anvil engagement features 1672 , enter proximal ramp portions 1138 of corresponding axial passages 1146 in anvil 1130 . At this point in the process, anvil 1130 may be under considerable bending stress caused by tissue clamped between the lower surface of anvil 1130 and the deck of staple cartridge 1110 . This bending stress, as well as the frictional resistance between various portions of the firing member and anvil 1130 and elongated channel 1102, during initial distal advancement of firing member 1660 causes elongated channel 1102 and distal closure. It serves to essentially hold the pipe section in a static state. During this period, the amount of force required to fire firing member 1660, or in other words, the amount of force required to push firing member 1660 distally through the tissue clamped between anvil 1130 and cartridge 1110, is increases the amount of force required to See line 1480 in FIG. Also during this period, the stretch-limiting insert attempts to retract the elongated channel 1102 and anvil 1130 back into the distal obturator section 1430 in the proximal direction PD. Once the amount of friction between firing member 1660, anvil 1130, and elongated channel 1102 is less than the retraction force generated by extension-limiting insert 1540, extension-limiting insert 1540 moves elongated channel 1102 and anvil 1130 away from each other. Pulling further proximally into the closed tube segment 1430 may be caused. The position of distal end 1113 of staple cartridge 1110 after elongated channel 1102 and anvil 1130 have moved in proximal direction PD is represented as position H in FIG. The axial distance that elongated channel 1102 and anvil 1130 have traveled in proximal direction PD is represented as distance I in FIG. Proximal movement of anvil 1130 and elongated channel 1102 into distal obturator section 1430 may cause distal obturator section 1430 to apply an additional closing force to anvil 1130 . Line M in FIG. 54 represents the “second” closed position of anvil 1130 . The distance between position K and position M, represented as distance N, includes the vertical distance that distal end 1133 of anvil body 1132 moves between the first closed position and the second closed position. .

When the anvil 1130 is in the second closed position, applying an additional closing force to the anvil 1130 by the distal obturator section 1430 causes the tissue clamped between the anvil 1130 and the cartridge 1110 to cause the anvil 1130 to close. resists the amount of bending force applied to the Such a condition may result in better alignment between the passageway in anvil body 1130 and firing member 1660, which may assist the firing member as it continues to advance distally through end effector 1100. Ultimately, the amount of frictional resistance experienced by the 1660 can be reduced. Accordingly, the amount of firing force required to advance the firing member through the remainder of its firing stroke to the end position can be reduced. This reduction in firing force can be seen in the chart in FIG. The chart shown in Figure 55 compares the firing power (energy) required to fire the firing member from the beginning to the end of the firing process. Line 1480 represents the amount of firing force required to move firing member 1660 from its start position to its end position when end effector 1100 is clamping tissue therein. Line 1482 represents, for example, the amount of firing force required to move the firing member of replaceable surgical tool assembly 1000 described above. Line 1482 represents the firing force required to move firing member 174 from its start to end position through tissue clamped at end effector 110 or 110'. As can be seen in this chart, the firing force required by both surgical tool assemblies 100, 1000 is such that the resilient spine assembly 1510 of interchangeable tool assembly 1000 exerts a second amount of closing force. Substantially the same or very similar to add to anvil point 1484 . As can be seen in the chart of FIG. 55, when a second amount of closing force is experienced by anvil 1130 (point 1484), the amount of closing force required to complete the firing process is less than the amount of closure force required to complete the closure process in assembly 100.

FIG. 56 compares the amount of firing load required to move the firing members of various surgical end effectors from a starting position (0.0) to an ending position (1.0). The vertical axis represents the amount of firing load and the horizontal axis represents the percentage of distance the firing member travels between the starting position (0.0) and the ending position (1.0). Line 1490 indicates, for example, the firing force required to fire the firing member of surgical tool assembly 100 or similar tool assembly. Line 1492 is, for example, U.S. patent application Ser. 4 illustrates the firing force required to fire the firing member of a surgical tool assembly employing various firing member improvements and configurations that may be disclosed in the other aforementioned US patent applications filed on even date; Line 1494 is used to fire the firing member from its start position to its end position of a surgical tool assembly employing at least some of the features and arrangements for stiffening the anvil disclosed herein. Indicates required projectile power. Line 1496 is required, for example, to fire a surgical tool assembly that employs a resilient spine arrangement and at least some of the features and arrangements for stiffening the anvil disclosed herein. indicates projectile power. As seen in this figure, surgical tool assemblies employing elastic spine arrangements, and at least some of the anvil reinforcement arrangements disclosed herein, have much lower force-to-launch requirements.

Traditionally, surgical stapling and severing instruments have been equipped with robust mechanical locks configured to protect against tampering of the surgical stapling and severing instrument due to the risks associated with such tampering. Equipped with an out. For example, firing a surgical stapling and severing instrument with no staple cartridge loaded or loaded with a staple cartridge that has already been fired may result in tissue cutting being performed without any tissue stapling. can cause severe bleeding.

The recent shift to motorized surgical stapling and cutting instruments presents new challenges for ensuring safe operation of such instruments. Among other things, the present disclosure presents various electrical and electromechanical lockouts that are suitable for use with motorized surgical stapling and severing instruments. Because lockout failures can result in serious risks to the patient, the present disclosure presents multiple safeguards that act redundantly to ensure that lockout failures are avoided. The present disclosure provides various techniques for detecting when a staple cartridge is attached to an end effector of a surgical stapling and severing instrument. The present disclosure further provides various techniques for detecting whether an installed staple cartridge has been used.

An end effector 4000 of a surgical stapling system is illustrated in FIG. End effector 4000 includes frame 4002 , cartridge jaws 4004 and anvil 4006 . Cartridge jaws 4004 extend fixedly from frame 4002 . Anvil 4006 is movable relative to cartridge jaw 4004 between an open or unclamped position and a closed or clamped position (FIG. 57). In alternative embodiments, the cartridge jaws 4004 are movable relative to the anvil 4006 between an open or unclamped position and a closed or clamped position. In at least one such embodiment, anvil 4006 extends fixedly from frame 4002 .

Cartridge jaw 4004 includes a channel or carrier 4022 configured to receive a staple cartridge, such as staple cartridge 4008, for example. Referring to FIG. 58, staple cartridge 4008 includes cartridge body 4010 . Cartridge body 4010 includes a deck 4012 configured to support patient tissue, longitudinal slots 4014, and six longitudinally extending rows of staple cavities 4016 defined within deck 4012. I have it. Each staple cavity 4016 is configured to receive and removably store a staple therein. Staple cartridge 4008 further includes a staple driver configured to drive staples from staple cavities 4016 . Other staple cartridges having various other arrangements of staple cavities, decks, and/or staples are envisioned for use with the end effector 4000.

In addition to the above, staple cartridge 4008 further includes a sled 4018 configured to engage a staple driver. More specifically, sled 4018 includes an angled surface 4020 that engages cams defined on the staple driver and that sled 4018 is moved distally through staple cartridge 4008 . , is configured to lift staple drivers and staples within staple cavities 4016 . The firing member is configured to distally move sled 4018 from a proximal, unfired, or starting position to a distal, firing, or ending position during a staple firing stroke.

58, 59 and 60B, staple cartridge 4008 includes cartridge circuitry 4024 . Cartridge circuitry 4024 includes a storage medium 4026 , a cartridge connector area 4017 with a plurality of external electrical contacts 4028 , and a cartridge state circuitry portion 4032 including trace elements 4034 . Storage medium 4026 can be a memory that stores information about staple cartridge 4008, such as various characteristics of staple cartridge 4008, including, for example, firing status, staple type, staple size, cartridge batch number, and/or cartridge color. .

61 and 62, sled 4018 has gripping member 4021 configured to disconnect capture and trace element 4034 from cartridge state circuit portion 4032 when sled 4018 is advanced distally from the starting position. Further includes a circuit breaker 4019 comprising a. By cutting trace element 4034, circuit breaker 4019 transitions cartridge state circuit portion 4032 from a closed configuration to an open configuration, which staples from an unfired or unused state to a fired or used state. Signals cartridge 4000 transitions. Information regarding this transition may be stored in storage medium 4026 . Accordingly, sensing that staple cartridge 4008 has severed trace elements 4034 may indicate that staple cartridge 4008 has already been fired.

As illustrated in FIGS. 61 and 62, the gripping member 4021 of the circuit breaker 4019 has a first portion 4023 projecting from or extending away from the bottom surface 4025 of the sled 4018 and a first It has a right angle configuration with a second portion 4027 defining a right angle with portion 4023 . Second portion 4027 is spaced from bottom surface 4025 a sufficient distance to hold cut trace elements 4034 snugly, as illustrated in FIG. This arrangement ensures that the severed trace element 4034 is not accidentally lost in the patient's body after the end effector 4000 firing process is complete. In at least one example, circuit breaker 4019 may comprise a magnetic member configured, for example, to magnetically retain cut trace element 4034 . In various instances, the trace element may be severed or displaced to break or establish an electrical connection that indicates whether the staple cartridge has been fired without completely severing the trace element.

In at least one example, carrier 4022 may include a Hall effect sensor 4029 ( FIG. 62A ) configured to detect the presence of magnets embedded within or attached to sled 4018 . A Hall effect sensor 4029 can detect the presence of the magnet while the sled 4018 is in the starting position, the proximal position, or the unfired position. However, once sled 4018 advances distally toward the end, distal, or firing position, Hall effect sensor 4029 no longer senses the presence of the magnet. In at least one example, the controller 4050 receives input from the Hall effect sensor 4029 to assess the position of the sled 4018 and thus the installed staple cartridge 4008 to use based on the Hall effect sensor 4029 reading. It may be configured to determine whether it has been completed. In certain instances, Hall effect sensors 4029 may be attached to sled 4018 with corresponding magnets attached to and/or embedded within carrier 4022 . In certain instances, other position sensors may be employed to determine whether sled 4018 is in the starting, proximal, or unfired positions.

In certain instances, a Hall effect sensor and magnet combination is employed to determine whether a staple cartridge has been used by detecting whether the staple driver is in the start or unfired position. obtain. As described above, during a firing stroke, sled 4018 is transitioned from a starting, proximal, or unfired position toward an end, distal, or firing position to move the multiple staple drivers. to deploy the staples in the staple cartridge. Each staple driver is generally lifted from a starting or unfired position to a final or fired position to deploy one or more staples. A Hall effect sensor can be coupled to carrier 4022 or staple cartridge 4008 . A corresponding magnet can be coupled to a staple driver, eg, the proximal staple driver of staple cartridge 4008 . In at least one instance, a corresponding magnet is coupled to the proximal-most staple driver of staple cartridge 4008 . In certain instances, Hall effect sensors are coupled to carrier 4022 or staple cartridge 4008 with magnets coupled to staple drivers. In certain instances, the Hall effect sensor is coupled to carrier 4022 or staple cartridge 4008 with the magnet coupled to the proximal-most staple driver.

A Hall effect sensor is configured to detect the presence of the magnet while the staple driver is in the start or unfired position. However, once the staple driver is moved such that the sled 4018 is lifted from the starting or unfired position, the Hall effect sensor will no longer detect the presence of the magnet. Alternatively, the Hall effect sensor and magnet arrangement may be configured to detect when the staple driver reaches the final or firing position, for example. A Hall effect sensor and magnet arrangement, for example, may be configured to detect when the distal-most staple driver reaches its final or firing position. In either case, the controller 4050 receives input from the Hall effect sensor to evaluate the position of the staple driver and therefore the installed staple cartridge 4008 has been used based on the Hall effect sensor 4029 reading. It may be configured to determine if there is. In certain instances, other position sensors may be employed to determine whether the staple driver is in the start or unfired position.

As illustrated in FIG. 62A, the controller 4050 may comprise a processor 4052 and/or one or more storage media such as memory 4054, for example. By executing instruction codes stored in memory 4054, processor 4052 may control various components of a surgical stapling and severing instrument, such as firing system 4056, and user interface 4058, such as, for example, a display. . The memory 4054, when executed by the processor 4052, tells the processor 4052 that the installed staple cartridge 4008 has been used based on input from one or more sensors such as, for example, the Hall effect sensor 4029. contains program instructions to determine whether

User interface 4058 may include one or more visual feedback elements including, for example, a display screen, backlight, and/or LEDs. In certain instances, user interface 4058 may include one or more audio feedback systems, such as speakers and/or buzzers, for example. In certain instances, user interface 4058 may comprise, for example, one or more tactile feedback systems. In certain instances, user interface 4058 may comprise a combination of visual, audio, and/or tactile feedback systems, for example.

In at least one instance, carrier 4022 has one or more electrical contacts configured to be electrically connected to corresponding electrical contacts within sled 4018 of staple cartridge 4008 seated within carrier 4022 . including contact points. The electrical contacts define an electrical circuit 4031 (FIG. 62B) that remains closed while sled 4018 is in the proximal unfired position. Electrical circuit 4031 is shown when sled 4018 is advanced toward an end position, a distal position, or a firing position due to a break in electrical connection between the electrical contacts of carrier 4022 and sled 4018. Transition to open configuration.

Electrical circuit 4031 may further include one or more sensors such as, for example, voltage or current sensors configured to detect whether electrical circuit 4031 is in a closed or open configuration. Inputs from one or more sensors may be received by controller 4050 . Controller 4050 may determine whether an installed staple cartridge 4008 has been used based on inputs from one or more sensors. Memory 4054 contains program instructions that, when executed by processor 4052, cause processor 4052 to determine whether installed staple cartridge 4008 has been used based on input from one or more sensors. can include

In certain instances, staple cartridge 4008 may include an ETS lockout having a continuous path along the path of the thread defined by, for example, thread guide rails. The sled is configured to interrupt the electrical path when the sled is in the proximal-most position. However, when the sled is advanced distally, an electrical path is completed and sensed, for example, by an inductance sensor within carrier 4022 . In various instances, one or more inductance sensors are configured to track one or more proximal forming pockets for fingerprint identification of staples received within the proximal pockets. can be The inductance sensor may be configured to detect the absence of staples from their respective forming pockets. An example of an ETS lockout is U.S. Patent Application Publication No. 2013/0248577, entitled "SURGICAL STAPLING DEVICE WITH LOCKOUT", filed March 26, 2012, the entire disclosure of which is incorporated herein by reference. SYSTEM FOR PREVENTING ACTUATION IN THE ABSENCE OF AN INSTALLED STAPLE CARTRIDGE, now U.S. Pat. No. 9,078,653.

In at least one instance, a staple cartridge similar to staple cartridge 4008 includes at least one electrical circuit 4033 (FIG. 62C) comprising two electrical contacts spaced apart from each other. The electrical contacts are configured to be bridged by the staples of the staple cartridge when the staples are in the unfired position. Thus, electrical circuit 4033 is in the closed configuration when staples are in the unfired position. Additionally, the electrical circuit 4033 is in an open configuration when lifted by the staple driver to deploy staples into tissue. Lifting of the staple by the staple driver during the firing stroke separates the staple from the electrical contacts of electrical circuit 4033, thereby transitioning electrical circuit 4033 to the open configuration.

Electrical circuit 4033 may further include one or more sensors such as, for example, voltage or current sensors configured to detect whether electrical circuit 4033 is in a closed or open configuration. Inputs from one or more sensors may be received by controller 4050 . Controller 4050 may determine whether an installed staple cartridge 4008 has been used based on inputs from one or more sensors. Memory 4054 contains program instructions that, when executed by processor 4052, cause processor 4052 to determine whether installed staple cartridge 4008 has been used based on input from one or more sensors. can include

In at least one instance, a staple cartridge similar to staple cartridge 4008 is configured to break when a staple driver of the staple cartridge is lifted to deploy one or more staples in tissue. includes at least one electrical circuit 4035 (FIG. 62D) comprising a conductive bridge that is open, which transitions the electrical circuit 4035 from a closed configuration to an open configuration. Lifting the staple driver during the firing stroke cuts, disconnects, or displaces the conductive bridge of electrical circuit 4035, thereby transitioning electrical circuit 4033 to the open configuration. A conductive bridge of electrical circuit 4035 is positioned within a predetermined path of the cartridge of the staple driver. In at least one instance, the conductive bridge extends across, or at least partially across, staple pockets configured to store staples in an unfired position.

Electrical circuit 4035 may further include one or more sensors such as, for example, voltage or current sensors configured to detect whether electrical circuit 4035 is in a closed or open configuration. Inputs from one or more sensors may be received by controller 4050 . Controller 4050 may determine whether an installed staple cartridge 4008 has been used based on inputs from one or more sensors. Memory 4054 contains program instructions that, when executed by processor 4052, cause processor 4052 to determine whether installed staple cartridge 4008 has been used based on input from one or more sensors. can include

In various instances, upon determining that an installed staple cartridge 4008 has been used, controller 4050 causes firing system 4056 to be disabled and/or via a user interface, such as display 4058, for example. is configured to provide user feedback depending on the reason for Controller 4050 may identify and/or assist the user in addressing the cause of firing system 4056 disabling. For example, controller 4050 may alert the user that the attached staple cartridge has been used or is not the correct type to be used with end effector 4000 . Other techniques for determining whether a staple cartridge has been used are disclosed in U.S. patent application Ser. , 963, entitled "METHOD FOR OPERATING A SURGICAL INSTRUMENT".

As illustrated in FIG. 60A, carrier 4022 includes carrier circuitry 4043 (FIG. 60C) that is detachably connectable to cartridge circuitry 4024 of staple cartridge 4008 . Carrier circuit 4043 has a plurality of electrical contacts 4036 . Additionally, carrier circuitry 4043 includes a carrier connector region 4013 comprising a plurality of connectors 4038 each defining a first electrical contact 4038a and a second electrical contact 4038b. Connector 4038 is positioned such that a gap is maintained between electrical contact 4036 and first electrical contact 4038a of connector 4038 at their neutral positions. Each of the connectors 4038 includes curved portions that protrude from the support wall 4040 . A second electrical contact 4038b is defined in the curved portion of connector 4038 . When staple cartridge 4008 is inserted into carrier 4022 , external electrical contacts 4028 of staple cartridge 4008 engage connector 4038 and electrical contacts 4036 engage corresponding first electrical contacts 4038 a of connector 4038 . configured to move to an electrically coupled biased configuration. While staple cartridge 4008 is seated within carrier 4022 , external electrical contacts 4028 of staple cartridge 4008 are also electrically coupled to corresponding second electrical contacts 4038 b of connector 4038 .

To ensure a robust electrical connection, one or more of electrical connector 4038, external electrical contact 4028, electrical contact 4036, electrical contact 4038a, and/or electrical contact 4038b are: It may be coated or at least partially coated with a liquid repellent coating and/or embedded in an insulating material such as silicon to prevent fluid ingress. A liquid-repellent coating is applied to the electrical connector 4038 and the electrical contacts 4036, as illustrated in FIG. 60A. In at least one aspect, a liquid repellent coating is added to all electrical cables and/or connections of the staple cartridge. For example, Aculon, Inc. One or more of the liquid repellent coatings manufactured by Co., Ltd. may be used.

In addition to the above, the electrical contacts 4038b of the spring-biased electrical connector 4038 are adapted to remove or strip the liquid-repellent coating from the external electrical contacts 4028 of the staple cartridge 4008, thereby establishing an electrical connection with the staple cartridge 4008. includes a wear feature or point contact 4039 in the form of a raised dome-shaped structure configured to Compressible seal 4041 is configured to prevent, or at least resist, fluid ingress between carrier 4022 and staple cartridge 4008 seated within carrier 4022 . Compressible seal 4041 may be comprised of a compressible material that fits snugly between carrier 4022 and staple cartridge 4008 seated within carrier 4022 . As illustrated in FIG. 60A, a compressible seal 4041 is formed around, or at least partially around, the electrical connector 4038 and the external electrical contacts 4028 of the staple cartridge 4008 when the staple cartridge 4008 is seated within the carrier 4022. Defining a perimeter.

58-60, carrier connector region 4013 and cartridge connector region 4017 provide electrical connection between cartridge circuit 4024 and carrier circuit 4043 when staple cartridge 4008 is seated within carrier 4022. configured to facilitate As illustrated in FIG. 60, carrier connector area 4013 is located on sidewall 4009 of carrier 4022 . Carrier connector area 4013 is secured to inner surface 4011 of sidewall 4009 . As illustrated in FIG. 59, cartridge connector area 4017 is located on sidewall 4007 of staple cartridge 4008 . Cartridge connector area 4017 is secured to outer surface 4005 of side wall 4007 . Carrier connector area 4013 is configured to abut cartridge connector area 4017 when staple cartridge 4008 is seated within carrier 4022 . Compressible seal 4041 prevents or at least resists fluid ingress between carrier connector area 4013 and cartridge connector area 4017 . Positioning carrier connector area 4013 and cartridge connector area 4017 on corresponding sidewalls 4009 and 4007 establishes an electrical connection between staple cartridge 4008 and end effector 4000 by seating staple cartridge 4008 within carrier 4022 . make it easier. Positioning carrier connector area 4013 and cartridge connector area 4017 on corresponding sidewalls 4009 and 4007 simply seat staple cartridge 4008 within carrier 4022 to provide a sag between carrier connector area 4013 and cartridge connector area 4017 . Allows connection to be established.

As illustrated in FIG. 63, first electrical interface 4042 is defined by electrical contacts 4036 and 4038a. First electrical interface 4042 is configured to transition between an open configuration in which electrical contacts 4036 and 4038a are spaced apart and a closed configuration in which electrical contacts 4036 and 4038a are electrically coupled. be done. Similarly, a second electrical interface 4044 is defined by electrical contacts 4038b and 4028. FIG. Second electrical interface 4044 is configured to transition between an open configuration in which electrical contacts 4038b and 4028 are spaced apart and a closed configuration in which electrical contacts 4038b and 4028 are electrically coupled. be done. Additionally, a third electrical interface 4046 is defined between the end effector 4000 and the handle portion of the surgical stapling and severing instrument. The third electrical interface 4046 is also configured to transition between an open configuration in which the end effector 4000 is not attached to the handle portion and a closed configuration in which the end effector 4000 is attached to the handle portion. .

Transition of electrical interface 4042 from the open configuration to the closed configuration indicates that a staple cartridge has been attached to carrier 4022 . Additionally, the transition of electrical interface 4044 from the open configuration to the closed configuration indicates that the correct type of staple cartridge has been installed in carrier 4022 . When electrical interface 4044 is in the closed configuration, storage medium 4026 of staple cartridge 4008 may be accessed to obtain information about staple cartridge 4008 stored therein.

In certain instances, electrical interfaces 4042, 4044, and 4046 and cartridge status circuitry portion 4032 are electrically connected within control circuitry 4048, as illustrated in FIG. In such instances, the safety mechanism prevents firing of end effector 4000 when at least one of electrical interface 4042, electrical interface 4044, electrical interface 4046, and cartridge state circuit portion 4032 is in the open configuration. can be incorporated to In other words, the safety mechanism prevents firing of the end effector 4000 when the control circuit 4048 is in the open configuration. In other words, if the end effector 4000 is not properly attached to the handle portion of the surgical instrument, if the staple cartridge is not attached to the carrier 4022, if the wrong staple cartridge is attached to the carrier 4022, and/ Or, if a used staple cartridge is attached to carrier 4022, the safety mechanism prevents end effector 4000 from firing.

In certain instances, one or more of electrical interface 4042, electrical interface 4044, electrical interface 4046, and cartridge status circuitry portion 4032 are connected in parallel with the non-disconnectable portion of control circuitry 4048. , which helps avoid any single point of failure due to complete shutdown of control circuit 4048 . This arrangement continues within control circuit 4048 in the event that one or more of electrical interface 4042, electrical interface 4044, electrical interface 4046, and cartridge status circuit portion 4032 are in the open configuration. Ensure electrical connections. For example, as illustrated in FIG. 63, trace element 4034 of cartridge state circuit portion 4032 is in parallel with first resistive element 4037 and in series with second resistive element 4037' to ensure continued operation. , and avoids a single point of failure of control circuit 4048 in the event trace element 4034 is disconnected. One or more sensors, including but not limited to voltage and/or current sensors, are in the current configuration and/or transition between an open or disconnected configuration and a closed or intact configuration. can be used to detect

In certain cases, one or more of electrical interface 4042, electrical interface 4044, electrical interface 4046, and cartridge state circuit portion 4032 are not connected in series. In such cases, one or more of electrical interface 4042, electrical interface 4044, electrical interface 4046, and/or cartridge status circuit portion 4032 separately provide feedback regarding their dedicated functions. configured to

63-65, one or more of electrical interface 4042, electrical interface 4044, electrical interface 4046, and cartridge state circuit portion 4032 are configured in the open configuration illustrated in FIG. It may be implemented in the form of a conductive gate 4060 transitionable between the closed configuration illustrated in FIG. In the closed configuration, conductive gate 4060 allows electrical connection between two endpoints of an electrical circuit, such as control circuit 4048, for example. However, the electrical connection is broken when conductive gate 4060 is transitioned to the open configuration.

Conductive gate 4060 may be repeatedly transitioned between closed and open configurations. Conductive gate 4060 includes pivot portion 4062 rotatably attached to first endpoint 4068 of control circuit 4048 . Conductive gate 4060 is configured to pivot about first endpoint 4068 between an open configuration and a closed configuration. Conductive gate 4060 further includes a mounting portion 4066 spaced from pivot portion 4062 . A central bridge portion 4064 extends between and connects pivot portion 4062 and mounting portion 4066 . As illustrated in FIGS. 64 and 65, mounting portion 4066 releasably captures a second endpoint 4069 of control circuit 4048 to transition conductive gate 4060 from an open configuration to a closed configuration. It is in the form of a configured hook or latch. In certain instances, attachment portion 4066 may comprise, for example, a magnetic attachment or any other mechanical attachment. In at least one instance, conductive gate 4060 may be spring-biased in a closed configuration. Alternatively, conductive gate 4060 may be spring-biased in an open configuration.

As illustrated in FIG. 65A, the surgical instrument safety mechanism 4047 may include a controller 4050 that may include a processor 4052 and/or one or more storage media such as memory 4054, for example. By executing instruction codes stored in memory 4054, processor 4052 may control various components of the surgical instrument, such as firing system 4056, and user interfaces such as display 4058, for example. Controller 4050 keeps track of the state of electrical interface 4042 , electrical interface 4044 , electrical interface 4046 , and/or cartridge status circuit portion 4032 . As described in more detail below, the controller 4050 controls one or more of the electrical interface 4042, the electrical interface 4044, the electrical interface 4046, and/or the cartridge status circuit portion 4032. Depending on the state, firing system 4056 may be disabled and/or user feedback may be provided depending on the reason for the disablement. In certain instances, controller 4050 may identify and/or assist the user in addressing the cause of firing system 4056 disabling. For example, controller 4050 may alert the user that the attached staple cartridge has been used or is not the correct type to be used with end effector 4000 .

In various instances, the memory 4054, when executed by the processor 4052, indicates to the processor 4052 that the staple cartridge 4008 is attached to the carrier 4022 when transition of the electrical interface 4042 to the closed configuration is detected by the processor 4052. contains program instructions that cause it to determine that Additionally, memory 4054 may include program instructions that, when executed by processor 4052, cause processor 4052 to indicate that a transition of electrical interface 4042 to a closed configuration has been detected by processor 4052 but a cartridge state When circuit portion 4032 is in the open configuration, it causes staple cartridge 4008 to be determined to have been used or fired.

In addition to the above, the memory 4054 also, when executed by the processor 4052, provides the processor 4052 with the memory of the installed staple cartridge 4008 when the transition of the electrical interface 4044 to the closed configuration is detected by the processor 4052. 4026 is determined to be accessible. Additionally, processor 4052 may be configured to retrieve certain information stored within memory 4026 of installed staple cartridge 4008 . In certain instances, detecting the closed configuration of electrical interface 4042 but not detecting the closed configuration of electrical interface 4044 indicates that the wrong staple cartridge is installed in carrier 4022.

In addition to the above, the memory 4054 also, when executed by the processor 4052 , instructs the processor 4052 to operate with the surgical instrument end effector 4000 when transition of the electrical interface 4046 to the closed configuration is detected by the processor 4052 . It may include program instructions to cause it to be determined that a successful connection with the handle portion has been detected.

65B, a block diagram illustrates a method 4071 of firing a surgical instrument including an end effector, such as end effector 4000, for example. In a first step 4073, the firing trigger 4550 (FIG. 80) is depressed while the cutting member of the end effector 4000 is positioned proximal to the predetermined non-cartridge lockout area. One or more position sensors may be used to determine the position of the cutting member. A firing trigger may be located on the handle of the surgical instrument and may be depressed by a user, for example, to initiate a firing stroke of the surgical instrument. Next, a first decision block 4075 is configured to check whether trace element 4034 (Fig. 61) is intact, and a second decision block 4077 is configured to determine if memory 4026 (Fig. 59) has been read. It is configured to check whether it obtains or not. If trace element 4034 is not intact or memory 4026 cannot be read, firing lockout is engaged as shown in step 4079 . The articulation mode is then re-engaged at step 4072 once the captured tissue is released by unclamping the end effector 4000 at step 4070 . However, if trace element 4034 is intact and memory 4026 is read, firing system 4056 is allowed to proceed through the firing stroke at step 4074 . Decision block 4076 is configured to provide a threshold at a predetermined cutline at which firing system 4056 is reset. Resetting the firing system 4056 may include returning the cutting member to predetermined initial positions, as illustrated in step 4078 . As illustrated in step 4074a, when the firing trigger 4550 is depressed while the cutting member of the end effector 4000 is positioned distal to the predetermined non-cartridge lockout area, the firing system 4056 fires. Allows you to advance using strokes.

66-70, staple cartridge 4100 is similar to staple cartridge 4008 in many respects. Staple cartridge 4100 is releasably attached to end effector 4000 . Additionally, the staple cartridge 4100 includes a cartridge status circuit 4102 for evaluating whether the staple cartridge 4100 is attached to the end effector 4000 and/or whether the attached staple cartridge 4100 has already been fired. .

As illustrated in FIG. 66, staple cartridge 4100 includes a conductive gate 4160 in proximal portion 4103 of staple cartridge 4100 . Conductive gate 4160 is movable between a first closed configuration (FIG. 68), a second closed configuration (FIG. 70), and an open configuration (FIG. 69). The controller determines whether staple cartridge 4100 is attached to end effector 4000 and/or whether conductive gate 4160 is in an open configuration, a first closed configuration, or a second closed configuration. can be configured to assess whether staple cartridge 4100 has already been fired. In at least one instance, the first closed configuration is a partially closed configuration while the second closed configuration is a fully closed configuration.

In the closed configuration, conductive gate 4160 extends across elongate slot 4114 defined between first deck portion 4112 a and second deck portion 4112 b of staple cartridge 4100 . Conductive gate 4160 extends between a first endpoint 4168 of cartridge status circuit 4102 and a second endpoint 4170 of cartridge status circuit 4102 . A first endpoint 4168 is defined on a first sidewall 4114a of the elongated slot 4114 and a second endpoint 4170 is defined on a second sidewall 4114b of the elongated slot 4114 . Conductive gates 4160 bridge elongated slots 4114, as illustrated in FIG. 68, to connect first endpoint 4168 and second endpoint 4170 in a closed configuration.

As illustrated in FIG. 66, conductive gate 4160 includes pivot portion 4162 rotatably attached to first endpoint 4168 of cartridge status circuit 4102 . Conductive gate 4160 is configured to pivot about first endpoint 4168 between an open configuration, a first closed configuration, and a second closed configuration. Conductive gate 4160 further includes a mounting portion 4166 spaced from pivot portion 4162 . A central bridge portion 4164 extends between and connects pivot portion 4162 and mounting portion 4166 . As illustrated in FIG. 66 , attachment portion 4166 is in the form of a hook or latch configured to be releasably captured by second endpoint 4170 . Mounting portion 4166 includes a "C"-shaped ring 4171 configured to receive second endpoint 4170 in a second closed configuration. The opening 4173 of the 'C' shaped ring 4171 is slightly smaller than the second endpoint 4170 . Thus, because the second endpoint 4170 is received within the "C"-shaped ring 4171, an external force is applied to the opening of the "C"-shaped ring 4171, as illustrated in FIG. required to pass through portion 4173 and place conductive gate 4160 in the second closed configuration.

Although the conductive gate is spring biased toward the closed configuration, the spring bias is insufficient to bring the conductive gate 4160 into the second closed configuration. Thus, in the absence of an external force to move conductive gate 4160 toward the open configuration or the second closed configuration, conductive gate 4160 will, under the influence of the spring-biased force, as illustrated in FIG. It will swing to a rest position in the first closed configuration. In the first closed configuration, an intermediate region 4175 between the “C”-shaped ring 4171 of the mounting portion 4166 and the central bridge portion 4164 contacts the second endpoint 4170 . However, the second endpoint 4170 is not received within the “C” shaped ring 4171 .

Staple cartridge 4100 further comprises thread 4118 , which is similar in many respects to thread 4018 . Firing member 4113 is configured to distally move sled 4118 from a proximal, unfired, or starting position to a distal, firing, or ending position during a staple firing stroke. Additionally, the sled 4118 transitions from the second closed configuration to the open configuration as the sled 4118 advances distally from the proximal, unfired, or starting position toward the distal, firing, or ending position. includes a catch member 4119 configured to engage and transition the conductive gate 4160 to. Upon losing contact with the catch member 4119, the conductive gate 4160 is configured to return from the open configuration to the first closed configuration under the influence of the spring bias and in the absence of any external force.

67, catch member 4119 extends proximally from thread 4118 and includes a proximally extending portion 4119a and an engaging portion 4119b projecting from the proximal end of proximally extending portion 4119a. Engagement portion 4119b allows sled 4118 to move from a proximal, unfired, or starting position to a distal, firing, or ending position to deploy staples during the firing stroke of a surgical stapling and cutting instrument. Conductive gate 4160 is arranged to be captured by engagement portion 4119b as it advances toward.

At least a portion of catch member 4119 may be constructed from a non-conductive material. In at least one example, engagement portion 4119b is at least partially made from a non-conductive material.

Other arrangements and configurations of catch member 4119 are contemplated by the present disclosure. In at least one aspect, the catch member 4119 can be, for example, a post that extends away from the base 4118a of the sled 4118. FIG. In another instance, catch member 4119 may be in the form of an angled surface and conductive gate 4160 is configured to engage the lower portion of the angled surface such that as sled 4118 advances distally, The ramp transitions conductive gate 4160 to an open configuration. Once conductive gate 4160 reaches the top of the ramp, the spring bias returns conductive gate 4160 to the first closed position.

68-71, a first closed configuration, a second closed configuration, and an open configuration represent a first resistance state, a second resistance state, and an infinite resistance state, respectively, and a first The resistance state is different from the second resistance state and the infinite resistance state, and the second resistance state is different from the first resistance state and the infinite resistance state. By detecting which of the three states is the current state and/or by detecting transitions between states, controller 4050 (FIG. 71) determines whether staple cartridge 4100 is in end effector 4000. It may be determined whether it is installed and/or whether the installed staple cartridge 4100 has already been fired.

Conductive gate 4160 defines a first resistance when conductive gate 4160 is in the first closed configuration and is different than the first resistance when conductive gate 4160 is in the second closed configuration. It may be configured to define a second resistance. Controller 4050 may comprise a processor 4052 and/or one or more storage media such as memory 4054, for example. By executing instruction codes stored in memory 4054 , processor 4052 may identify the current resistance state of conductive gate 4160 . Controller 4050 may perform one or two actions in response to the detected resistance condition, such as, for example, disabling launch system 4056 and/or providing user feedback in response to the reason for such disabling. may perform more than one function.

In various instances, the memory 4054, when executed by the processor 4052, indicates to the processor 4052 that an unused or unfired staple cartridge 4100 is attached to the carrier 4022 when the second resistance state is detected by the processor 4052. contains program instructions that cause it to determine that In addition, the memory 4054, when executed by the processor 4052, indicates to the processor 4052 that a used or already fired staple cartridge 4100 is attached to the carrier 4022 when the first resistance condition is detected by the processor 4052. It may contain program instructions that cause it to determine that the Memory 4054 may contain program instructions that, when executed by processor 4052 , cause processor 4052 to determine that a staple cartridge is not attached to carrier 4022 when an infinite resistance condition is detected by processor 4052 .

Controller 4050 can be configured to make a determination as to whether staple cartridge 4008 is detected upon activation or powering of a surgical instrument by performing a first reading or multiple readings of resistance state. If an infinite resistance condition is detected, controller 4050 may then prompt the user through display 4058 to load or insert staple cartridge 4008 into carrier 4022, for example. If the controller 4050 detects that a staple cartridge 4008 is installed, the controller 4050 determines whether the installed staple cartridge has already been fired by performing a second reading or multiple readings of resistance. can determine whether If the first resistance condition is detected, the controller 4050 may instruct the user that the attached staple cartridge 4008 has already been fired and/or that the staple cartridge 4008 should be replaced.

Controller 4050 detects the current resistance state using resistance state detector 4124 and then determines whether conductive gate 4160 is in an open configuration, a first closed configuration, or a second closed configuration. do. In at least one aspect, resistance state detector 4124 may include a current sensor. For example, controller 4050 may generate a predetermined potential between first endpoint 4168 and second endpoint 4170 and then measure current passing through conductive gate 4160 . If the measured current corresponds to the first resistance, controller 4050 determines that conductive gate 4160 is in the first closed configuration. On the other hand, if the measured current corresponds to the second resistance, the controller determines that conductive gate 4160 is in the second closed configuration. Finally, if no current is detected, controller 4050 determines that conductive gate 4160 is in the open configuration. In at least one aspect, resistance state detector 4124 may include other sensors such as, for example, voltage sensors.

In various instances, one or more controllers of the present disclosure, such as controller 4050, are implemented using integrated and/or discrete hardware elements, software elements, and/or a combination of both. may be Examples of integrated hardware elements include processors, microprocessors, controllers, integrated circuits, application specific integrated circuits (ASICs), programmable logic devices (PLDs), digital signal processors (PLDs), signal processor, DSP), field programmable gate array (FPGA), logic gate, register, semiconductor device, chip, microchip, chipset, microcontroller, system-on-chip (SoC) , and/or system-in-package (SIP). Examples of individual hardware elements can include circuits and/or circuit elements (eg, logic gates, field effect transistors, bipolar transistors, resistors, capacitors, inductors, relays, etc.). In other embodiments, one or more controllers of the present disclosure may include hybrid circuits, including, for example, discrete and integrated circuit elements or components on one or more substrates. .

In one embodiment, as illustrated in FIG. 72, circuit 4080 comprises a controller including one or more processors 4082 (eg, microprocessors, microcontrollers) coupled to at least one memory circuit 4084. be prepared. At least one memory circuit 4084, when executed by processor 4082, instructs processor 4082 to perform one or two of the functions performed by one or more controllers of this disclosure, such as controller 4050, for example. Machine-executable instructions are stored that cause machine instructions to be executed to implement the foregoing.

Processor 4082 may be any one of numerous single or multi-core processors known in the art. Memory circuitry 4084 may include volatile and non-volatile storage media. In one embodiment, processor 4082 may include an instruction processing unit 4086 and an arithmetic unit 4088, as illustrated in FIG. The instruction processing unit may be configured to receive instructions from one memory circuit 4084 .

In one embodiment, circuit 4090 is configured to implement one or more of the functions performed by one or more controllers of the present disclosure, such as controller 4050, for example. A finite state machine comprising combinatorial logic 4092 illustrated in 73 may be provided. In one embodiment, circuit 4200 may comprise a finite state machine including sequential logic circuits, as illustrated in FIG. Sequential logic 4200 may include, for example, combinational logic 4202 and at least one memory circuit 4204 . At least one memory circuit 4204 may store the current state of the finite state machine, as illustrated in FIG. Sequential logic 4200 or combinatorial logic 4202 may be configured to implement one or more of the functions performed by one or more controllers of the present disclosure, such as controller 4050, for example. . In particular cases, sequential logic circuit 4200 may be synchronous or asynchronous.

In other embodiments, the circuitry combines processor 4082 and finite controller 4082 to implement one or more of the functions performed by one or more controllers of the present disclosure, such as controller 4050, for example. It may include combinations with state machines. In other embodiments, the finite state machine may include a combination of combinatorial logic 4090 and sequential logic 4200 .

In some examples, various embodiments may be embodied as an article of manufacture. An article of manufacture may include a computer-readable storage medium configured to store logic, instructions, and/or data for performing various operations of one or more embodiments. In various embodiments, for example, an article of manufacture may include a magnetic disk, optical disk, flash memory, or firmware containing computer program instructions suitable for execution by a general purpose or special purpose processor. However, embodiments are not limited to this context.

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

In addition, the embodiments described herein represent exemplary implementations, and functional elements, logic blocks, modules, and circuit elements may be implemented in various other ways consistent with the described embodiments. It should be understood that it can be implemented in any way. Additionally, the operations performed by such functional elements, logic blocks, modules, and circuit elements may be combined and/or separated for a given implementation, resulting in a greater or lesser number of elements or modules. can be done. As will be apparent to those of ordinary skill in the art upon reading this disclosure, each individual embodiment described and illustrated herein may have any number of other aspects without departing from the scope of this disclosure. It has separate components and features that can be easily separated from one another or combined with their properties. Any method described can be performed in the order of events described or in any other order that is logically possible.

The foregoing detailed description has described various embodiments of apparatus and/or processes using block diagrams, flow diagrams, and/or examples. To the extent such block diagrams, flow diagrams and/or examples include one or more functions and/or actions, each function and/or included in such block diagrams, flow diagrams or examples may Those skilled in the art will appreciate that the operations may be implemented individually and/or collectively by a variety of hardware, software, firmware, or virtually any combination thereof. In one embodiment, some portions of the subject matter described herein are integrated into an application specific integrated circuit (ASIC), field programmable gate array (FPGA), digital signal processor (DSP), or other integrated type. can be implemented in the form However, one of ordinary skill in the art will appreciate that some aspects of the embodiments disclosed herein, in whole or in part, can be implemented in one or two applications running on one or more computers. one or more running on one or more processors, as one or more computer programs (e.g., one or more programs running on one or more computer systems) equivalent in an integrated circuit as a program of the above (e.g., as one or more programs running on one or more microprocessors), as firmware, or substantially any combination thereof and designing circuits and/or writing code for software and/or firmware is well within the skill of those of ordinary skill in the art in view of the present disclosure. Will. Additionally, those skilled in the art will recognize that mechanisms of the subject matter described herein may be distributed as program products in a wide variety of forms, and may be distributed as program products according to specific implementations of the subject matter described herein. It will be appreciated that embodiments apply regardless of the particular type of signal-bearing medium used to actually effect the distribution. Examples of signal-bearing media include recordable-type media such as floppy disks, hard disk drives, Compact Discs (CDs), Digital Video Disks (DVDs), digital tapes, computer memory, and the like. Transmission-type media, such as digital and/or analog communication media (e.g., fiber optic cables, waveguides, wired communication links, wireless communication links (e.g., transmitters, receivers, transmit logic, receive logic, etc.), etc.) include, but are not limited to:

Various mechanisms are described herein for detecting attachment of a staple cartridge to a surgical stapling and cutting instrument. Additionally, various mechanisms are described herein for determining whether an installed staple cartridge has been used. Because firing a surgical stapling and severing instrument in the absence of an unused and properly installed staple cartridge presents a significant risk to the patient, electromagnetic lockout mechanism 4300 may be used, for example, in firing system 4056. Used in conjunction with a firing system to fire a surgical stapling and severing instrument when a staple cartridge is not attached to the surgical stapling and severing instrument carrier 4022 or when an attached staple cartridge has been used. to prevent the launch of

75-78, lockout mechanism 4300 for surgical stapling and severing instrument interacts with drive system 4302 of firing system 4056. FIG. Lockout mechanism 4300 includes an electromechanical lockout that includes a latch 4304 that is transitionable between a locked configuration with drivetrain 4302 and an unlocked configuration with drivetrain 4302 . In the unlocked configuration, the drive system 4302 is allowed to advance to deploy staples within tissue and/or cut tissue, as illustrated in FIG. In the locked configuration illustrated in FIG. 76, drive system 4302 is prevented from advancing because either no staple cartridge is attached to carrier 4022 or the attached staple cartridge has been used.

As illustrated in FIG. 75, drive train 4302 includes hole 4306 configured to receive latch 4304 when latch 4304 is in the locked configuration. Electrical circuitry 4308 is configured to selectively transition latch 4304 between a locked configuration and an unlocked configuration. Electrical circuit 4308 includes an electromagnet 4310 configured to selectively transition lockout mechanism 4300 between a locked configuration and an unlocked configuration. Electrical circuit 4308 further includes a power source 4312 and a power relay 4314 configured to selectively transmit energy to power electromagnet 4310 . Powering the electromagnet 4310 causes the lockout mechanism 4300 to transition from the locked configuration to the unlocked configuration. In an alternative embodiment, energizing electromagnet 4310 may cause lockout mechanism 4300 to transition from the unlocked configuration to the locked configuration.

Electromagnet 4310 selectively moves latch 4304 between a first position in which latch 4304 is at least partially positioned within hole 4306 and a second position in which latch 4304 is outside hole 4306 . configured to allow In other words, electromagnet 4310 selects latch 4304 between a first position in which latch 4304 interferes with advancement of drive train 4302 and a second position in which latch 4304 allows advancement of drive train 4302 . configured to move In an alternative embodiment, the drive train of firing system 4056 comprises protrusions or latches configured to be received within holes of corresponding structures operably attached to electromagnets 4310 . In such embodiments, the electromagnet 4310 is configured to selectively move the structure including the hole between the first position and the second position. Although corresponding structures, including latches and holes, have been described in connection with lockout mechanism 4300, it is understood that other mechanical engagement members may be used.

As illustrated in FIG. 75, lockout mechanism 4300 moves between, for example, a first compressed configuration as illustrated in FIG. 76 and a second compressed configuration as illustrated in FIG. It further includes a piston 4315 with a biasing member, such as a spring 4316, which may be possible. In the second compressed configuration, spring 4316 lifts or maintains latch 4304 out of engagement with drive train 4302, as illustrated in FIG. When spring 4316 is allowed to return to the first compressed configuration, latch 4304 is also returned to engage drive train 4302, as illustrated in FIG.

In addition to the above, a permanent magnet 4318 is attached to latch 4304 . Alternatively, latch 4304, or at least a portion thereof, may be made from a ferromagnetic material. When electrical circuit 4308 activates electromagnet 4310 , permanent magnet 4318 is drawn toward electromagnet 4310 , biasing or compressing spring 4316 . In addition, permanent magnet 4318 lifts or transitions latch 4304 out of engagement with drive train 4302, as illustrated in FIG. However, when electrical circuit 4308 disables electromagnet 4310, the biasing force of spring 4316 causes permanent magnet 4318 and latch 4304 to engage drive train 4302, as illustrated in FIG. , put them back in their original position.

Referring to FIG. 78, the safety mechanism 4347 of the surgical stapling and severing instrument can include a controller 4050 that can include a processor 4052 and/or one or more storage media such as memory 4054, for example. By executing instruction codes stored within memory 4054 , processor 4052 may control activation and/or disabling of lockout mechanism 4300 . Processor 4052 may receive input 4320 regarding whether a staple cartridge is attached to carrier 4022 and/or whether the attached staple cartridge has been used. Depending on the input received, processor 4052 may activate or disable lockout mechanism 4300 to allow or prevent firing system 4056 from being used to perform staple firing strokes.

80-82B generally illustrate a motorized surgical fastening and cutting instrument 4500. FIG. As illustrated in FIGS. 80 and 81, the surgical instrument 4500 includes a handle assembly 4502, a shaft assembly 4504, and a power supply assembly 4506 (“power source,” “power pack,” or “battery pack”). include. Shaft assembly 4504 includes an end effector 4508 configured to act as an endocutter for clamping, cutting, and/or stapling tissue, although in other instances other End effectors, graspers, cutters, staplers, clip appliers, access devices, drug/gene therapy devices, ultrasound devices, RF devices, and/or laser devices for various types of surgical devices An end effector may be used. Some RF devices are disclosed in U.S. Patent No. 5,403,312, issued Apr. 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE," and U.S. Patent Application Serial No. 12/031, filed February 14, 2008. , 573, entitled "SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES", the entire disclosures of which are incorporated herein by reference.

Referring primarily to FIGS. 81-82B, handle assembly 4502 may be used with multiple interchangeable shaft assemblies, such as shaft assembly 4504, for example. Such interchangeable shaft assemblies may include surgical end effectors, such as end effector 4508, which may be configured to perform one or more surgical tasks or procedures, for example. An example of a suitable interchangeable shaft assembly is disclosed in U.S. Provisional Patent Application Serial No. 61/782,866, entitled "CONTROL SYSTEM," filed March 14, 2013, the entire disclosure of which is incorporated herein by reference. OF A SURGICAL INSTRUMENT".

Referring primarily to FIG. 81, handle assembly 4502 can comprise a housing 4510 that houses a handle 4512 that can be configured to be grasped, manipulated and actuated by a clinician. However, it will be appreciated that the various arrangements of the various forms of interchangeable shaft assemblies disclosed herein can also be effectively used in conjunction with a robotic surgical system. deaf. Accordingly, the term "housing" also includes generating and applying at least one control motion that can be used to actuate the interchangeable shaft assemblies disclosed herein and their respective equivalents. It may include a housing or similar portion of the robotic system housing or otherwise operatively supporting at least one drive system configured to. For example, the replaceable shaft assembly disclosed herein is disclosed in U.S. patent application Ser. DEPLOYMENT," now US Pat. No. 9,072,535, may be used with various robotic systems, instruments, components, and methods.

Referring again to FIG. 81, the handle assembly 4502 operably supports therein a plurality of drive systems which are counterparts of interchangeable shaft assemblies operably attached to the handle assembly. can be configured to generate and apply various control motions to the For example, the handle assembly 4502 operably supports a first or closure drive system, which while operably attached to or coupled to the handle assembly 4502, is a shaft assembly. Used to apply closing and opening motions to 4504 . Handle assembly 4502 operably supports a firing drive system configured to apply a firing motion to a corresponding portion of an interchangeable shaft assembly mounted therein.

Referring primarily to FIGS. 82A and 82B, handle assembly 4502 includes motor 4514 controlled by motor control circuit 4515 and used by the firing system of surgical instrument 4500 . Motor 4514 may be, for example, a DC brushed drive motor with a maximum speed of approximately 25,000 RPM. Alternatively, motor 4514 may include a brushless motor, cordless motor, synchronous motor, stepper motor, or any other suitable electric motor. The motor control circuit 4515 may include an H-bridge field-effect transistor (FET) 4519, as illustrated in Figures 82A and 82B. Motor 4514 is powered by power supply assembly 4506 ( FIGS. 82A and 82B ), which may be releasably attached to handle assembly 4502 to provide control power to surgical instrument 4500 . Power supply assembly 4506 comprises a battery that may include several battery cells connected in series that may be used as a power source to power surgical instrument 4500 . The battery cells of power assembly 4506 may be replaceable and/or rechargeable. In at least one example, the battery cells can be lithium ion batteries that are detachably connectable to power assembly 4506 .

Shaft assembly 4504 includes a shaft assembly controller 4522 that communicates with power management controller 4516 via an interface, while shaft assembly 4504 and power assembly 4506 are coupled to handle assembly 4502 . An interface is provided between the corresponding shaft assembly 4504 and the power assembly 4506 to enable electrical communication between the shaft assembly controller 4522 and the power management controller 4516 while the shaft assembly 4504 and power assembly 4506 are coupled to the handle assembly 4502 . A first interface portion 4525 that includes one or more electrical connectors for interlocking engagement with an assembly electrical connector and one or more electrical connectors for interlocking engagement with a corresponding power assembly electrical connector. It includes a second interface portion 4527 that can include two or more electrical connectors. One or more communication signals may be sent through the interface to communicate one or more power requirements of the attached replaceable shaft assembly 4504 to power management controller 4516 . In response, the power management controller modulates the battery power output of the power assembly 4506 according to the power requirements of the attached shaft assembly 4504, as described in more detail below. One or more electrical connectors comprise a switch that can be activated after mechanical interlocking engagement of handle assembly 4502 with shaft assembly 4504 and/or power assembly 4506, thereby providing a shaft assembly controller. 4522 and power management controller 4516.

The interface provides one or more power management controllers 4516 and 4522 between power management controller 4516 and shaft assembly controller 4522 by routing such communication signals through main controller 4517 residing in handle assembly 4502 . Facilitates the transmission of communication signals. Alternatively, while shaft assembly 4504 and power supply assembly 4506 are coupled to handle assembly 4502 , the interface is between power management controller 4516 and shaft assembly controller 4522 through handle assembly 4502 . Direct line communication may be facilitated.

Main controller 4517 may be any single-core or multi-core processor, such as that known by Texas Instruments under the trade name ARM Cortex. The surgical instrument 4500 may comprise a power management controller (4516), such as a safety microcontroller platform comprising two microcontroller-based families, such as the TMS570 and RM4x, also known as the Texas Instruments brand name Hercules ARM Cortex R4. . Nevertheless, other suitable alternatives for microcontrollers and safety processors can be used without restriction. Safety processors are specifically configured for IEC61508 and ISO26262 safety margin applications, among others, to provide highly integrated safety features while offering scalable performance, connectivity and memory options. obtain.

Main controller 4517 may be an LM4F230H5QR available from Texas Instruments. Texas Instruments' LM4F230H5QR improves performance above 40 MHz with on-chip memory up to 40 MHz and 256 KB of single-cycle flash memory or other non-volatile memory, among other features readily available from the product datasheet. 32 KB of single-cycle serial random access memory (SRAM), internal read-only memory (ROM) with StellarisWare® software, and 2 KB of electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, and one or more analog a quadrature encoder input (QEI) and one or more 12-bit analog-to-digital converters (ADC) with 12 analog input channels; ARM Cortex-M4F processor core. The disclosure should not be limited to this contextual requirement.

Power supply assembly 4506 includes power management circuitry, which includes power management controller 4516 , power modulator 4538 , and current sensing circuitry 4536 . While shaft assembly 4504 and power supply assembly 4506 are coupled to handle assembly 4502 , power management circuitry is configured to modulate the power output of the battery based on the power requirements of shaft assembly 4504 . For example, the power management controller 4516 can be programmed to control the power modulator 4538 of the power output of the power assembly 4506, and the current detection circuit 4536 to provide feedback to the power management controller 4516 regarding the power output of the battery. , is used to monitor the power output of the power supply assembly 4506 so that the power management controller 4516 can adjust the power output of the power supply assembly 4506 to maintain the desired output.

It should be noted that one or more of the controllers of this disclosure may comprise one or more processors and/or memory units that may store a number of software modules. Although specific modules and/or blocks of surgical instrument 4500 may be described as examples, it will be appreciated that a greater or lesser number of modules and/or blocks may be used. Further, while various instances may be described as modules and/or blocks to facilitate description, such modules and/or blocks may refer to one or more processors, digital hardware components such as signal processors (DSPs), programmable logic devices (PLDs), application specific integrated circuits (ASICs), circuits, registers, and/or software components such as programs, subroutines, logic; /or may be implemented by a combination of hardware and software components.

Surgical instrument 4500 may include output device 4542, including one or more devices for providing sensory feedback to the user. Such devices may include visual feedback devices (eg, LCD display screens, LED indicators), audible feedback devices (eg, speakers, buzzers) or tactile feedback devices (eg, tactile actuators). Output device 4542 may comprise display 4543 that may be included in handle assembly 4502 . Shaft assembly controller 4522 and/or power management controller 4516 may provide feedback to a user of surgical instrument 4500 via output device 4542 . Interface 4524 may be configured to connect shaft assembly controller 4522 and/or power management controller 4516 to output device 4542 . The reader will appreciate that output device 4542 may alternatively be integrated with power supply assembly 4506 . Under such circumstances, while shaft assembly 4504 is coupled to handle assembly 4502 , communication between output device 4542 and shaft assembly controller 4522 may be accomplished via interface 4524 .

Having described surgical instrument 4500 in general terms, various electrical/electronic components of surgical instrument 4500 will now be described in detail. For convenience, any reference herein to surgical instrument 4500 should be construed to refer to surgical instrument 4500 shown in connection with FIGS. 80-82B. Referring to FIG. 79, circuit 4700 is illustrated. Circuit 4700 is configured to control a powered surgical instrument, such as surgical instrument 4500 illustrated in FIG. Circuitry 4700 is configured to control one or more operations of powered surgical instrument 4500 . Circuitry 4700 includes a safety processor 4704 and a main or primary processor 4702 . Safety processor 4704 and/or primary processor 4702 are configured to interact with one or more additional circuit elements to control operation of powered surgical instrument 4500 . Primary processor 4702 includes multiple inputs coupled to one or more circuit elements. Circuit 4700 can be a segmentation circuit. In various instances, segmentation circuitry 4700 may be implemented by any suitable circuitry, such as a printed circuit board assembly (PCBA) within powered surgical instrument 4500 .

The term processor, as used herein, refers to any microprocessor, microcontroller, or central processing unit (CPU) function of a computer combined into one integrated circuit or up to several integrated circuits. It should be understood to include other basic computing devices incorporated above. A processor is a general-purpose programmable device that accepts digital data as input, processes that data according to instructions stored in memory, and provides the results as output. This is an example of sequential digital logic since it has internal memory. Processors work with numbers and symbols represented in a binary number system.

Primary processor 4702 is any single-core or multi-core processor, such as those known under the trade name ARM Cortex manufactured by Texas Instruments. The safety processor 4604 may be a safety microcontroller platform comprising two microcontroller base families, such as TMS570 and RM4x, also known by the trade name Hercules ARM Cortex R4, also manufactured by Texas Instruments. Nevertheless, other suitable alternatives for microcontrollers and safety processors can be used without restriction. In one embodiment, the safety processor 4704 provides scalable performance, connectivity, and memory options while providing highly integrated safety features, among other things, that comply with IEC61508 and ISO26262 safety limits. It can be configured specifically for the application.

Primary processor 4702 may be an LM 4F230H5QR available from Texas Instruments. Texas Instruments' LM4F230H5QR improves performance above 40 MHz with on-chip memory up to 40 MHz and 256 KB of single-cycle flash memory or other non-volatile memory, among other features readily available from the product datasheet. 32 KB of single-cycle serial random access memory (SRAM), internal read-only memory (ROM) with StellarisWare® software, and 2 KB of electrically erasable programmable read-only memory ( EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder inputs (QEI), and 12 analog input channels. An ARM Cortex-M4F processor core with two or more 12-bit analog-to-digital converters (ADCs). Other processors may be readily substituted, and thus the disclosure should not be limited in this context. An example of a powered surgical instrument including a primary processor and a safety processor is disclosed in U.S. Patent Application Publication No. 2015/0272574, entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL".

Safety processor 4704 is configured to implement watchdog functionality for one or more operations of powered surgical instrument 4500 . In this regard, safety processor 4704 uses a watchdog function to detect and recover from primary processor 4702 malfunctions. During normal operation, safety processor 4704 monitors primary processor 4702 for hardware failures or program errors and initiates corrective action(s). Corrective action may include placing primary processor 4702 in a safe state and restoring normal system operation. In at least one aspect, primary processor 4702 and safety processor 4704 operate in redundant mode.

Primary processor 4702 and safety processor 4704 are housed within the handle portion of powered surgical stapling and severing instrument 4500 . At least one of primary processor 4702 and safety processor 4704 communicate with shaft processor 4706 via interface 4707 . Shaft processor 4706 is configured to receive input from cartridge detection system 4709 configured to detect whether an unused staple cartridge is attached to powered surgical stapling and severing instrument 4500. .

Circuitry 4700 further includes motor 4714 operably coupled to the firing member of powered surgical stapling and severing instrument 4500 . One or more rotary position encoders 4741 may be configured to provide feedback to primary processor 4702 and/or safety processor 4704 regarding the operational status of motor 4714 . A motor driver including a metal-oxide-semiconductor field-effect transistor (MOSFET) 4711 controls the power supply from power supply 4713 to motor 4714 . MOSFET 4711 is controlled by AND logic gate 4717 . A high output of AND logic gate 4717 activates MOSFET 4711 and causes motor 4714 to run. The high output of AND logic gate 4717 is dependent on receiving inputs from primary processor 4702 and safety processor 4704, as illustrated in FIG. Primary processor 4702 and safety processor 4704 are configured to independently determine whether to allow operation of motor 4714 . In other words, primary processor 4702 and safety processor 4704 are configured to independently determine whether to allow advancement of the firing members of powered surgical stapling and severing instrument 4500 .

Both primary processor 4702 and safety processor 4704 determine to activate motor 4714. If a match occurs, AND logic gate 4717 produces a high output to activate MOSFET 4711, thereby activating motor 4714. and then allow the firing member to advance to fire powered surgical stapling and severing instrument 4500 . However, a discrepancy occurs where only one of primary processor 4702 and safety processor 4704 determines to activate motor 4714, while the other of primary processor 4702 and safety processor 4704 determines not to activate motor 4714. If so, AND logic gate 4717 does not produce a high output, then MOSFET 4711 remains disabled.

In addition to the above, the determination as to whether to activate motor 4714 is made, at least in part, via interface 4707 as to whether an unused staple cartridge is attached to powered surgical stapling and severing instrument 4500. It relies at least in part on information communicated to primary processor 4702 and/or safety processor 4704 over time. Cartridge detection system 4709 determines, among other things, whether an unused staple cartridge is attached to powered surgical stapling and severing instrument 4500, as described in greater detail elsewhere herein. can be used for

79A and 79B, translatable staple firing member 4460 of stapling assembly 4400 of powered surgical stapling and severing instrument 4500 has a proximal position, an unfired or initiated position, a distal position, It is movable along staple firing path 4463 between a firing position or an end position. For example, detectable magnetic element 4461 is attached to staple firing member 4460 that travels along, or at least substantially along, staple firing path 4463 . In at least one instance, magnetic element 4461 is a permanent magnet made of, for example, iron, nickel, and/or other suitable material. Cartridge detection system 4709 includes a first, or proximal, sensor 4401 ′ and a second, or distal sensor 4401 , which direct magnetic element 4461 along with staple firing member 4460 along the staple firing path. It is configured to detect movement along 4463. First sensor 4401' and second sensor 4401 each comprise a Hall effect sensor, but sensors 4401' and 4401 may comprise any suitable sensor. Sensors 4401' and 4401 output voltages that vary according to their corresponding distances from magnetic element 4461 (lower distances output higher voltages, greater distances output lower voltages).

In addition to the above, cartridge detection system 4709 includes, among other things, sensor circuitry 4708 including voltage source 4403 in communication with sensors 4401' and 4401 that provides power to sensors 4401' and 4401, for example. The sensor circuit 4708 further comprises a first switch 4405' in communication with the first sensor 4401' and a second switch 4405 in communication with the second sensor 4401'. In at least one instance, switches 4401' and 4401 each comprise a transistor, eg, a FET. The outputs of sensors 4401', 4401 are connected to the center (gate) terminals of switches 4405', 4405, respectively. Prior to the firing stroke of staple firing member 4460, the output voltages from sensors 4401', 4401 are high such that first switch 4405' and second switch 4405 are in a closed state.

When the magnetic element 4461 passes near the first sensor 4401', the voltage output of the first sensor 4401' is sufficient to cause the first switch to change between closed and open states. Similarly, the voltage output of second sensor 4401 is sufficient to cause second switch 4405 to change between a closed state and an open state when magnetic element 4461 passes near second sensor 4401 . be. Ground potential is applied to operational amplifier circuit 4406 when both switches 4405' and 4405 are open. Operational amplifier circuit 4406 is in signal communication with an input channel of processor 4706 of the motor controller such that processor 4706 receives a ground signal from circuit 4406 when ground potential is applied to operational amplifier circuit 4406 .

When the processor 4706 receives a ground signal from the circuit 4406, the processor 4706 can determine that the staple firing stroke has been completed and that the staple cartridge positioned within the stapling assembly 4400 has been fully used. can. Other embodiments are envisioned in which the sensor system is configured to detect a partial firing stroke of staple firing member 4460 and provide a signal to processor 4706 indicating that the staple cartridge is at least partially exhausted. . In either case, the motor controller may be configured to prevent staple firing member 4460 from making another firing stroke until the staple cartridge is replaced with an unused cartridge. In at least one example, further to the above, the sensor system detects whether a used cartridge has been removed from the stapling assembly and/or whether an unused cartridge has been assembled to the stapling assembly. a sensor configured to.

Further to the above, the sensor system can be configured to detect whether staple firing member 4460 has been retracted along retraction path 4462 . In at least one example, magnetic element 4461 may be detected by sensor 4401 when magnetic element 4461 retracts along path 4462 and causes second switch 4405 to change back to the closed state. Similarly, when magnetic element 4461 retracts along path 4463 and causes first switch 4405' to change back to the closed state, magnetic element 4461 can be detected by sensor 4401'. By closing switches 4405 and 4405', the voltage polarity from battery 4403 is applied to circuit 4406 so that processor 4706 receives the Vcc signal from circuit 4406 on its input channel.

In addition to the above, cartridge detection system 4709 includes cartridge circuitry 4724 . Cartridge circuit 4624 is similar in many respects to cartridge circuit 4024 (FIG. 59). For example, cartridge circuit 4724 includes a trace element 4734 that transitions between a cut state, in which the staple cartridge has been used, and an intact state, in which the staple cartridge has not been used. As illustrated in FIG. 79, a trace element 4734 is positioned in parallel with a first resistive element 4737 and in series with a second resistive element 4737' to prevent failure of the sensor or interruption of its circuit. Ensure detection is not simply lack of signal output. One or more sensors, including but not limited to voltage and/or current sensors, are used to detect transitions between the current state and/or disconnected state and the intact state. obtain.

As illustrated in FIG. 79, precision communication between processors 4702, 4704 and 4706 is attached to data communication to detect fortuitous changes in the communicated data that may occur during data transmission. This may be ensured using a security code such as a cyclic redundancy check (CRC), which is an error detection code. Blocks of data entering these systems get attached short test values based on the remainder of the polynomial division of their contents. In a particular case, two parameter sets with separate CRCs are loaded into the shaft processor 4706, one normal and the other with parameters such as, for example, a STOP command and a 0 mm traverse length.

In at least one instance, primary processor 4702 tracks the state of trace element 4734 via shared universal asynchronous receiver/transmitter (UART) pins, and the position of motor 4714 via rotary position encoder 4741, for example. do. Primary processor 4702 may be configured to prevent motor 4714 from operating if primary processor 4702 detects that trace element 4734 has been disconnected.

In various instances, primary processor 4702 and/or safety processor 4704 determine that if movement of the firing member is detected by proximal sensor 4401' after a cut condition of tracing element 4734 is detected, as described above, It can be configured to prevent the motor 4714 from operating. Detecting the movement of the firing member and the cut condition of the trace element 4734 may be performed by the cartridge detection system 4709, as described above. Shaft processor 4706 may be configured to send a STOP command to primary processor 4702 and/or safety processor 4704 when a disconnected condition of trace element 4734 is detected. Communications between shaft processor 4706, primary processor 4702, and/or safety processor 4704 may be, for example, CRC communications. In various instances, safety processor 4704 is configured to monitor STOP commands and enter sleep mode once a STOP command is received. In various instances, safety processor 4704 is configured to stop motor 4714 if the calculated CRC calculated from the received data does not match the received CRC. A CRC verification module may be used by secure processor 4704 to calculate a CRC from the received data and compare the calculated CRC to the received CRC.

In various instances, primary processor 4702, safety processor 4704, and/or shaft processor 4706 may comprise a security code generator module and/or a security code verification module. A security code may be generated by CHECK-SUM, HASH, or other suitable protocol. A security code generation module and/or a security code verification module may be implemented in hardware, firmware, software, or any combination thereof. Ensuring the validity of communications between primary processor 4702, safety processor 4704, and/or shaft processor 4706 is important because bodily fluids can interfere with signals communicated between such processors.

As noted above, shaft processor 4706 may be configured to send a STOP command to primary processor 4702 and/or safety processor 4704 via CRC communications. In one example, shaft processor 4706 includes a security code generator configured, for example, to generate a security code and append the security code to a STOP command sent to primary processor 4702 . Primary processor 4702 includes a security code verification module configured to verify the integrity of transmissions received from shaft processor 4706 . The security code verification module is configured to calculate a security code based on the received STOP command data and compare the calculated security code with the security code received along with the STOP command data. If primary processor 4702 affirms the integrity of the received message, primary processor 4702 may initiate halt mode 4688, for example.

In certain instances, safety processor 4704 may be tasked with ensuring the integrity of messages sent to primary processor 4702 . In one example, safety processor 4704 includes a security code verification module configured to verify the integrity of message transmissions from shaft processor 4706 . A security code verification module of the secure processor 4704 is configured to calculate a security code based on the received STOP command data and compare the calculated security code to the security code received along with the STOP command data. If safety processor 4704 affirms the integrity of the received message, safety processor 4704 may, for example, activate halt mode 4688 (FIG. 86).

Referring now to FIG. 83, circuitry 4600 is configured to control a powered surgical instrument, such as surgical instrument 4500 illustrated in FIG. Circuitry 4600 is configured to control one or more operations of powered surgical instrument 4500 . Circuitry 4600 includes a safety processor 4604 and a main or primary processor 4602, which are similar in many respects to safety processor 4704 and primary processor 4702, respectively. Safety processor 4604 and/or primary processor 4602 are configured to interact with one or more additional circuit elements to control operation of powered surgical instrument 4500 . Primary processor 4602 includes multiple inputs coupled to one or more circuit elements. Circuit 4600 may be a segmentation circuit. In various instances, segmentation circuitry 4600 may be implemented by any suitable circuitry, such as a printed circuit board assembly (PCBA) within powered surgical instrument 4500 .

Circuit 4600 includes a feedback element in the form of display 4609 . Display 4609 comprises a display connector coupled to primary processor 4602 . A display connector couples primary processor 4602 to display 4609 via one or more display driver integrated circuits. A display driver integrated circuit may be integrated with the display 4609 and/or may be located separately from the display 4609 . Display 4609 may include any suitable display, such as an organic light-emitting diode (OLED) display, a liquid-crystal display (LCD), and/or any other suitable display. . In some embodiments, display 4609 is coupled to safety processor 4604 . Additionally, circuit 4600 may further comprise one or more user controls 4611, for example.

Safety processor 4604 is configured to implement watchdog functionality for one or more operations of powered surgical instrument 4500 . In this regard, safety processor 4604 uses a watchdog function to detect and recover from primary processor 4602 malfunctions. During normal operation, safety processor 4604 is configured to monitor primary processor 4602 for hardware failures or program errors and initiate corrective action(s). Corrective action may include placing primary processor 4602 in a safe state and restoring normal system operation.

In at least one aspect, primary processor 4602 and safety processor 4604 operate in redundant mode. Primary processor 4602 and safety processor 4604 are coupled to at least the first sensor. A first sensor measures a first characteristic of surgical instrument 4500 . Primary processor 4602 is configured to determine an output based on the measured first characteristic of surgical instrument 4500 and compare the output to a predetermined value. Similarly, safety processor 4604 is configured to separately determine an output based on the measured first characteristic of surgical instrument 4500 and compare the output to the same predetermined value. Safety processor 4604 and primary processor 4602 are configured to provide signals indicative of the values of their determined outputs. When either safety processor 4604 or primary processor 4602 indicate values that are out of tolerance, appropriate safety measures may be initiated. In certain instances, primary processor 4602 and safety processor 4604 receive their inputs from separate sensors configured to separately measure the first characteristic of surgical instrument 4500 . In certain instances, when at least one of safety processor 4604 and primary processor 4602 indicate values within acceptable limits, surgical instrument 4500 is allowed to continue in a normal mode of operation. For example, firing system 4056 may be allowed to complete the firing stroke of surgical instrument 4500 when at least one of safety processor 4604 and primary processor 4602 indicate values within an acceptable range. In such instances, discrepancies between values or results determined by safety processor 4604 and primary processor 4602 may be due to, for example, faulty sensors or computational errors.

As illustrated in FIG. 83, linear position encoders 4640 and 4641 are coupled to primary processor 4602 and safety processor 4604, respectively. Position encoder 4640 provides velocity and position information regarding the firing member of powered surgical instrument 4500 to primary processor 4602 via analog-to-digital converter 4623a (ADC). Similarly, position encoder 4640 provides velocity and position information regarding the firing member of powered surgical instrument 4500 to safety processor 4604 via a separate analog-to-digital converter 4623b (ADC). Primary processor 4602 and safety processor 4604 are configured to execute algorithms to calculate acceleration of at least one of the projectile members based on information derived from linear position encoders 4640 and 4641 . Acceleration of the firing member may be determined based on the following equation.

式中、ａは、発射部材の現在の加速度であり、ｖ_２は、時間ｔ_２で記録された発射部材の現在の速度であり、ｖ_１は、前回の時間ｔ_１での発射部材の前回の速度である。

where _a is the current acceleration of the projectile member, _v2 is the current velocity of the projectile member recorded at _time t2, and _v1 is the previous velocity of the projectile member at time t1. is the speed of

Acceleration of the firing member may also be determined based on the following equation.

式中、ａは、発射部材の現在の加速度であり、ｄ_２は、時間ｔ_２の間に初期位置と現在位置との間で発射部材によって移動された距離であり、ｄ_１は、時間ｔ_１の間に初期位置と前回の位置との間で発射部材によって移動された距離である。

where _a is the current acceleration of the projectile member, d2 is the distance traveled by the projectile member between the initial position and the current position during time t2, and d1 is the _{time t} is the distance traveled by the firing member between the initial position and the previous position during ₁ ;

Primary processor 4602 is further configured, for example, to compare the determined acceleration value to a predetermined threshold acceleration that may be stored within a memory unit in communication with primary processor 4602 . Similarly, safety processor 4604 is configured to compare the determined acceleration value to a predetermined threshold acceleration, which may be stored within a memory unit in communication with safety processor 4604, for example. If primary processor 4602 and/or safety processor 4604 determine that the determined acceleration value exceeds a predetermined threshold acceleration, for example, remove power to motor 4514 and/or reset firing system 4056 Appropriate safety measures can be taken, such as Alternatively, in certain cases, surgical instrument 4500 is allowed to continue in normal operating mode when at least one of safety processor 4604 and primary processor 4602 indicates an acceptable acceleration value. For example, firing system 4056 may be enabled to complete the firing stroke of surgical instrument 4500 when at least one of safety processor 4604 and primary processor 4602 reports acceptable acceleration. In such instances, discrepancies between values or results determined by safety processor 4604 and primary processor 4602 may be due to, for example, faulty sensors or computational errors.

As noted above, primary processor 4602 and safety processor 4604 are further configured to compare the determined acceleration value to a predetermined threshold acceleration, which may be stored in a memory unit, for example. A threshold acceleration may be determined from a threshold force corresponding to a failure load of the lockout mechanism of launch system 4056 . In a particular case, the fault load is known to be approximately 100 lbf. In such cases, Newton's second law of motion can be used to determine the corresponding threshold acceleration based on the following equation.
F = m x a
where F is the threshold force and m is the mass exerting the force.

Acceleration of the firing members of firing system 4056 can also be evaluated by tracking the current drawn by motor 4514 during the firing stroke. The load on the firing member driven by motor 4514 through the firing stroke is directly related to the current drawn by motor 4514 . Accordingly, the load experienced by the firing member can be assessed by measuring the current drawn by motor 4514 during the firing stroke. Newton's second law of motion is used to calculate the acceleration of the firing member based on the load experienced by the firing member, which can be evaluated by tracking the current drawn by the motor 4514 during the firing stroke. obtain.

As illustrated in FIG. 84A, sensor 4617 may be coupled to motor control circuit 4619 to measure the current drawn by motor 4514 during the firing stroke. In at least one instance, sensor 4617 can be, for example, a current sensor or a Hall effect sensor. Sensor 4617 readings may be amplified using buffer amplifier 4625, digitized using ADC 4623, and sent to primary processor 4602 (FIG. 83) and safety processor 4604 (FIG. 83), where primary processor 4602 and safety processor 4604 is configured to determine the corresponding load on the firing member and execute an algorithm to determine acceleration of the firing member based on Newton's second law of motion.

Referring to FIG. 84A, sensor 4617 may be coupled to motor control circuit 4619 to measure the current drawn by motor 4514 during the firing stroke. During normal operation of motor 4514, sensor 4617 readings are expected to be within a normal predetermined range. As illustrated in FIG. 84B, the normal range may have a minimum threshold of approximately 0.5A and a maximum threshold of approximately 5.0A, for example. A sensor reading above the maximum threshold or above zero but below the minimum threshold may indicate a sensor 4617 failure. The maximum threshold can be any value selected from a range from, for example, about 4.0A to, for example, 6.0A. The minimum threshold can be any value selected from a range of, for example, about 0.4A to, for example, 0.6A.

As described above, sensor 4617 readings may be amplified using buffer amplifier 4625, digitized using ADC 4623, and sent to primary processor 4602, which processes sensor 4617 readings is within a predetermined normal range. Appropriate safety measures may be taken by primary processor 4602 if the sensor 4617 reading is determined to be outside the predetermined normal range. In one example, primary processor 4602 may allow completion of the firing stroke in safe mode, as abnormal motor current readings are likely due to faulty sensor 4617 . In another example, the primary processor may cut power to motor 4514 and alert the user to utilize the mechanical emergency response mechanism. Primary processor 4602 may alert the user via display 4058 to contact service to replace faulty sensor 4617 . Primary processor 4602 may provide instructions regarding procedures for replacing faulty sensor 4617 .

In certain instances, safety processor 4604 receives readings from another sensor, independent of sensor 4617, configured to separately measure the current drawn by motor 4514 during the firing stroke. may be configured. Similar to primary processor 4602, safety processor 4604 may be configured to run an algorithm to determine if the reading of the other sensor is within a predetermined normal range. If at least one of primary processor 4602 and secondary processor 4604 determines that the current drawn by motor 4514 is within a predetermined normal range, motor 4514 is allowed to complete the firing stroke. . In such cases, discrepancies between the values or results determined by safety processor 4604 and primary processor 4602 are due, for example, to faulty sensors or computational errors.

In certain cases, primary processor 4602 and safety processor 4604 may be configured to track or determine the acceleration of at least one of the firing members of firing system 4056 using different techniques. If at least one of primary processor 4602 and safety processor 4604 determines that the acceleration of the firing member is within the normal range, the firing member is allowed to complete the firing stroke. Discrepancies between acceleration values determined by safety processor 4604 and primary processor 4602 may be due to faulty sensors or computational errors. This confirms unnecessary interruptions of launch system 4056 due to faulty sensors or computational errors.

In one example, primary processor 4602 may be configured to determine or track acceleration of firing members of firing system 4056 using the first technique. For example, primary processor 4602 may be configured to determine or track acceleration of the firing member by measuring current drawn by motor 4514 using sensor 4617 . Primary processor 4602 may then execute an algorithm to calculate the acceleration of at least one of the firing members based on inputs from sensors 4617, as described above. On the other hand, safety processor 4604 may be configured to determine or track acceleration of the firing member using a second technique that is different than the first technique. For example, the safety processor 4604 can be configured to determine or track the same acceleration of the firing member by using a position encoder 4640 that detects the position of the firing member during the firing stroke. Safety processor 4604 may execute an algorithm to calculate acceleration of at least one of the firing members based on inputs from position encoder 4640, as described above. The calculated acceleration can be compared to a predetermined normal range. In this case, primary processor 4602 and safety processor 4604 agree that their respective acceleration values are within normal ranges and the firing member is allowed to complete the firing stroke. However, if primary processor 4602 and safety processor 4604 agree that their respective acceleration values are outside the normal range, appropriate safety measures may be taken by primary processor 4602, eg, as described above. If there is a discrepancy between the results determined by primary processor 4602 and safety processor 4604 regarding firing member acceleration, the firing member is allowed to complete the firing stroke.

Firing powered surgical cutting and stapling instrument 4500 consists of the mechanical components in which the firing trigger is depressed by the user, and the motor control circuit 4515 from an open configuration to a closed configuration when the firing trigger is depressed by the user. and an electrical component through which current flows through the motor 4514 in response to the transition to . The trigger sensing control circuit 4627 (FIG. 84A) of the powered surgical cutting and stapling instrument 4500 includes a firing trigger Hall effect sensor 4629 configured to detect the transition of the firing trigger 4550 between the open and closed configurations. include. Additionally, trigger sense control circuit 4627 also includes a verification trigger Hall effect sensor 4631 configured to detect the current drawn by motor 4514 when the firing trigger is transitioned to the closed configuration. Sensors 4629 and 4631 are in signal communication with primary processor 4602 and/or safety processor 4604 . Sensor 4629 and 4631 readings are amplified using buffer amplifier 4625, digitized using ADC 4623, and sent to primary processor 4602 and/or safety processor 4604 for analysis and comparison.

During normal operation, the transmitted readings of sensors 4629 and 4631 provide redundant assurance that the mechanical and electrical components involved in firing powered surgical cutting and stapling instrument 4500 are functioning properly. Provided to primary processor 4602 . If sensor 4629 indicates that the firing trigger is being squeezed while sensor 4631 indicates that current is not being drawn by motor 4514, primary processor 4602 determines that sensor 4631 is functioning properly. It can be determined that there is no If sensor 4629 indicates that the fire trigger is being squeezed while sensor 4631 indicates that current is being drawn by motor 4514, primary processor 4602 determines that sensor 4629 is not functioning properly. can judge. In one aspect, primary processor 4602 may allow completion of the firing stroke in safe mode as the discrepancy is due to a faulty sensor. In another example, the primary processor may remove power from the motor 4514 and alert the user to utilize a mechanical emergency response mechanism, for example. Primary processor 4602 may alert the user via display 4058 to contact service to replace the faulty sensor. Primary processor 4602 may provide instructions regarding procedures for replacing faulty sensors.

As illustrated in FIG. 83, primary processor 4602 and/or safety processor 4604 are in signal communication with one or more linear position encoders 4640 and/or one or more rotary position encoders 4641 . Rotational position encoder 4641 is configured to identify the rotational position and/or velocity of motor 4514 . Additionally, linear position encoder 4640 is configured to identify the position and/or velocity of the firing member driven by motor 4514 during the firing stroke of surgical cutting and stapling instrument 4500 .

During normal operation, the readings of the rotary position encoder 4641 are correlated with the readings of the linear position encoder 4640 . This is because the motor 4514 is operably coupled to the firing member such that rotation of the motor 4514 advances the firing member during the firing stroke. The readings of the rotary position encoder 4641 may not correlate with the readings of the linear position encoder 4640 if the advancing velocity of the firing member, as measured by the linear position encoder 4640, is outside the tolerance band. Appropriate safety measures may be initiated by primary processor 4602 and/or safety processor 4604 upon detecting a loss of correlation between the readings of rotary position encoder 4641 and linear position encoder 4640 .

In various instances, an input member, such as, for example, a sensor or switch, is positioned in parallel with a first resistive element and in series with a second resistive element to detect failure of the sensor or interruption of its circuit. does not simply cause lack of signal output. Referring to FIG. 85, an electrical circuit 4650 includes a start-of-stroke switch 4652 positioned in parallel with a first resistive element 4654 and in series with a second resistive element 4656 . In addition, the electrical circuit 4650 includes an end-of-stroke switch 4662 positioned in parallel with the first resistive element 4664 and in series with the second resistive element 4666 . Examples of stroke start and end switches are found in US Pat. ”.

Electrical circuit 4650 also includes a voltage source 4660 that provides an input voltage of, for example, 5 volts. As illustrated in FIG. 85, output voltages 4659 and 4669 may be processed by buffer amplifiers 4625 and ADCs 4623 to produce digital outputs that may be communicated to primary processor 4602 . Primary processor 4602 is configured to execute algorithms that evaluate one or more states of circuit 4650 based on the received digital output. If output voltage 4659 is equal to the input voltage of voltage source 4660, primary processor 4602 determines that connecting wire 4658 is disconnected. If output voltage 4659 is equal to half the input voltage of voltage source 4660, primary processor 4602 determines that connecting wire 4658 is connected but start-of-stroke switch 4652 is in the open configuration. When the output voltage 4659 is equal to one-third the input voltage of the voltage source 4660, the primary processor 4602 determines that the connecting wire 4658 is connected and the start-of-stroke switch 4652 is in the closed configuration. If output voltage 4659 is equal to zero, primary processor 4602 determines that circuit 4650 has a short circuit. In certain instances, determining the output voltage 4659 equal to zero indicates an end-of-stroke switch 4652 failure. In certain instances, determining that the output voltage 4659 is equal to the input voltage indicates an end-of-stroke switch 4652 failure.

If output voltage 4669 is equal to the input voltage of voltage source 4660, primary processor 4602 determines that connecting wire 4668 is disconnected. If output voltage 4669 is equal to half the input voltage of voltage source 4660, primary processor 4602 determines that connecting wire 4668 is connected but end-of-stroke switch 4662 is in the open configuration. If output voltage 4669 is equal to one-third the input voltage of voltage source 4660, primary processor 4602 determines that connecting wire 4668 is connected and end-of-stroke switch 4662 is in the closed configuration. If output voltage 4669 is equal to zero, primary processor 4602 determines that circuit 4650 has a short circuit. In certain instances, determining output voltage 4669 equal to zero indicates a failure of end-of-stroke switch 4662 . In certain instances, determining that the output voltage 4669 is equal to the input voltage indicates an end-of-stroke switch 4662 failure.

86, powered surgical stapling and severing instrument 4500 responds to inputs from, or lack thereof, the above-described position encoders, sensors, and/or switches of surgical stapling and severing instrument 4500. A fault response system 4681 may be provided that includes several modes of operation that may be selectively engaged. As illustrated in FIG. 86, if the reading of sensor 4617 representing the current drawn by motor 4514 exceeds a predetermined normal range, warning mode 4682 is activated. Warning mode 4682 is also activated if a failure of at least one of start-of-stroke switch 4652 and end-of-stroke switch 4662 is detected.

Warning mode 4682 is limited to providing warnings to the user of powered surgical cutting and stapling instrument 4500 without taking additional steps to stop or modify firing stroke progression or parameters. Warning mode 4682 is activated in situations where it is not necessary to abort the firing stroke. For example, warning mode 4682 is activated when a detected error is attributed to a faulty sensor or switch. Alert mode 4682 uses user interface 4058 to deliver visual, audible, and/or tactile alerts.

Powered surgical cutting and stapling instrument 4500 further includes an alert/backup system mode 4680 . The warning/backup system mode 4680 is activated if the linear position encoder 4640 reading does not correlate with the rotary position encoder 4641 reading. Similar to alert mode 4682, alert/backup system mode 4680 uses user interface 4058 to deliver visual, audible, and/or tactile alerts. Additionally, the alert/backup system mode 4680 activates the backup system. During normal operation, normal mode 4684 employs a primary system including primary sensors and primary control means. However, if an error is detected warranting activation of the warning/backup system mode 4680, a backup system, including secondary sensors and/or secondary control means, is used in place of the primary system.

In addition to the above, powered surgical cutting and stapling instrument 4500 also operates when (i) linear position encoder 4640 readings do not correlate with rotary position encoder 4641 readings and (ii) stroke start switch 4652 and Also included is a limp mode 4686, which is a failure response mode or state triggered when a failure of at least one of the end-of-stroke switches 4662 is detected. Similar to alert mode 4682, limp mode 4686 employs user interface 4058 to deliver visual, audible, and/or tactile alerts. Additionally, the limp mode 4686 slows down the progress of the firing stroke.

In certain instances, limp mode 4686 may reduce the current rotational speed of motor 4514 by any percentage selected from a range of about 75% to about 25%. In one example, limp mode 4686 may reduce the current rotational speed of motor 4514 by 50%. In one example, limp mode 4686 may reduce the current rotational speed of motor 4514 by 75%. Limp mode 4686 may reduce the current torque of motor 4514 by any percentage selected from the range of about 75% to about 25%. In one example, limp mode 4686 may reduce the current torque of motor 4514 by 50%.

In addition to the above, powered surgical cutting and stapling instrument 4500 also operates (i) if linear position encoder 4640 readings do not correlate with rotary position encoder 4641 readings, (ii) stroke start switch 4652 and stroke and (iii) the sensor 4617 reading representing the current drawn by the motor 4514 exceeds a predetermined normal range. It also includes a stop mode 4688 which is a fault response mode or state. Similar to alert mode 4682, stop mode 4688 uses user interface 4058 to deliver visual, audible, and/or tactile alerts. Additionally, when activated, the stop mode 4688 disables or stops the motor 4514, leaving only the mechanical emergency response system available for use to retract the firing member to the start position. Stop mode 4688 provides the user with instructions for operating the emergency response system using user interface 4058 . Examples of suitable emergency response systems are disclosed in U.S. Patent Application Publication No. 2015/0272569, filed March 26, 2014, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS”.

The above-identified mode of operation of powered surgical stapling and severing instrument 4500 allows the powered surgical stapling and severing instrument to operate even if some of the inputs, switches, and/or sensors fail the integrity check. Create redundant electronic control paths to allow 4500 operation. For example, as illustrated in FIG. 86, triggering limp mode 4686 requires detecting two independent and distinct faults, and triggering stop mode 4688 requires three independent and distinct It is necessary to detect faults. However, a single failure will only trigger warning mode 4682 . In other words, fault response system 4681 of powered surgical stapling and severing instrument 4500 is configured to escalate to a safer mode of operation in response to escalating detected faults.

Fault response system 4681 may be implemented using integrated and/or discrete hardware elements, software elements, and/or a combination of both. Examples of integrated hardware elements include processors, microprocessors, controllers, integrated circuits, application specific integrated circuits (ASICs), programmable logic devices (PLDs), digital signal processors (DSPs), field programmable gate arrays (FPGAs). , logic gates, registers, semiconductor devices, chips, microchips, chipsets, microcontrollers, system-on-chip (SoC), and/or system-in-package (SIP). Examples of individual hardware elements can include circuits and/or circuit elements (eg, logic gates, field effect transistors, bipolar transistors, resistors, capacitors, inductors, relays, etc.). In other embodiments, one or more controllers of the present disclosure may include hybrid circuits, including, for example, discrete and integrated circuit elements or components on one or more substrates. .

In at least one instance, the fault response system 4681 may be implemented by circuitry including a controller comprising one or more processors (e.g., microprocessors, microcontrollers) coupled to at least one memory circuit. At least one memory circuit stores machine-executable instructions that, when executed by the processor, cause the processor to execute machine instructions that implement one or more of the functions performed by fault response system 4681. do. The processor may be any one of numerous single or multi-core processors known in the art. Memory circuits may include volatile and non-volatile storage media. A processor may include an instruction processing unit and an arithmetic unit. The instruction processing unit may be configured to receive instructions from one memory circuit.

In at least one aspect, fault response system 4681 may comprise a finite state machine comprising combinatorial logic configured to implement one or more of the functions that implemented fault response system 4681 . In one embodiment, fault response system 4681 may comprise a finite state machine containing sequential logic. Sequential logic may include, for example, combinational logic and at least one memory circuit. At least one memory circuit may store the current state of the finite state machine. Sequential or combinatorial logic may be configured to implement one or more of the functions performed by one or more controllers of this disclosure, such as controllers, for example. In certain cases, sequential logic circuits may be synchronous or asynchronous.

In at least one aspect, as illustrated in FIG. 86, fault response system 4681 is implemented, at least in part, using a number of logic gates. Logic circuit 4691 may be configured to deliver a binary input to AND logic gate 4690 as to whether the linear position encoder 4640 reading correlates with the rotary position encoder 4641 reading. The second input of AND gate 4690 is delivered through an OR logic gate 4692 which receives inputs from start-of-stroke switch 4652 and end-of-stroke switch 4662 . OR logic gate 4692 delivers a high output to AND logic gate 4690 if a failure in at least one of start-of-stroke switch 4652 and end-of-stroke switch 4662 is detected. If logic circuit 4691 and OR logic gate 4692 deliver a high output to AND logic gate 4690 , AND logic circuit 4690 delivers a high output which activates limp mode 4686 .

In addition to the above, a logic inverting gate or NOT logic gate 4694 maintains normal mode 4684 in the absence of a high output from AND logic gate 4690 . AND gate 4696 activates stop mode 4688 upon receiving a high output from AND logic gate 4690 and a high output from a logic circuit 4698 configured to monitor the current drawn by motor 4514. responsible for making Logic circuit 4698 receives sensor 4617 readings representative of the current drawn by motor 4514 and delivers a high output indicating sensor failure when such readings exceed a predetermined normal range. configured to OR logic gate 4699 is configured to activate warning mode 4682 upon receiving a high output from one of logic circuit 4698 and OR logic gate 4692 .

Referring to Fig. 87, an alternate embodiment of fault response system 4681' is illustrated. Fault response system 4681 ′ is similar in many respects to fault response system 4681 and includes normal mode 4684 , limp mode 4686 and shutdown mode 4688 . Fault response system 4681' includes AND logic gate 4690, OR logic gate 4692, and AND logic gate 4674. Logic circuit 4670 , which may be configured to implement a decision block, is configured to receive inputs from AND logic gate 4690 . Logic circuit 4670 is configured to activate limp mode 4686 if logic circuit 4670 receives a positive input from AND logic gate 4690 . However, if logic circuit 4670 does not receive a positive input from AND logic gate 4690, normal mode 4684 remains in effect.

In addition to the above, fault response system 4681' includes a second logic circuit 4672 that may be configured to implement a decision block. Second logic circuit 4672 is configured to receive an input from AND logic gate 4674 . AND logic gate 4674 provides a positive output if limp mode 4686 is enabled and logic circuit 4698 determines that the reading of sensor 4617 representing current drawn by motor 4514 is outside a predetermined normal range. to deliver. However, if AND logic gate 4674 does not deliver an output to logic circuit 4672, limp mode 4686 remains in effect.

Referring to FIG. 88, fault response system 5001 is similar in many respects to fault response system 4681 and includes limp mode 4686 and halt mode 4688 . The fault response system 5001 responds by (i) when the trigger detection control circuit 4627 determines that the firing trigger Hall sensor 4629 and verification trigger Hall effect sensor 4631 readings are not correlated, and (ii) (a) the start of stroke switch. 4652 is in the closed configuration (FIG. 85), or (ii)(b) if the linear position encoder 4640 reading does not correlate with the rotary position encoder 4641 reading, then the powered surgical stapling and severing instrument 4500 is limped. It is configured to transition from mode 4686 to stop mode 4688 .

As illustrated in FIG. 88, fault response system 5001 includes an OR logic gate configured to receive a positive input 5008 if linear position encoder 4640 readings do not correlate with rotary position encoder 4641 readings. include. OR logic gate 5004 is also configured to receive a positive input 5006 from electrical circuit 4650 (FIG. 85) when starting stroke switch 4652 is in the closed configuration. Fault response system 5001 is configured to receive positive input 5012 from trigger detection control circuit 4627 when trigger detection control circuit 4627 determines that the readings of firing trigger Hall sensor 4629 and verification trigger Hall effect sensor 4631 are not correlated. It further includes an AND logic gate 5010 configured. OR logic gate 5004 is configured to deliver a positive input to AND logic gate 5010 in response to receiving one of inputs 5006 and 5008 .

Fault response system 5001 further includes logic circuitry 5002 configured to implement a decision block. Logic circuit 5002 is configured to maintain limp mode 4686 in the absence of the positive output of AND logic gate 5010 . Logic circuit 5002 is further configured to transition from limp mode 4686 to halt mode 4688 upon the presence of a positive output from logic gate 5010 .

Referring to FIG. 89, an alternate embodiment of fault response system 5021 is illustrated. Fault response system 5021 is similar in many respects to fault response system 4681 and includes normal mode 4684 and shutdown mode 4688 . Fault response system 5021 is configured to maintain powered surgical stapling and severing instrument 4500 in normal mode 4684 until three separate faults are detected, as described in more detail below. Upon detecting such a fault, fault response system 5021 activates shutdown mode 4688 .

In addition to the above, fault response system 5021 includes AND logic gate 5024 , OR logic gate 5026 , and AND logic gate 5028 . Logic circuit 5022 , which may be configured to implement a decision block, is configured to receive inputs from AND logic gate 5024 . Logic circuit 5022 is configured to activate stop mode 4688 if logic circuit 5022 receives a positive input from AND logic gate 5024 . However, if logic circuit 5024 does not receive a positive input from AND logic gate 5024, normal mode 4684 remains in effect.

As illustrated in FIG. 89, AND logic gate 5024 is coupled to logic circuit 4691, which determines whether linear position encoder 4640 readings correlate with rotary position encoder 4641 readings. It can be configured to deliver binary inputs to AND logic gate 5024 . A second input of AND gate 5024 is delivered through AND logic gate 5026 which is coupled to logic circuit 4698 . Logic circuit 4698 is configured to deliver a binary output to AND logic gate 5026 as to whether the reading of sensor 4617 representing the current drawn by motor 4514 exceeds a predetermined normal range. The second input of AND gate 5026 is delivered through OR logic gate 5028 which receives inputs from start of stroke switch 4652 and end of stroke switch 4662 . If a failure in at least one of start-of-stroke switch 4652 and end-of-stroke switch 4662 is detected, OR logic gate 5028 delivers a high output to AND logic gate 4690 .

Thus, fault response system 5021 protects against malfunctions based on sensor and/or switch errors by requiring multiple sensor and/or switch errors to be detected before initiating shutdown mode 4688 . This ensures that a single point of failure, such as sensor and/or switch failure, does not render powered surgical stapling and severing instrument 4500 inoperable by itself. The fault response system 5021 requires multiple inputs to indicate a fault before activating the shutdown mode 4688. For example, when one fault is reported, such as lack of correlation between linear position encoder 4640 and rotary position encoder 4641 readings, fault response system 5021 , for example, motor current inputs, inputs from start-of-stroke switch 4652, and inputs from end-of-stroke switch 4662, or other related inputs or failures of related inputs.

In at least one instance, the first circuit and the second circuit are adapted for power surgical stapling, e.g., operating parameters associated with the performance of the firing member during the firing stroke of the power surgical stapling and cutting instrument 4500. and the operating parameters of the cutting instrument 4500 separately. In at least one instance, the second circuit output is used within the firing stroke control loop to verify against the output of the first circuit if the output of the first circuit is identified as erroneous, and/or can be used as an alternative.

For example, primary processor 4702 may be configured to track a first operating parameter by evaluating the current drawn by motor 4514 during the firing stroke, and safety processor 4704 may track the rotation of motor 4514 during the firing stroke. It may be configured to track a second operating parameter by evaluating a correlation between motion and linear motion of the firing member. Under normal operating conditions, the current drawn by the motor 4514 corresponds to the velocity of the firing member and/or falls within a normal predetermined range. Also, under normal operating conditions, the rotational motion of the motor 4514 correlates with the linear motion of the firing member. Accordingly, primary processor 4702 and safety processor 4704 separately track separate operating parameters of powered surgical stapling and severing instrument 4500 that provide feedback regarding the performance of the firing members within the control loop of the firing stroke.

Primary processor 4702 and/or safety processor 4704 may be configured to generate an output indicating whether their respective operating parameters are within normal operating conditions. In one example, the output of the safety processor 4704 is identified within the control loop of the firing stroke as indicating an erroneous evaluation of an operating parameter of the safety processor 4704 or an abnormal operating condition, while the second operating parameter indicates a normal operating condition. may be used to verify and/or as an alternative to primary processor 4702 output.

The output of primary processor 4702 and/or safety processor 4704 includes activating an operating mode of powered surgical stapling and severing instrument 4500 selected from the group comprising normal mode, warning mode, limp mode, and stop mode. obtain. In one example, the output of primary processor 4702 may include, for example, activating a failure response mode such as limp mode or halt mode, whereas if the output of safety processor 4704 includes activating/continuing a normal operating mode: Normal mode is used as an alternative to fault response mode. Accordingly, powered surgical stapling and severing instrument 4500 will continue to operate in normal mode despite errors identified based on evaluation of operating parameters tracked by primary processor 4702 .

In one example, the fault response system includes a first fault response mode when a first error is detected, a second fault response mode when a second error is detected in addition to the first error, and a second fault response mode when a second error is detected in addition to the first error. It may be configured to activate a third fault response mode if a third error is detected in addition to the one error and the second error. In at least one instance, powered surgical stapling and severing instrument 4500 remains operational in the first and second failure response modes and is disabled in the third failure response mode.

In one example, the fault response system may be configured to ramp up or magnify the fault response to accommodate escalation of detected faults. In one example, the fault response system is configured to transition from a first fault response mode to a second responsive fault response mode in response to an increase in detected errors, wherein the detected errors Including sensor failure and/or at least one switch failure. In one example, the fault response system is configured to initiate a transition from a first fault response mode to a second fault response mode in response to an increase in detected errors, the detected errors at least one measurement outside the normal range of

In one example, the fault response system is configured to initiate a first fault response mode if a first error is detected, and if a second error is detected in addition to the first error: , is configured to transition from a first failure response mode to a second failure response mode. In one example, the fault response system is configured to initiate a first fault response mode when a first plurality of errors is detected and a first mode when a second plurality of errors is detected. failure response mode to a second failure response mode, wherein the second plurality of errors is greater than the first plurality of errors, and the second plurality of errors is greater than the first plurality of errors contains errors. In one example, the second failure response mode involves more restrictions on operation of powered surgical stapling and severing instrument 4500 than the first failure response mode.

Example 1 - A surgical instrument comprising an anvil and an elongated channel, wherein at least one of the anvil and the elongated channel is movable to capture tissue between the anvil and the elongated channel . The elongated channel includes a plurality of first electrical contacts and a plurality of electrical connectors. The plurality of electrical connectors further comprising a plurality of second electrical contacts, the electrical connector being spring biased such that a gap is maintained between the first electrical contacts and the second electrical contacts. It is The surgical instrument also includes a staple cartridge releasably attachable to the elongate channel. The staple cartridge comprises a cartridge body including a plurality of staple cavities, and a plurality of staples deployable into tissue from the staple cartridge. The staple cartridge also includes a plurality of third electrical contacts such that attachment of the staple cartridge to the elongate channel moves the electrical connector to bridge the gap to the second electrical contacts and to the first electrical contacts. electrically connected to the electrical contacts;

[0043] Example 2 - The surgical instrument of Example 1, wherein the staple cartridge comprises a storage medium configured to store information regarding the staple cartridge. The storage medium is accessible by a surgical instrument via at least one of the third electrical contacts when the cartridge body is attached to the elongated channel.

Example 3 - The surgical instrument of Example 1 or 2, wherein the storage medium comprises a memory unit.

Example 4 - The surgical instrument of Example 1, 2 or 3, wherein the information includes a staple cartridge identifier.

Example 5 - The surgical instrument of Examples 1, 2, 3, or 4, wherein the information further includes the used status of the staple cartridge.

Example 6 - The surgical instrument of Example 1, 2, 3, 4 or 5, wherein the electrical connector is at least partially coated with a liquid repellent coating.

Example 7 - The surgical instrument of Examples 1, 2, 3, 4, 5 or 6, wherein the third electrical contact is at least partially coated with a liquid repellent coating.

Example 8 - The surgical application of Example 5, 6 or 7, wherein the connector comprises an abrasion mechanism configured to at least partially remove the liquid repellent coating during installation of the staple cartridge into the elongate channel instrument.

Example 9 - The surgical instrument of Example 8, wherein at least one of the wear features comprises a raised dome shape.

[00103] Example 10 - The surgical instrument of Example 1, wherein the staple cartridge comprises a cartridge state circuit portion comprising trace elements configured to break during staple deployment.

Example 11 - As described in Example 1, wherein the elongated channel comprises a compressible seal configured to resist fluid ingress between the staple cartridge and the elongated channel when the staple cartridge is attached to the elongated channel surgical instruments.

Example 12 - A staple cartridge for use with an end effector of a surgical instrument, the staple cartridge comprising a cartridge body releasably attachable to the end effector and comprising a plurality of staple cavities. The staple cartridge also includes a plurality of staples at least partially contained within the staple cavities, plus a cam member movable relative to the cartridge body from a starting position to deploy the staples from the staple cavities. Prepare. The staple cartridge further comprises an electrical circuit including a plurality of external electrical contacts configured to be electrically coupled to corresponding electrical contacts of the end effector when the cartridge body is attached to the end effector. The electrical circuit also includes a storage medium configured to store information about the staple cartridge, the storage medium being transmitted through at least one of the external electrical contacts when the cartridge body is attached to the end effector. accessible through The electrical circuit further comprises a cartridge state circuit portion including trace elements configured to be broken during movement of the cam member.

Example 13 - The staple cartridge of example 12, wherein the storage medium comprises a memory unit.

Example 14 - The staple cartridge of Example 12 or 13, wherein the information includes an identifier for the staple cartridge.

Example 15 - The staple cartridge of Example 12, 13 or 14, wherein the information includes the used state of the staple cartridge.

Example 16 - The staple cartridge of Example 12, wherein the external electrical connector is at least partially coated with a liquid repellent coating.

Example 17 - A staple cartridge for use with an end effector of a surgical instrument, the staple cartridge comprising a cartridge body releasably attachable to the end effector and comprising a plurality of staple cavities. The staple cartridge also has a plurality of staples at least partially contained within the staple cavities and is additionally movable from a starting position relative to the cartridge body to deploy the staples from the staple cavities during the firing stroke. a thread; The staple cartridge further comprises detection means for determining a used state of the staple cartridge and a storage medium configured to store the used state of the staple cartridge.

Example 18 - The staple cartridge of example 17, wherein the sensing means includes an electrical circuit configured to transition between the closed configuration and the open configuration by the sled during the firing stroke.

Example 19 - The staple cartridge of Example 17 or 18, wherein the detection means comprises a Hall effect sensor.

[00130] Example 20 - The staple cartridge of Example 17, 18, or 19, wherein the detection means comprises an electrical circuit comprising a conductive bridge configured to be severed during the firing stroke.

Example 21 - A powered surgical stapling and severing instrument comprising a staple cartridge, wherein the staple cartridge comprises a housing, a plurality of staple cavities, and a plurality of staples deployable from the staple cavities during the firing stroke A powered surgical stapling and severing instrument comprising: The staple cartridge also includes a firing member movable during a firing stroke to deploy staples from the staple cavities, and a motor operably coupled to the firing member, the motor moving from the staple cavities during the firing stroke. It is configured to generate at least one rotational motion to move the firing member to deploy the staples. The powered surgical stapling and severing instrument also generates a first operating error of the powered surgical stapling and severing instrument when the movement of the firing member and the rotational movement of the motor exceed a predetermined correlation during the firing stroke. A fault response system is provided comprising a first circuit configured to detect. The fault response system is also configured to detect a second operational error of the powered surgical stapling and severing instrument when a fault is detected in at least one of the start-of-stroke switch and the end-of-stroke switch. A second circuit is also provided. The fault response system further comprises a control circuit configured to activate the first fault response mode when the first operational error is detected, the control circuit detecting the first operational error as well as is configured to activate a second failure response mode different from the first failure response mode when a second operating error is detected in the second failure response mode.

Example 22 - The powered surgical stapling and severing instrument of Example 21, wherein the first failure response mode is an alert mode.

Example 23 - The powered surgical stapling and severing instrument of Example 21 or 22, wherein the second failure response mode is limp mode.

[00103] Example 24 - The powered surgical stapling and severing instrument of Example 21, 22, or 23, wherein the motor operates at low speed in limp mode.

Example 25—The powered surgical stapling and severing instrument of Examples 21, 22, 23, or 24, wherein the firing member is moved slowly in limp mode.

Example 26 - A third circuit configured to detect a third operating error of the powered surgical stapling and severing instrument when the current drawn by the motor during the firing stroke exceeds a predetermined range 22. The powered surgical stapling and severing instrument of example 21, further comprising:

Example 27—The control circuit switches between the first fault response mode and the second fault response mode when a third operational error is detected in addition to the detection of the first operational error and the second operational error. 27. A powered surgical stapling and severing instrument according to example 26, wherein is configured to activate a different third failure response mode.

Example 28 - The powered surgical stapling and severing instrument of Example 27, wherein the third failure response mode is more restrictive than the second failure response mode.

Example 29 - A powered surgical stapling and severing instrument comprising a staple cartridge, wherein the staple cartridge comprises a housing, a plurality of staple cavities, and a plurality of staples deployable from the staple cavities during the firing stroke A powered surgical stapling and severing instrument comprising: The staple cartridge also includes a firing member movable during a firing stroke to deploy staples from the staple cavities, and a motor operably coupled to the firing member, the motor moving from the staple cavities during the firing stroke. It is configured to generate at least one rotational motion to move the firing member to deploy the staples. The powered surgical stapling and severing instrument detects a first operational error of the powered surgical stapling and severing instrument when movement of the firing member and rotational movement of the motor exceed a predetermined correlation during the firing stroke. Further comprising a fault response system comprising a first circuit configured to: The fault response system is also configured to detect a second operational error of the powered surgical stapling and severing instrument when a fault is detected in at least one of the start-of-stroke switch and the end-of-stroke switch. A second circuit is also provided. The fault response system further comprises a controller including a memory and a storage medium containing program instructions, wherein when the program instructions are executed by the processor, if the processor detects a first operational error, activating the first fault response mode and instructing the processor to detect a second fault response mode different from the first fault response mode if a second operational error is detected in addition to the detection of the first operational error; Activate response mode.

Example 30 - The powered surgical stapling and severing instrument of Example 29, wherein the first failure response mode is an alert mode.

Example 31 - The powered surgical stapling and severing instrument of Example 29 or 30, wherein the second failure response mode is limp mode.

[00323] Example 32 - The powered surgical stapling and severing instrument of Example 29, 30, or 31, wherein the motor operates at low speed in limp mode.

Example 33—The powered surgical stapling and severing instrument of Example 29, 30, 31, or 32, wherein the firing member is moved slowly in limp mode.

Example 34 - A third circuit configured to detect a third operational error of the powered surgical stapling and severing instrument when the current drawn by the motor during the firing stroke exceeds a predetermined range The powered surgical stapling and severing instrument of example 29, further comprising:

Example 35—When the storage medium is executed by the processor, the processor detects a first failure and a third operational error in addition to detecting a first operational error and a second operational error. A powered surgical stapling and severing instrument according to example 29, including program instructions for activating a third failure response mode different from the response mode and the second failure response mode.

Example 36 - The powered surgical stapling and severing instrument of Example 35, wherein the third failure response mode is more restrictive than the second failure response mode.

Example 37 - A failure response system for use with a powered surgical stapling and severing instrument configured to deploy multiple staples into tissue during a firing stroke, wherein during the firing stroke, the surgical staples A first circuit configured to detect a first operational error of the stapling and severing instrument and a second circuit configured to detect a second operational error of the powered surgical stapling and severing instrument during the firing stroke and a second circuit, wherein the second operational error is different than the first operational error. The fault response system also includes a third circuit configured to detect a third operational error of the powered surgical stapling and severing instrument during the firing stroke, wherein the third operational error causes the first operational error to occur. It is different from an error and a second operational error. The fault response system further comprises a control circuit configured to activate the first fault response mode when the first operational error is detected, the control circuit detecting the first operational error as well as is configured to activate a second failure response mode different from the first failure response mode when a second operating error is detected in the second failure response mode. The control circuit selects a third failure response mode different from the first failure response mode and the second failure response mode when a third failure response mode is detected in addition to detection of the first failure response mode and the second failure response mode. is configured to activate the failure response mode of

[00403] Example 38 - The fault response system of example 37, wherein the first fault response mode is an alert mode.

[0043] Example 39 - The fault response system of Example 37 or 38, wherein the second fault response mode is limp mode.

[00103] Example 40 - The fault response system of Example 37, 38 or 39, wherein the third fault response mode is more restrictive than the second fault response mode.

Example 41 - A powered surgical stapling and severing instrument comprising a staple cartridge, wherein the staple cartridge comprises a housing, a plurality of staple cavities, and a plurality of staples deployable from the staple cavities during the firing stroke A powered surgical stapling and severing instrument comprising: The staple cartridge also includes a firing member movable during the firing stroke to deploy staples from the staple cavities, and a motor operably coupled to the firing member. A motor is configured to generate at least one rotational motion to move the firing member to deploy staples from the staple cavities during the firing stroke. The powered surgical stapling and severing instrument also comprises a primary controller comprising a primary processor and a primary storage medium storing first program instructions, when the first program instructions are executed by the primary processor and causing the primary processor to determine a first acceleration of the firing member during the firing stroke and compare the first acceleration to a predetermined threshold acceleration. The powered surgical stapling and severing instrument also further comprises a secondary controller including a secondary processor and a secondary storage medium storing second program instructions, the second program instructions being executed by the secondary processor. causes the secondary processor to determine a second acceleration of the firing member during the firing stroke and compare the second acceleration to a predetermined threshold.

Example 42 - The powered surgery of Example 41, wherein the first acceleration is determined based on the distance between the first and second positions moved by the firing member during the firing stroke Stapling and cutting instrument for.

[00430] Example 43 - The powered surgical stapling and severing instrument of example 41 or 42, further comprising a sensor configured to detect the firing member at the second position.

Example 44—The powered surgical stapling and severing instrument of example 43, wherein the sensor is a linear position encoder.

[00400] Example 45 - The powered surgical stapling and severing instrument of example 43 or 44, wherein the sensor is in electrical communication with the primary processor.

[00103] Example 46 - The powered surgical stapling and severing instrument of example 41, 42, 43, 44, or 45, wherein the second acceleration is separately determined by the secondary processor based on distance.

[00420] Example 47 - The powered surgical stapling and severing of Example 41, 42, 43, 44, 45, or 46, further comprising another sensor configured to detect the firing member at the second position. instrument.

Example 48 - The powered surgical stapling and severing instrument of example 47, wherein the other sensor is a linear position encoder.

[00101] Example 49 - The powered surgical stapling and severing instrument of Example 47 or 48, wherein the other sensor is in electrical communication with the secondary processor.

Example 50—The primary processor is configured to activate a failure response mode if (i) the first acceleration exceeds a predetermined threshold and (ii) the second acceleration exceeds a predetermined threshold. 50. The powered surgical stapling and severing instrument of example 41, 42, 43, 44, 45, 46, 47, 48, or 49, wherein the instrument is configured to:

Example 51 - The powered surgical stapling and severing instrument of example 41, 42, 43, 44, 45, 46, 47, 48, 49, or 50, wherein the failure response mode includes stopping the motor .

Example 52 - Examples 41, 42 wherein the primary processor is configured to activate the failure response mode if at least one of the first acceleration and the second acceleration exceeds a predetermined threshold , 43, 44, 45, 46, 47, or 48.

Example 53—The powered surgical stapling and severing instrument of example 52, wherein the failure response mode includes stopping the motor.

Example 54 - The method of example 41 wherein the second program instructions further cause the secondary processor to generate an output based on a comparison of the second acceleration to the predetermined threshold and communicate the output to the primary controller A powered surgical stapling and cutting instrument.

Example 55 - A powered surgical stapling and severing instrument comprising a staple cartridge, wherein the staple cartridge comprises a housing, a plurality of staple cavities, and a plurality of staples deployable from the staple cavities during the firing stroke A powered surgical stapling and severing instrument comprising: The powered surgical stapling and severing instrument also includes a firing member movable during the firing stroke to deploy staples from the staple cavities, and a motor operably coupled to the firing member. A motor is configured to generate at least one rotational motion to move the firing member to deploy staples from the staple cavities during the firing stroke. A powered surgical stapling and severing instrument is configured to evaluate a first operational parameter indicative of performance of the firing member during a firing stroke and to produce a first output based on the evaluation of the first operational parameter. and a primary circuit including a primary processor configured in the primary circuit. The powered surgical stapling and severing instrument further comprises a second circuit including a safety processor configured to evaluate a second operating parameter indicative of performance of the firing member during the firing stroke, the second operating parameter is different from the first operating parameter and is configured to produce a second output based on an evaluation of the second operating parameter, the second output being the first output in the firing stroke control loop used to validate the

Example 56 - The second output is determined if the first operating parameter indicates abnormal performance of the firing member during the firing stroke while the second operating parameter indicates normal performance of the firing member 56. The powered surgical stapling and severing instrument of embodiment 55, used as a substitute for the first output.

[00100] Example 57 - The power surgical application of Example 55, wherein the first output is configured to activate an operating mode selected from the group including normal mode, warning mode, limp mode, and stop mode Stapling and cutting instruments.

[00100] 58 - The motor of embodiment 55 or 57, wherein the second output is configured to activate an operating mode selected from the group including normal mode, warning mode, limp mode, and stop mode Surgical stapling and cutting instrument.

[00101] Example 59 - The powered surgical stapling and severing instrument of Example 55, wherein the first output is communicated to the security processor in a message including the first output and the security code.

Example 60 - The powered surgical stapling and severing instrument of Example 59, wherein the security code comprises a cyclic redundancy check (CRC).

Although many of the surgical tool systems described herein operate with electric motors, the surgical tool systems described herein can operate in any suitable manner. In various instances, the surgical instrument systems described herein can be operated by, for example, manually operated triggers. In certain cases, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein can be utilized with robotic surgical instrument systems. For example, U.S. patent application Ser. No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STABLE DEPLOYMENT ARRANGEMENTS," now U.S. Pat. No. 9,072,535, provides several examples of robotic surgical instrument systems. disclosed in more detail.

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

The entire disclosure of the following is incorporated herein by reference.
U.S. Pat. No. 5,403,312, issued Apr. 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE";
U.S. Patent No. 7,000,818, issued Feb. 21, 2006, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS";
U.S. Patent No. 7,422,139, issued September 9, 2008, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK";
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U.S. Patent No. 7,670,334, issued March 2, 2010, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR";
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U.S. Patent Application Publication No. 2007/0175955, filed Jan. 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM," and
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Although various devices have been described herein with particular embodiments, modifications and variations may be made to those embodiments. The particular features, structures or properties may be combined in any suitable manner in one or more embodiments. As such, a particular feature, structure or characteristic illustrated or described with respect to one embodiment may be, without limitation, in whole or in part, a feature, structure or characteristic of one or more other embodiments. may be combined. Also, although materials are disclosed for particular components, other materials may be used. Further, according to various embodiments, single components may be replaced with multiple components, and multiple components may be replaced with a single component to perform a given function(s). may be replaced. The foregoing description and the following claims are intended to cover all such modifications and variations.

The devices disclosed herein can be designed to be disposed of after a single use, or can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of disassembly of the device, followed by cleaning or replacement of particular parts of the device, and subsequent reassembly of the device. Specifically, the reconditioning facility and/or surgical team can 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 reconditioning of the device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

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

While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

All patents, publications, or other disclosures that are incorporated herein by reference in whole or in part are subject to any existing definition, statement, or other It is incorporated herein only to the extent not inconsistent with the disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting statements incorporated herein by reference. Any content, or portion thereof, that conflicts with the current definitions, opinions, or other disclosures set forth herein, is hereby incorporated by reference, but the reference content and the current disclosure are hereby incorporated by reference. References shall be made only to the extent that there is no inconsistency between

[Mode of implementation]
(1) A powered surgical stapling and severing instrument comprising:
A staple cartridge,
a housing;
a plurality of staple cavities;
a plurality of staples deployable from the staple cavities during a firing stroke;
a firing member movable during the firing stroke to deploy the staples from the staple cavities;
A motor operably coupled to the firing member to generate at least one rotational motion to move the firing member to deploy the staples from the staple cavities during the firing stroke. a staple cartridge comprising: a motor;
a primary controller,
a primary processor;
a primary storage medium storing first program instructions, wherein when said first program instructions are executed by said primary processor, said primary processor:
a primary controller for determining a first acceleration of the firing member during the firing stroke and comparing the first acceleration to a predetermined threshold acceleration;
a secondary controller,
a secondary processor;
a secondary storage medium storing second program instructions, wherein when said second program instructions are executed by said secondary processor, said secondary processor:
a secondary controller that determines a second acceleration of the firing member during the firing stroke and compares the second acceleration to the predetermined threshold acceleration.
Embodiment 1, wherein said first acceleration is determined based on a distance between a first position and a second position, said distance moved by said firing member during said firing stroke. A powered surgical stapling and severing instrument as described in .
(3) The powered surgical stapling and severing instrument of Clause 2, further comprising a sensor configured to detect the firing member at the second position.
(4) A powered surgical stapling and severing instrument according to aspect 3, wherein the sensor is a linear position encoder.
(5) The powered surgical stapling and severing instrument of Clause 3, wherein the sensor is in electrical communication with the primary processor.

(6) The powered surgical stapling and severing instrument of Clause 5, wherein the second acceleration is separately determined by the secondary processor based on the distance.
Clause 7. The powered surgical stapling and severing instrument of Clause 6, further comprising another sensor configured to detect the firing member at the second position.
(8) A powered surgical stapling and severing instrument according to Clause 7, wherein said other sensor is a linear position encoder.
(9) The powered surgical stapling and severing instrument of Clause 7, wherein said other sensor is in electrical communication with said secondary processor.
(10) the primary processor selects a failure response mode if (i) the first acceleration exceeds the predetermined threshold and (ii) the second acceleration exceeds the predetermined threshold; 10. A powered surgical stapling and severing instrument according to clause 9, wherein the power surgical stapling and severing instrument is configured to activate the.

Clause 11. The powered surgical stapling and severing instrument of Clause 10, wherein the failure response mode includes deactivating the motor.
12. Embodiment wherein the primary processor is configured to initiate a failure response mode if at least one of the first acceleration and the second acceleration exceeds the predetermined threshold. 10. The powered surgical stapling and severing instrument according to 9.
Clause 13. The powered surgical stapling and severing instrument of Clause 12, wherein the failure response mode includes stopping the motor.
(14) the second program instructions further instruct the secondary processor to:
A powered surgical stapling and severing instrument according to clause 1, further comprising: generating an output based on the comparison of the second acceleration to the predetermined threshold; and communicating the output to the primary controller.
(15) A powered surgical stapling and severing instrument comprising:
A staple cartridge,
a housing;
a plurality of staple cavities;
a plurality of staples deployable from the staple cavities during a firing stroke;
a firing member movable during the firing stroke to deploy the staples from the staple cavities;
A motor operably coupled to the firing member to generate at least one rotational motion to move the firing member to deploy the staples from the staple cavities during the firing stroke. comprising a motor;
A primary circuit comprising a primary processor, said primary processor:
Evaluating a first operating parameter indicative of performance of the firing member during the firing stroke;
a primary circuit configured to: generate a first output based on the evaluation of the first operating parameter;
A second circuit including a safety processor, the safety processor:
evaluating a second operating parameter indicative of the performance of the firing member during the firing stroke, wherein the second operating parameter is different than the first operating parameter;
generating a second output based on the evaluation of the second operating parameter, the second output being used to verify the first output within the firing stroke control loop; a second circuit configured to generate; and a powered surgical stapling and severing instrument.

(16) said second output wherein said first operating parameter indicates abnormal performance of said firing member during said firing stroke while said second operating parameter indicates normal performance of said firing member; 16. A powered surgical stapling and severing instrument according to clause 15, used as a substitute for said first output when it is determined that.
Clause 17. A power surgical application according to Clause 15, wherein the first output is configured to activate an operating mode selected from the group including normal mode, warning mode, limp mode, and stop mode. Stapling and cutting instruments.
Clause 18. A power surgical application according to Clause 15, wherein the second output is configured to activate an operating mode selected from the group including normal mode, warning mode, limp mode, and stop mode. Stapling and cutting instruments.
Clause 19. The powered surgical stapling and severing instrument of Clause 15, wherein the first output is communicated to the safety processor in a message including the first output and a security code.
(20) The powered surgical stapling and severing instrument of Clause 19, wherein the security code comprises a cyclic redundancy check (CRC).

Claims (9)

A powered surgical stapling and severing instrument comprising:
A staple cartridge,
a housing;
a plurality of staple cavities;
a plurality of staples deployable from the staple cavities during a firing stroke;
a firing member movable during the firing stroke to deploy the staples from the staple cavities;
A motor operably coupled to the firing member to generate at least one rotational motion to move the firing member to deploy the staples from the staple cavities during the firing stroke. comprising a motor;
a primary controller,
a primary processor;
a primary storage medium storing first program instructions, a position encoder for detecting the position of the firing member during the firing stroke when the first program instructions are executed by the primary processor; and , with one of the sensors measuring the current drawn by the motor during the firing stroke, to the primary processor;
a primary controller for determining a first acceleration of the firing member during the firing stroke and comparing the first acceleration to a predetermined threshold acceleration;
a secondary controller,
a secondary processor;
a secondary storage medium storing second program instructions, which when executed by the secondary processor , use the other of the position encoder and the sensor but not the one. and to said secondary processor,
a secondary controller causing a second acceleration of the firing member to be determined during the firing stroke and comparing the second acceleration to a second predetermined threshold acceleration. instrument. The powered surgical stapling and severing instrument of claim 1, wherein the first acceleration is determined using the position encoder and the second acceleration is determined using the sensor. The powered surgical stapling and severing instrument of claim 1, wherein the second acceleration is determined using the position encoder and the first acceleration is determined using the sensor. A powered surgical stapling and severing instrument according to claim 3, wherein the sensor is in electrical communication with the primary processor. The powered surgical stapling and severing instrument of claim 1 , wherein the position encoder is a linear position encoder. The powered surgical stapling and severing instrument of Claim 2 , wherein the sensor is in electrical communication with the secondary processor. 2. The failure response mode is determined when the first acceleration exceeds the predetermined threshold acceleration and the second acceleration exceeds the second predetermined threshold acceleration . powered surgical stapling and cutting instrument. 2. The failure response mode is determined when the first acceleration exceeds the predetermined threshold acceleration or the second acceleration exceeds the second predetermined threshold acceleration. A powered surgical stapling and severing instrument as described. The powered surgical stapling and severing instrument of claims 7 or 8 , wherein the failure response mode includes deactivating the motor.

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