JP7179786B2 - Articulation system for surgical instruments - Google Patents

Description

The present invention relates to surgical instruments and to surgical stapling and severing instruments and staple cartridges for use therewith designed for stapling and severing tissue in a variety of situations.

Various features of the embodiments described herein, together with their advantages, can be understood by 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 instrument assemblies that may be used therewith; FIG. 2 is a perspective view of one of the interchangeable surgical instrument assemblies of FIG. 1 operably connected to the handle assembly of FIG. 1; FIG. 3 is an exploded view of a portion of the handle assembly and interchangeable surgical instrument assembly of FIGS. 1 and 2; FIG. 2 is a perspective view of another one of the interchangeable surgical instrument assemblies of FIG. 1; FIG. 5 is a partial cross-sectional perspective view of the replaceable surgical instrument assembly of FIG. 4; FIG. 6 is another partial cross-sectional view of a portion of the interchangeable surgical instrument assembly of FIGS. 4 and 5; FIG. Figure 7 is an exploded view of a portion of the replaceable surgical instrument assembly of Figures 4-6; 8 is an enlarged plan view of a portion of the resilient spine assembly of the replaceable surgical instrument assembly of FIG. 7; FIG. Figure 8 is an exploded view of a portion of the replaceable surgical instrument assembly of Figures 4-7; 9 is another cross-sectional perspective view of the surgical end effector portion of the replaceable surgical instrument assembly of FIGS. 4-8; FIG. 10 is an exploded view of the surgical end effector portion of the replaceable surgical instrument assembly shown in FIG. 9; FIG. 11A-11C are perspective, side elevational, and front views of an embodiment of a firing member that may be used in the replaceable surgical instrument assembly of FIGS. 4-10; FIG. 12 is a perspective view of an anvil that may be used with the replaceable surgical instrument assembly of FIGS. 4-11; 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; 5 is a cross-sectional side elevational view of a portion of the surgical end effector and shaft portion of the replaceable surgical instrument assembly of FIG. 4 with an unused surgical staple cartridge properly seated in an elongated channel of the surgical end effector; FIG. . FIG. 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 fired during the staple firing stroke and the firing member has retracted to the starting position after the staple firing stroke; be. 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 back to the starting position; FIG. 16 is a top cross-sectional view of the surgical end effector and shaft portion of FIG. 15 with an unused surgical staple cartridge properly seated in an elongated channel of the surgical end effector; FIG. 16 is another top cross-sectional view of the surgical end effector of FIG. 15 with a fired surgical staple cartridge mounted therein showing the firing member held in a locked position; FIG. 5 is a partial cross-sectional view of a portion of the anvil and elongated channel of the replaceable instrument 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. 100 is a rear perspective view of an anvil attachment portion of an anvil in accordance with at least one embodiment; FIG. 100 is a rear perspective view of an anvil attachment portion of another anvil in accordance with at least one embodiment; FIG. 100 is a rear perspective view of an anvil attachment portion of another anvil in accordance with at least one embodiment; FIG. 100 is a perspective view of an anvil in accordance with at least one 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. 100 is a perspective view of another anvil, according to at least one embodiment; 29 is an exploded perspective view of the anvil embodiment of FIG. 28; FIG. 29 is a plan view of the distal end of the anvil body portion of the anvil of FIG. 28; FIG. FIG. 100 is a top view of a distal end of an anvil body portion of another anvil in accordance with at least one embodiment; 32 is a cross-sectional end perspective view of the anvil of FIG. 31; FIG. FIG. 100 is a cross-sectional end perspective view of another anvil in accordance with at least one embodiment; FIG. 10 is a cross-sectional perspective view of a staple forming pocket arrangement including a proximal forming pocket and a distal forming pocket, each forming pocket having a forming surface having an entry region and an exit region with different radii of curvature; be. 35 is a plan view of the staple forming pocket arrangement of FIG. 34; FIG. 36 is a cross-sectional view of the staple forming pocket arrangement of FIG. 34 taken along line 36-36 of FIG. 35; FIG. 37 is a cross-sectional view of the staple forming pocket arrangement of FIG. 34 taken along line 37-37 of FIG. 35; FIG. 38 is a cross-sectional view of the staple forming pocket arrangement of FIG. 34 taken along line 38-38 of FIG. 35; FIG. 39 is a cross-sectional view of the staple forming pocket arrangement of FIG. 34 taken along line 39-39 of FIG. 35; FIG. FIG. 12 is a cross-sectional perspective view of a staple forming pocket arrangement including a proximal forming pocket, a distal forming pocket, and a primary sidewall, each pocket including a pair of sidewalls having undulations; 41 is a plan view of the staple forming pocket arrangement of FIG. 40; FIG. 42 is a cross-sectional view of the staple forming pocket arrangement of FIG. 40 taken along line 42-42 of FIG. 41; FIG. 43 is a cross-sectional view of the staple forming pocket arrangement of FIG. 40 taken along line 43-43 of FIG. 41; FIG. 44 is a cross-sectional view of the staple forming pocket arrangement of FIG. 40 taken along line 44-44 of FIG. 41; FIG. 45 is a cross-sectional view of the staple forming pocket arrangement of FIG. 40 taken along line 45-45 of FIG. 41; FIG. 41 shows staples formed with the forming pocket arrangement of FIG. 40 in a fully formed configuration in contact with forming pockets in alignment; FIG. 41 shows staples formed with the forming pocket arrangement of FIG. 40 in a fully formed configuration in contact with forming pockets in an unaligned state; FIG. 1 is a cross-sectional perspective view of a staple forming pocket arrangement including a proximal forming pocket and a distal forming pocket; FIG. 49 is a cross-sectional perspective view of a portion of the staple forming pocket arrangement of FIG. 48; FIG. 49 is a plan view of the staple forming pocket arrangement of FIG. 48; FIG. 51 is a cross-sectional view of the staple forming pocket arrangement of FIG. 48 taken along line 51-51 of FIG. 50; FIG. 52 is a cross-sectional view of the staple forming pocket arrangement of FIG. 48 taken along line 52-52 within the entry region of the distal forming pocket of FIG. 50; FIG. 53 is a cross-sectional view of the staple forming pocket arrangement of FIG. 48 taken along line 53-53 in the transition region of the distal forming pocket of FIG. 50; FIG. 54 is a cross-sectional view of the staple forming pocket arrangement of FIG. 48 taken along line 54-54 within the exit region of the distal forming pocket of FIG. 50; FIG. 49 is a partial negative view of the forming pocket of the staple forming pocket array of FIG. 48 taken at a plurality of planes along the forming pocket perpendicular to the tissue facing surface of the staple forming pocket array and the pocket axis of the staple forming pocket array; FIG. 1 is a partial negative view, including various slices. 54B is a table displayed in FIG. 54A containing the dimensions of the slice of FIG. 54A. 49 is a cross-sectional view of the formed pocket array of FIG. 48 taken along the pocket axis of the formed pocket array of FIG. 48 with various dimensions of the formed pocket array indicated thereon; FIG. . 1 is a cross-sectional perspective view of a staple forming pocket arrangement including a proximal forming pocket and a distal forming pocket; FIG. 56 is a plan view of the staple forming pocket arrangement of FIG. 55; FIG. 57 is a cross-sectional view of the staple forming pocket arrangement of FIG. 55 taken along line 57-57 of FIG. 56; FIG. 58 is a cross-sectional view of the staple forming pocket arrangement of FIG. 55 taken along line 58-58 within the entry region of the distal forming pocket of FIG. 56; FIG. 59 is a cross-sectional view of the staple forming pocket arrangement of FIG. 55 taken along line 59-59 in the transition region of the distal forming pocket of FIG. 56; FIG. 57 is a cross-sectional view of the staple forming pocket arrangement of FIG. 55 taken along line 60-60 within the exit forming region of the distal forming pocket of FIG. 56; FIG. 56 is a partial negative view of the forming pocket of the staple forming pocket array of FIG. 55 taken at a plurality of planes along the forming pocket perpendicular to the tissue-facing surface of the staple forming pocket array and the pocket axis of the staple forming pocket array; FIG. 1 is a partial negative view, including various slices. 60A is a table containing the dimensions of the slice of FIG. 60A. 56 is a cross-sectional view of the formed pocket array of FIG. 55 taken along the pocket axis of the formed pocket array of FIG. 55 with various dimensions of the formed pocket array indicated thereon; FIG. . 1 is a cross-sectional perspective view of a staple forming pocket arrangement including a proximal forming pocket and a distal forming pocket; FIG. 62 is a plan view of the staple forming pocket arrangement of FIG. 61; FIG. 63 is a cross-sectional view of the staple forming pocket arrangement of FIG. 61 taken along line 63-63 of FIG. 62; FIG. 64 is a cross-sectional view of the staple forming pocket arrangement of FIG. 61 taken along line 64-64 within the entry forming region of the distal forming pocket of FIG. 62; FIG. 65 is a cross-sectional view of the staple forming pocket arrangement of FIG. 61 taken along line 65-65 within the entry forming region of the distal forming pocket of FIG. 62; FIG. 66 is a cross-sectional view of the staple forming pocket arrangement of FIG. 61 taken along line 66-66 in the transition region of the distal forming pocket of FIG. 62; FIG. 67 is a cross-sectional view of the staple forming pocket arrangement of FIG. 61 taken along line 67-67 within the exit forming region of the distal forming pocket of FIG. 62; FIG. 62 is a partial negative view of a forming pocket of the staple forming pocket array of FIG. 61 taken at a plurality of planes along the forming pocket perpendicular to the tissue facing surface of the staple forming pocket array and the pocket axis of the staple forming pocket array; FIG. 1 is a partial negative view, including various slices. 67B is a table displayed in FIG. 67A containing the dimensions of the slice of FIG. 67A. 62 is a cross-sectional view of the formed pocket array of FIG. 61 taken along the pocket axis of the formed pocket array of FIG. 61 with various dimensions of the formed pocket array indicated thereon; FIG. . 56 is a plan view of staples formed with the forming pocket arrangement of FIG. 55 in a fully formed configuration in contact with forming pockets in an unaligned state; FIG. 69 is an elevational view of the staple of FIG. 68; FIG. FIG. 12 is a cross-sectional elevational view of a surgical end effector with various components removed showing an anvil and a staple cartridge having a plurality of staples with a uniform tissue gap defined between the staple cartridge and the anvil; FIG. 14 is a cross-sectional elevational view further showing the end effector in the closed position and further showing staples fired from the staple cartridge and formed to a uniform height by forming pockets in the anvil; FIG. 12 is a cross-sectional elevational view of a surgical end effector with various components removed showing an anvil and a staple cartridge having a plurality of staples, the anvil including a stepped tissue compression surface and a variable tissue gap in the staple cartridge; FIG. 14 is a cross-sectional elevational view further showing the end effector in a closed position defined between the anvil and the staple cartridge, and further showing staples fired from the staple cartridge and formed to a uniform height by forming pockets in the anvil; is. FIG. 12 is a cross-sectional elevational view of a surgical end effector with various components removed showing an anvil and a staple cartridge having a plurality of staples and a stepped tissue compression surface and a variable tissue gap between the staple cartridge and the anvil; FIG. 14 is a cross-sectional elevational view further showing the end effector in the closed position defined therebetween and further showing staples fired from the staple cartridge and formed to a uniform height by forming pockets in the anvil; 1 is a cross-sectional elevational view of a surgical end effector with various components removed showing an anvil and a staple cartridge having a plurality of staples, the anvil and staple cartridge including stepped tissue compression surfaces and a variable tissue gap; FIG. FIG. 12 is a cross-sectional view further showing the end effector in the closed position defined between the staple cartridge and the anvil, further showing staples fired from the staple cartridge and formed to a uniform height by forming pockets in the anvil; FIG. It is a plan view. 1 is a partial cross-sectional perspective view of an articulation joint for a surgical instrument assembly with various components removed showing the articulation joint in a non-articulated position; FIG. 75 is a partial cross-sectional plan view of the articulation joint of FIG. 74 in a non-articulated configuration; FIG. 75 is a partial cross-sectional plan view of the articulation joint of FIG. 74 in a partially articulated configuration; FIG. 75 is a partial cross-sectional plan view of the articulation joint of FIG. 74 in a fully articulated configuration; FIG. 78 is a detailed view of the stiffening mechanism of the articulated joint of FIG. 74 in the fully articulated configuration of FIG. 77; FIG.

Corresponding reference characters indicate corresponding parts throughout the drawings. The exemplifications set forth herein are illustrative of various embodiments of the invention in one form and such exemplifications should not be construed as limiting the scope of the invention in any way. do not have.

The applicant of this application owns the following US patent applications filed on even date herewith, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No. ____________, entitled "SURGICAL ANVIL MANUFACTURING METHODS", Attorney Docket No. END8165USNP/170079M,
- US Patent Application No. ____________, entitled "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8168USNP/170080,
- US Patent Application No. ____________, entitled "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8170USNP/170081,
- US Patent Application No. ____________, entitled "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8164USNP/170082,
- U.S. Patent Application No. ____________, entitled "SURGICAL FIRING MEMBER ARRANGEMENTS", Attorney Docket No. END8169USNP/170083,
- U.S. Patent Application No. ____________, entitled "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket No. END8167USNP/170085,
- U.S. Patent Application No. ______, entitled "STAPLE FORMING POCKET ARRANGEMENTS," Attorney Docket No. END8232USNP/170086; Reference number END8166USNP/170087.

The applicant of this 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"
- US patent application Ser. No. 15/386,240, entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRRING MEMBERS THEREFOR",
- 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.
- U.S. patent application Ser.
- 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";
- US patent application Ser. No. 15/385,909 entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE";
- 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 STAPLE/FASTENERS",
- 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.
- U.S. patent application Ser.
- 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",
- US patent application Ser. No. 15/385,924, entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS",
- 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. 15/385,906, entitled "FIRING MEMBER PIN CONFIGURATIONS";
- 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 No. 15,386,226, entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS",
- U.S. patent application Ser.
- US patent application Ser. No. 15/386,236 entitled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS"
- 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",
- US patent application Ser. No. 15/385,895 entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS";
- 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 the present application owns the following US patent applications filed June 24, 2016, each of which is hereby incorporated by reference in its entirety:
- 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 the present application owns the following US patent applications filed June 24, 2016, each of which is hereby incorporated by reference in its entirety:
- 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 patent applications filed on April 1, 2016, the entire contents of each of which are incorporated herein by reference:
- 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 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 No. 15/089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS",
- 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 US patent applications filed December 31, 2015, each of which is hereby incorporated by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser. AND MOTOR CONTROL CIRCUITS'.

The applicant of the present application also owns the following identified US patent applications filed February 9, 2016, each of which is hereby incorporated by reference in its entirety.
- U.S. patent application Ser.
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- US patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";
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- US patent application Ser.
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- 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 the present application also owns the following identified US patent applications filed February 12, 2016, each of which is hereby incorporated by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicant of the present application owns the following patent applications filed Jun. 18, 2015, each of which is hereby incorporated by reference in its entirety.
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- U.S. patent application Ser. No., entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2016/0367245.

The applicant of the present application owns the following patent applications filed March 6, 2015, the entire contents of each of which are incorporated herein by reference:
- US patent application Ser. No. 14/640,746, entitled "POWERED SURGICAL INSTRUMENT", now US patent application publication no.
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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 this application owns the following patent applications filed on February 27, 2015, the entire contents of each of which are incorporated herein by reference:
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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 the present application owns the following patent applications filed December 18, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. patent application Ser.
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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; , entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM", now U.S. Patent Application Publication No. 2016/0174971.

The applicant of the present application owns the following patent applications filed March 1, 2013, the entire contents of each of which are incorporated herein by reference:
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The applicant of this application also owns the following patent applications filed March 14, 2013, the entire contents of each of which are incorporated herein by reference:
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The applicant of this application also owns the following patent applications filed on March 7, 2014, the entire contents of which are incorporated herein by reference:
- US patent application Ser. No. 14/200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now US Pat.

The applicant of the present application also owns the following patent applications filed on Mar. 26, 2014, the entire contents of each of which are incorporated herein by reference:
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- 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 patent applications filed on September 5, 2014, the entire contents of each of which are incorporated herein by reference:
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- 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 this application also owns the following patent applications filed on April 9, 2014, the entire contents of each of which are incorporated herein by reference:
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－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 patent applications filed on April 16, 2013, the entire contents of each of which are incorporated herein by reference:
- 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 Patent Application No. 61/812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL," and - U.S. Provisional Patent 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 be aware that the embodiments described and illustrated herein are non-limiting examples and, as such, that specific structural and functional details disclosed herein may be representative and exemplary. , will understand. Variations and changes can be made thereto without departing from the scope of the claims.

The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "comprise ( "include" (any form of include, such as "includes" and "including") and "contain" (any form of contain, such as "contains" and "containing") refer to open-ended linkages. is a verb. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more elements may refer to those one or more elements. have, but are not limited to having only one or more of them. Similarly, a system, device, or element of 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 reference 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 further be 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 proceeding with the Detailed Description of the Invention herein, the reader will understand that the various instruments disclosed herein can be used to perform an incision or puncture made in tissue, for example, through a natural orifice. It will further be appreciated that it can be inserted into the body in any manner, such as through a hole. The working or end effector portion of these instruments can be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced. can also

A surgical stapling system can comprise 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 readily replaceable from the first jaw. Other embodiments are envisioned that are not. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. In other embodiments, the second jaw is pivotable relative to the first jaw about the closing axis, but the first jaw is pivotable relative to the second jaw. is assumed. The surgical stapling system further includes 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 also 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 is moved 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 a staple cavity defined therein, and the staples are removably stored within the staple cavity. 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 also be possible.

The staples are supported by a staple driver within the cartridge body. The driver is movable between a first or unfired position and a second or fired position that ejects 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 and hold the retainer against the cartridge body. include. The drivers are movable between their unfired and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled slides under the driver and includes a plurality of ramps configured to lift the driver, with staples 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. In advancing the firing member distally, the first cam and the second cam can control the distance between the deck of the staple cartridge and the anvil, ie, the tissue gap. The firing member also includes a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. Desirably, the knife is 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 instrument assemblies 100, 200, 300 and 1000 each suitable for interchangeable use with handle assembly 500. include. Each of the interchangeable surgical instrument assemblies 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 instrument assembly can be effectively used with the instrument drive assembly of a robotic or automated surgical system. For example, the surgical instrument assemblies disclosed herein can be used in various robotic systems, instruments, components and methods, including, but not limited to, US Pat. No. 9,072, the entire contents of which are incorporated herein by reference. 535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS".

FIG. 2 illustrates one form of interchangeable surgical instrument assembly 100 operably coupled to handle assembly 500 . FIG. 3 illustrates the attachment of replaceable surgical instrument assembly 100 to handle assembly 500 . The mounting configuration and process shown in FIG. 3 may also be used in connection with mounting any of the replaceable surgical instrument assemblies 100, 200, 300 and 1000 to an instrument drive portion or instrument drive housing of a robotic system. can be Handle assembly 500 may comprise a handle housing 502 that includes a pistol grip portion 504 that may be grasped and manipulated by a clinician. As discussed briefly below, handle assembly 500 produces various control movements to corresponding portions of operably attached interchangeable surgical instrument assemblies 100, 200, 300 and/or 1000. It operatively supports a plurality of drive systems configured to apply.

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 closing actuation drive system, generally indicated as 510 , operably attached or coupled to handle assembly 500 . 100, 200, 300 and 1000 to apply an opening and closing motion to the interchangeable surgical instrument assemblies 100, 200, 300 and 1000. In at least one form, a closing actuation drive system 510 pivotally supported by frame 506 may include an actuator in the form of closing trigger 512 . Such an arrangement allows the closure trigger 512 to be manipulated by the clinician such that when the clinician grasps the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 is in the starting position or "deactivated." It can be easily pivoted from a position to an "actuated" position, more specifically to a fully compressed or fully actuated position. In various forms, the closing actuation drive system 510 further includes a closing linkage assembly 514 that pivotally couples to or otherwise operatively interfaces with the closing trigger 512 . As discussed in greater detail below, closure coupling assembly 514 includes lateral mounting pins 516 that facilitate attachment to a corresponding drive system on a surgical instrument assembly. To activate the closing actuation drive system, the clinician presses the closing trigger 512 toward the pistol grip portion 504 . More details are described in U.S. patent application Ser. As such, the closing actuation drive system locks the closure trigger 512 in a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to achieve a fully closed stroke. It is configured. When the clinician desires to unlock the closure trigger 512 and bias it toward the non-actuated position, the clinician simply activates the closure release button assembly 518, thereby releasing the closure trigger 512. It is possible to return to the working 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 can be found in US Patent Application Publication No. 2015/0272575.

In at least one form, the handle assembly 500 and frame 506 are configured to apply a firing motion to corresponding portions of an attached replaceable surgical instrument assembly. It may also operatively carry another drive system, called 530. As described in detail in US Patent Application Publication No. 2015/0272575, firing drive system 530 includes an electric motor (not shown in FIGS. 1-3) located in pistol grip portion 504 of handle assembly 500. may be used. 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 configurations, 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 . Additionally, 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 voltage applied to the motor. For example, when the motor drives in one rotational direction, longitudinally movable drive member 540 may be axially driven in distal direction "DD". As the motor drives in the opposite rotational direction, longitudinally movable drive member 540 may be axially driven 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 otherwise control the motor. Handle assembly 500 may also include sensor(s) configured to detect the position of drive member 540 and/or the direction in which drive member 540 is being moved. Motor actuation may be controlled by a firing trigger 532 (FIG. 1) pivotally supported on handle assembly 500 . Firing trigger 532 may pivot 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 a clinician releases firing trigger 532, firing trigger 532 is spring or biased to the unactuated position. may be pivoted to or otherwise returned. In at least one form, firing trigger 532 may be positioned “outside” closing trigger 512, as described above. As described in US Patent Application Publication No. 2015/0272575, handle assembly 500 may be provided with a firing trigger safety button to prevent inadvertent actuation of firing trigger 532 . When the closure trigger 512 is in the non-actuated position, the safety button is in the handle assembly 500 and is not readily accessible to the clinician and is in a safe position that prevents activation of the firing trigger 532. , and the firing position in which the firing trigger 532 can fire. When the clinician depresses the closure trigger 512, the safety button and firing trigger 532 pivots downward, where it is available for manipulation by the clinician.

In at least one form, the longitudinally moveable drive member 540 may have a rack of teeth formed thereon for meshing engagement with a corresponding drive gear arrangement that interacts with the motor. . Further details regarding these features can be found in US Patent Application Publication No. 2015/0272575. In at least one form, the handle assembly 500 is manually actuated, configured to allow a clinician to manually retract the longitudinally movable drive member 540 in the event of motor failure. It also includes an "emergency exit" type assembly. The emergency release assembly may include a lever or emergency release handle assembly housed within the handle assembly 500 under the removable door portion 550 . The lever is configured to be manually pivoted into ratchet engagement with the teeth of the 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. 045 discloses an emergency release arrangement that can be used with various surgical instrument assemblies disclosed herein.

Referring now to FIG. 2, an interchangeable surgical instrument assembly 100 includes a surgical end effector 110 having first and second jaws. In one configuration, first jaw includes elongate 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 instrument 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 instrument 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 travels on a spine 145 that supports an articulation driver arrangement 147 for applying articulation to the surgical end effector 110. supported as possible. Spine 145 is configured to (1) slidably support firing bar 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 configuration, for example, the proximal end of spine 145 is attached to a spine bearing configured to be supported within chassis 150 . Such a configuration facilitates rotatable attachment of spine 145 to chassis 150 such that spine 145 may be selectively rotated relative to chassis 150 about shaft axis SA.

Still referring to FIG. 3 , replaceable surgical instrument assembly 100 is slidably supported within chassis 150 such that closure shuttle 160 can be moved axially relative to chassis 150 by closing shuttle 160 . including. As shown in FIG. 3 , closure shuttle 160 includes a pair of proximally projecting hooks 162 that attach to mounting pins 516 attached to closure linkage assembly 514 of handle assembly 500 . configured to A proximal closure tube portion 146 of closure tube assembly 140 is rotatably coupled to closure shuttle 160 . 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 is pivoted on closure tube assembly 140 and serves to bias closure tube assembly 140 in the proximal direction “PD”, thereby causing shaft assembly 100 to move into handle assembly 500 . When enabled, it can serve to pivot the closure trigger 512 to the unactuated position. In use, closure tube assembly 140 translates distally (direction DD) to close anvil 114 in response to actuation of closure trigger 512 . Closure tube assembly 140 includes a distal closure tube section 142 pivotally pinned to the distal end of a proximal closure tube portion 146 . Distal obturator tube segment 142 is configured to move axially with proximal obturator tube segment 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 closure tube section 142 defines a downwardly extending return tab that cooperates with anvil tab 117 formed on the proximal end of anvil 114 to pivot anvil 114 back to the open position. It has a horseshoe-shaped opening 143 inside. In the fully open position, the closure tube assembly 140 is in its proximal-most or non-actuated position.

As also mentioned above, replaceable surgical instrument assembly 100 further includes firing bar 170 supported for axial movement within 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 configuration, replaceable surgical instrument assembly 100 includes a clutch assembly that may be configured to selectively and releasably couple an 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, distal movement of firing bar 170 causes articulation driver arrangement 147 to move distally when the clutch assembly is in the engaged position. , and correspondingly, proximal movement of firing bar 170 can cause articulation driver 147 to move proximally. When the clutch assembly is in its disengaged position, movement of firing bar 170 is not transmitted to articulation driver arrangement 147 so that firing bar 170 moves independently of articulation driver 147. can do. Replaceable surgical instrument assembly 100 may also include a slip ring assembly that conducts power to and/or signals from end effector 110 . can be configured to communicate. Further details regarding the slip ring assembly can be found in US Patent Application Publication No. 2014/0263541. U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," now U.S. Patent Application Publication No. 2014/0263552, is hereby incorporated by reference in its entirety. 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 one or two dovetail slots 507 formed on the chassis adapted to be received within corresponding dovetail slots 507 formed in the distal end of frame 506. It includes a tapered mounting portion 152 as described above. Each dovetail slot 507 may be tapered, or in other words somewhat V-shaped, to seatably receive the tapered 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 replaceable surgical instrument assembly 100 is coupled to handle assembly 500 , shaft mounting lug 172 is located on firing shaft mounting cradle 542 formed at the distal end of longitudinally movable drive member 540 . accepted by Interchangeable surgical instrument 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, lock yoke 182 may be moved to the unlocked position by biasing latch button 186 in distal direction DD, which also causes lock 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 seat retained 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.

To attach the interchangeable surgical instrument assembly 100 to the handle assembly 500, the clinician aligns the interchangeable surgical instrument assembly 100 with the tapered attachment portion 152 formed on the chassis 150 with the dovetail slot 507 of the frame 506. Chassis 150 of surgical instrument assembly 100 may be aligned above or adjacent to the distal end of frame 506 . The clinician then positions surgical instrument assembly 100 on shaft axis SA such that tapered attachment portion 152 is seated in operable engagement with corresponding dovetail receiving slot 507 in the distal end of frame 506. It may be moved along a vertical installation axis IA. In so doing, 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 the corresponding hook 162 on the closure shuttle 160 . be seated in As used herein, the term "operable engagement" in the context of two components means that when those two components are fully engaged with each other such that an actuation motion is applied to them, It means that the component can perform the intended acts, functions and/or procedures.

Referring now to FIG. 1, surgical system 10 includes four interchangeable surgical instrument assemblies 100, 200, 300 and 1000, each effectively used with the same handle assembly 500 to Different surgical procedures may be performed. A representative form of construction of the replaceable surgical instrument assembly 100 is described briefly above and in more detail in US Patent Application Publication No. 2014/0263541. Various details regarding interchangeable surgical instrument assemblies 200 and 300 may be found in various US patent applications incorporated herein by reference. Various details regarding the replaceable surgical instrument assembly 1000 are described in greater detail below.

As shown in FIG. 1, surgical instrument assemblies 100, 200, 300, and 1000 each include a pair of jaws, at least one of which captures tissue between the two jaws. , manipulated and/or moved to clamp. The movable jaws move between open and closed positions upon application of closing and opening motions applied from the handle assembly or a robot or automated surgical system to which the surgical instrument assembly is operably coupled. Moving. It should be noted that each of the illustrated interchangeable surgical instrument assemblies cuts tissue and actuates 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 staple cartridge is included. Each surgical instrument assembly may be uniquely designed, for example, to perform a specific procedure for cutting and fastening tissue of a specific type and thickness within a region of the body. The closing, firing, and articulation control system in the handle assembly 500 or robotic system provides axial control motion and/or rotation, depending on the type of closing, firing, and articulation system configuration used in the surgical instrument assembly. It may be configured to generate a controlled motion. In one configuration, when the closure control system in the handle assembly or robotic system is fully actuated, one of the closure system control components axially moves from the unactuated position to the 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 firing system within the robotic system is fully actuated, one of the firing system control components axially moves from the unactuated position to the fully actuated or fired position. The axial distance that the longitudinally movable drive member travels between its unactuated position and its fully fired position may be referred to herein as the "firing stroke length." For those surgical instrument assemblies that employ an articulatable end effector configuration, the handle assembly or robotic system employs an articulation control component that moves axially via an "articulation drive stroke length." you can In many situations, the closing stroke length, firing stroke length, and articulation drive stroke length are fixed for a particular handle assembly or robotic system. Accordingly, each of the surgical instrument assemblies can be actuated throughout their respective stroke lengths without imposing undue stress on the surgical instrument components that could result in damage or catastrophic failure of the surgical instrument assembly. , closing, firing, and/or control movement of articulation components.

4-10, replaceable surgical instrument assembly 1000 includes surgical end effector 1100 with elongated channel 1102 configured to operably support staple cartridge 1110 therein. . End effector 1100 may further include an anvil 1130 pivotally supported relative to elongate channel 1102 . Interchangeable surgical instrument assembly 1000 can be configured to releasably retain end effector 1100 in a desired articulated position with respect to shaft axis SA, including 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. INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT". As shown in FIG. 7, the replaceable surgical instrument assembly 1000 may be coupled to the nozzle portions 1302, 1304 and the assembled nozzle portions 1302, 1304 by snaps, lugs, and/or threads, for example. and an actuator wheel portion 1306 configured to a proximal housing or nozzle 1300 . The replaceable surgical instrument assembly 1000 may further include a closure tube assembly 1400 that may be utilized to close and/or open the anvil 1130 of the end effector 1100, as discussed in greater detail below. Referring primarily to FIGS. 8 and 9 , replaceable surgical instrument assembly 1000 can include spine assembly 1500 , which can be configured to support articulation lock 1210 . Spine assembly 1500 comprises a "elastic" spine or frame member 1510, which is described in greater detail below. The distal end 1522 of the resilient spine member 1510 is attached to a distal frame section 1560 that operatively supports the articulation lock 1210 therein. As can be seen in FIGS. 7 and 8, the spine assembly 1500 (1) slidably supports the firing member assembly 1600 therein and (2) extends around the spine assembly 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 shown in FIG. 10, distal frame portion 1560 is pivotally coupled to elongate channel 1102 by end effector mounting assembly 1230 . In one configuration, distal end 1562 of distal frame portion 1560 has a pivot pin 1564 formed thereon, for example. 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 elongate channel 1102 by spring pin 1108 or other suitable member. Pivot pin 1564 defines an articulation axis BB transverse to shaft axis SA. Please refer to FIG. Such a configuration facilitates pivotal movement (ie, articulation) of end effector 1100 about articulation axis BB with respect to spine assembly 1500 .

Still referring to FIG. 10 , 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 cross-links 1237 may be coupled to drive pins 1238 and articulation frame 1212 to assist in articulation of 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. It can be found under the name "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS". In various situations, resilient spine member 1510 includes a proximal end 1514 rotatably supported on chassis 1800 . In one configuration, for example, proximal end 1514 of resilient spine member 1510 has threads 1516 formed thereon for threaded attachment to a spine bearing configured to be supported within chassis 1800 . Such a configuration facilitates rotatable attachment of resilient spine member 1510 to chassis 1800 such that spine assembly 1500 may be selectively rotated relative to chassis 1800 about shaft axis SA. .

Referring primarily to FIG. 7, replaceable surgical instrument assembly 1000 is slidably supported within chassis 1800 such that closure shuttle 1420 can be moved axially relative to chassis 1800. 1420 included. 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. configured to be A proximal end 1412 of proximal closure tube portion 1410 is rotatably coupled to closure shuttle 1420 . For example, U-shaped connector 1424 is inserted into annular slot 1414 in proximal end 1412 of proximal closure tube portion 1410 and retained within vertical slot 1422 in closure shuttle 1420 . See FIG. Such a configuration permits closure tube assembly 1400 to rotate relative to closure shuttle 1420 about shaft axis SA, while placing proximal closure tube portion 1410 against the closure shuttle for axial movement therewith. Helps attach to 1420. A closure spring is pivoted on the proximal end 1412 of the proximal closure tube portion 1410 and serves to bias the closure tube assembly 1400 in the proximal direction PD, thereby providing a positive impact to the replaceable surgical instrument assembly. When solid 1000 is operably coupled to handle assembly 500, it may serve to pivot closure trigger 512 (FIG. 3) on handle assembly 500 to an unactuated position.

As mentioned above, the illustrated interchangeable surgical instrument assembly 1000 includes an articulation joint 1200 . However, other interchangeable surgical instrument assemblies may not be articulatable. As can be seen in FIG. 10, an upper projection 1415 and a lower projection 1416 project distally from the distal end of the proximal closure tube portion 1410, and these projections are part of the closure tube assembly. It is configured to be movably coupled to the end effector closure sleeve of 1400 or distal closure tube segment 1430 . As can be seen in FIG. 10, distal obturator tube section 1430 includes an upper projection 1434 and a lower projection 1436 projecting proximally from its proximal end. The upper dual pivot link 1220 includes proximal and distal pins that engage corresponding holes in the upper protrusions 1415, 1434 of the proximal closure tube portion 1410 and the distal closure tube section 1430, respectively. Similarly, the lower double pivot link 1222 has proximal and distal pins that engage corresponding holes in the lower projections 1416 and 1436 of the proximal and distal closure tube sections 1410 and 1430, respectively. include. 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 mentioned above, replaceable surgical instrument assembly 1000 further includes firing member assembly 1600 supported for axial movement within spine assembly 1500 . 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, intermediate firing shaft portion 1602 may include longitudinal slots 1604 at its distal end that receive tabs on the proximal end of knife bar 1610. can be configured to 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 tabs on knife bar 1610, and A staple cartridge 1110 located within elongated channel 1102 can be fired. 8 and 9, resilient spine member 1520 includes elongated openings or windows 1525 for facilitating assembly and insertion of intermediate firing shaft portion 1602 into resilient spine member 1520. have Once intermediate firing shaft portion 1602 is inserted therein, top frame portion 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, the replaceable instrument assembly 1000 can include a clutch assembly 1620 that can be configured to selectively and releasably couple the articulation driver 1700 to the firing member assembly 1600. can. In one form, the clutch assembly 1620 includes a locking collar or sleeve 1622 positioned about the firing member assembly 1600 such that the locking sleeve 1622 connects the articulation driver 1700 to the firing member assembly. 1600 and a disengaged position in which articulation driver 1700 is not operatively coupled to firing member assembly 1600. When locking sleeve 1622 is in its engaged position, distal movement of firing member assembly 1600 can cause articulation driver 1700 to move distally, correspondingly proximally moving firing member assembly 1600 . Postural movement can 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 articulation driver 1700 such that firing member assembly 1600 is independent of articulation driver 1700. can be moved by In various situations, articulation driver 1700 can be held in place by articulation lock 1210 when articulation driver 1700 is not being moved proximally or distally by firing member assembly 1600 .

Referring primarily to FIG. 7, locking sleeve 1622 is a cylindrical, or at least substantially cylindrical, longitudinal opening 1624 defined therein configured to receive firing member assembly 1600. A body can be provided. 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 in articulation driver 1700 , thereby applying distal force to locking sleeve 1622 . A pushing force and/or a proximal pulling force can 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 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 of the circumferential mounting. It receives seat 1305 and allows relative rotation, but not translation, between switch drum 1630 and 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 move between its engaged and disengaged positions. Essentially, therefore, the nozzle 1300 is based on U.S. patent application Ser. No. 13/803,086, now U.S. patent application publication no. It may be used to operatively engage and disengage the articulation drive system and the firing drive system in a variety of manners, which are described in greater detail in application Ser. No. 15/019,196.

In the illustrated configuration, 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, shifter plate 1638 is received within a longitudinal slot provided in locking sleeve 1622 to facilitate axial movement of locking sleeve 1622 when engaged with articulation driver 1700 . Further details regarding the operation of the shifter plate and shift drum arrangement are provided in U.S. Patent Application Serial No. 14/868,718, filed September 28, 2015, the entire disclosure of which is incorporated herein by reference. "SURGICAL STAPLING INSTRUMENT WITH SHAFT RELEASE, POWERED FIRING AND POWERED ARTICUALATION", now U.S. Patent Application Publication No. 2017/0086823.

As also shown in FIGS. 7 and 8, the replaceable instrument assembly 1000 may be configured to conduct power to and/or communicate signals with the end effector 1100, for example. Additionally, a slip ring assembly 1640 can be provided that can be configured back to the microprocessor in the handle assembly or robot system controller. Further details regarding the slip ring assembly 1640 and associated connectors are found in U.S. Patent Application No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541, the entire contents of each of which are incorporated herein by reference. and U.S. Application No. 15/019,196, and U.S. Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," which is incorporated herein by reference in its entirety; It can now be found in US Patent Application Publication No. 2014/0263552. Interchangeable surgical instrument 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. can have one sensor.

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

Various interchangeable surgical instrument assemblies employ a latch system 1810 to removably couple interchangeable surgical instrument assembly 1000 to frame 506 of handle assembly 500 . In at least one form, latch system 1810 includes a locking member or locking yoke 1812 movably coupled to chassis 1800, as shown in FIG. The locking yoke 1812 has a U shape with two spaced downwardly extending legs 1814 . Legs 1814 are each formed with pivot lugs 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 includes two proximally projecting locking lugs 1818 configured to removably engage corresponding locking detents or grooves 509 in the distal end of frame 506 of handle assembly 500 . It's okay. See FIG. In various forms, locking yoke 1812 is biased proximally by a spring or biasing member 1819 . Actuation of locking yoke 1812 may be accomplished by a latch button 1820 slidably mounted on a 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 urging latch button 1820 distally, which also pivots lock yoke 1812 into and out of contact with 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 seated within corresponding locking detents or grooves 509 in the distal end of frame 506 .

In the arrangement shown, locking yoke 1812 includes at least one and preferably two locking hooks 1824 adapted to contact corresponding locking lug portions 1426 formed on closure shuttle 1420 . When closure shuttle 1420 is in the unactuated position, locking yoke 1812 can be pivoted distally to unlock replaceable surgical instrument 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 is moved 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, for example, carefully press the locking yoke 1812 in a manner that may otherwise pivot the locking yoke 1812 distally. lock hook 1824 on lock yoke 1812 contacts lock lug 1426 on closure shuttle 1420 and prevents lock 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 that are welded and/or pinned together, for example, at their proximal ends and/or elsewhere along their length. are interconnected by In an alternative embodiment, the distal ends of the bands are not connected together to allow the laminations or bands to spread relative to each other when the end effector is articulated. Such a configuration allows the knife bar 1610 to be sufficiently flexible 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, central support member 1614 is configured to provide lateral support to knife bar 1610 as central support member 1614 flexes to accommodate articulation of surgical end effector 1100 . Used. Further details regarding the central support member 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 replaceable instrument assembly 1000 . Firing member 1660 comprises a body portion 1662 including 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 . See FIG. Connector 1663 may be retained within connector opening 1614 by friction, welding, and/or suitable adhesives, and the like. 15-17, body portion 1662 projects through elongated slot 1104 in elongated 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 in elongated channel 1102 underlying surgical staple cartridge 1110 . As seen in FIG. 11, firing member 1660 may further include a laterally projecting central tab, pin, or retainer mechanism 1680 . As firing member 1660 is driven distally through surgical staple cartridge 1110 , central retaining mechanism 1680 rides on inner surface 1106 of elongated channel 1102 . Body portion 1662 of firing member 1660 further includes a tissue cutting edge or feature 1666 disposed between distally projecting shoulder 1665 and distally projecting upper nose 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 . See FIGS. 13 and 14. FIG. As firing member 1660 is driven distally, the upper portion of body 1662 extends through centrally disposed anvil slot 1138 (FIG. 14) and upper anvil engagement mechanism 1672 engages anvil slot 1134. ride on corresponding ledges 1136 formed on each side of the .

Returning to FIG. 10, firing member 1660 is configured to operably interact with sled 1120 supported within body 1111 of surgical staple cartridge 1110 . Sled 1120 is slidably displaced 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 . It is possible. Cartridge body 1111 operably supports therein a plurality of staple drivers (not shown in FIG. 10) aligned with rows on each side of centrally located slot 1114 . Centrally-disposed slot 1114 allows firing member 1660 to pass through and sever tissue clamped between anvil 1130 and staple cartridge 1110 . The drivers are associated with corresponding pockets 1115 that open through the upper deck surface of the cartridge body. The staple drivers each support one or more surgical staples or fasteners thereon. Sled 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 "dual" drivers that each support two staples or fasteners thereon, and another cam 1122 is aligned with the slot 1114. Aligned with another line of "single" drivers on the same side, each carrying 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 outside each of the tissue cut lines. However, other cartridge and driver configurations can be used to fire other staple/fastener arrangements. Sled 1120 has a central body portion 1124 configured to engage shoulder 1665 of firing member 1660 . When firing member 1660 is fired or driven distally, firing member 1660 also drives sled 1120 distally. As firing member 1660 moves distally through cartridge 1110, tissue cutting mechanism 1666 cuts tissue clamped between anvil assembly 1130 and cartridge 1110, and sled 1120 moves the driver upward in the cartridge drives the corresponding staple or fastener into contact with the anvil assembly 1130 .

In embodiments where the firing member includes a tissue-cutting surface, the elongated shaft assembly is configured to prevent inadvertent advancement of the firing member unless an unused staple cartridge is properly supported within elongated channel 1102 of surgical end effector 1100. It may be desirable to have a solid configuration. 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, the tissue will be severed. , stapling may not be perfect, if at all. It will be appreciated that the occurrence of such phenomena can have undesirable consequences 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」、同第７，０４４，３５２号、発明の名称「ＳＵＲＧＩＣＡＬ ＳＴＡＰＬＩＮＧ ＩＮＳＴＲＵＭＥＮＴ ＨＡＶＩＮＧ Ａ ＳＩＮＧＬＥ ＬＯＣＫＯＵＴ ＭＥＣＨＡＮＩＳＭ ＦＯＲ ＰＲＥＶＥＮＴＩＯＮ ＯＦ ＦＩＲＩＮＧ」 , and No. 7,380,695, entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRRING," and U.S. patent application Ser. ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING, each of which discloses various firing member lockout arrangements. Each of these references is incorporated herein by reference in its entirety.

An “unfired,” “unused,” “new,” or “new” fastener cartridge 1110, as used herein, the fastener cartridge 1110 has all of its fasteners in the “ready to fire position.” means that A new cartridge 1110 is seated within the elongated channel 1102 and may be retained therein by snap features on the cartridge body configured to engage corresponding portions of the elongated channel 1102 . 15 and 18 show a portion of surgical end effector 1100 with a new or unfired surgical staple cartridge 1110 seated therein. As shown in FIGS. 15 and 18, sled 1120 is in the starting position. More precisely, firing member 1660 extends distally through end effector 1110 to prevent the firing system from being activated unless an unfired or fresh surgical staple cartridge is properly seated within elongated channel 1102 . To prevent being driven, replaceable surgical instrument assembly 1000 employs a firing member lockout system, generally indicated at 1650 .

10 and 15-19, firing member lockout system 1650 provides retaining engagement with firing member 1660 when new surgical staple cartridge 1110 is not properly seated within elongated channel 1102. It includes a moveable locking member 1652 configured to. More specifically, locking member 1652 has at least one lateral sled configured for retaining engagement with a corresponding portion of firing member 1660 when sled 1120 is not present within cartridge 1110 in its starting position. It has a locking portion 1654 that moves to. In practice, locking member 1652 employs two laterally moving locking portions 1654 , each locking portion engaging a laterally extending portion of firing member 1660 . Other lockout configurations can also be used.

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 extending by "L" in FIGS. configured to move in the lateral direction shown. It will be understood that the term "lateral" means a direction transverse to the shaft axis SA (Fig. 2). Spring or locking member 1652 may be made, for example, 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, each outer central retention feature 1680 of firing member 1660 extends into a corresponding locking window 1658 defined within locking portion 1654 to allow the firing member to distally move. to prevent it from moving forward axially.

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 shown in FIGS. 15 and 18, sled 1120 includes unlocking mechanisms 1126 corresponding to each of laterally movable locking portions 1654 . An unlocking mechanism 1126 is provided on or extends proximally from each of the central wedge-shaped cams 1122 . In an alternative configuration, unlocking mechanism 1126 may comprise a proximally projecting portion of corresponding wedge-shaped cam 1122 . As shown in FIG. 18, unlocking mechanism 1124 laterally engages corresponding locking portion 1654 in a direction transverse to shaft axis SA (FIG. 2) when sled 1120 is in its starting position. force. When locking portions 1654 are in their unlocked orientations, central retaining features 1680 are not in retaining engagement with corresponding locking windows 1658 . In such cases, firing member 1660 may be advanced (fired) distally or axially. However, if no cartridge is present in elongated channel 1102, or if sled 1120 is displaced from its starting position (meaning the cartridge is partially or fully fired), locking portion 1654 springs laterally. into retaining engagement with firing member 1660 . In such a case, referring to FIG. 19, firing member 1660 cannot move distally.

16 and 17 illustrate retraction of firing member 1660 back to its starting or unfired position after performing a staple firing stroke as described above. FIG. 16 shows the initial re-engagement of retention features 1680 with corresponding locking windows 1658 . FIG. 17 shows the retention mechanism in the locked position with firing member 1660 fully retracted back to its starting position. To assist in the lateral displacement of the locking portion 1654 when contacted by the proximally moving retention features 1680, each of the retention features 1680 has a proximally facing and laterally tapered distal end. may be provided. Such a lockout system prevents actuation of firing member 1660 when no new unfired cartridge is present, or when a new unfired cartridge is present but not properly seated within elongated channel 1102. . Additionally, the lockout system may prevent the 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 configurations that require movement of the firing member into and out of alignment with corresponding slots/passages in the staple cartridge. Unlike, the firing member 1660 is retained in alignment with the cartridge passage while remaining 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) is distinguishable from other locking arrangements that move vertically to engage and disengage portions of the firing member.

13 and 14, anvil 1130 includes an elongate 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 exemplary configuration 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, upper anvil engagement feature 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 splits or bifurcates anvil mounting portion 1150 into two anvil mounting flanges 1151 . Anvil mounting flanges 1151 are joined together at their proximal ends by a connecting bridge 1153 . Connecting bridge 1153 can function to provide support to anvil mounting flange 1151 to make anvil mounting portion 1150 stiffer than mounting portions of other anvil configurations that are not connected at the proximal end. . 12 and 14, anvil slot 1138 is for receiving the top portion of firing member 1660, including upper anvil engagement mechanism 1632, when firing member 1660 is in the proximal unfired position. It has a wide portion 1139 .

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 elongate channel 1102 by pivot pin 1158, which includes mounting holes 1107 and 1107 at proximal end 1103 of elongate channel 1102. It extends through mounting holes 1156 in anvil mounting portion 1150 . Such a configuration pivotally secures anvil 1130 to elongated channel 1102 such that anvil 1130 can pivot about fixed anvil axis AA transverse to shaft axis SA. Please refer to FIG. Anvil mount 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 addition to the above, anvil 1130 is moveable between open and closed positions by axially advancing and retracting distal closure tube section 1430, as further described below. The distal end of distal closure tube section 1430 has an internal camming surface formed thereon that engages camming surface 1552 or a camming surface formed on anvil mounting portion 1150 . , is configured to move the anvil 1130 . 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 tube segment 1430. FIG. 23 is configured for an internal camming surface 1444 on the distal closure tube segment, between the camming surface 1152 on the anvil mounting portion 1150 and the internal camming surface 1444 on the distal closure tube segment 1430, two Cam surface 1152b is shown establishing separate and distinct arcuate contact paths 1155b. In addition to other potential advantages discussed herein, such a configuration may better distribute closure forces from distal closure tube segment 1430 to anvil 1130 . 24 is configured for the internal cam surface 1444 of the distal closure tube section 1430 to provide three different contact areas 1155c and 1155d between the cam surface on the anvil mounting portion 1150 and the distal closure tube section 1430. Establishing cam surface 1152c is shown. Regions 1155c and 1155d establish a greater area of camming contact between the camming surface(s) on distal closure tube segment 1430 and anvil mounting portion 1150 and provide better closure force to anvil 1130. can be dispersed.

As distal obturator tube segment 1430 cams into anvil attachment portion 1150 of anvil 1130, anvil 1130 pivots about anvil axis AA ( FIG. 5 ), resulting in end 1133 of elongated anvil body portion 1132 . 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 pressed onto tissue, anvil 1130 may experience a significant amount of resistive and/or bending forces. These resistance forces are overcome as distal obturator tube 1430 continues its distal advancement. However, depending on the magnitude and point of application of these forces to anvil body portion 1132, these forces tend to bend portions of anvil 1130 away from staple cartridge 1110, which is generally undesirable. Sometimes. 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, firing member, knife bar, and/or firing drive system components, for example. Accordingly, it may be advantageous for the anvil to be configured to resist such bending.

25-27 show anvil 1130' including 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 FIGS. 25-27, anvil 1130' has an elongated anvil body 1132' having an upper body portion 1165 with anvil cap 1170 attached thereto. Anvil cap 1170 is generally rectangular and has an outer cap perimeter 1172, although anvil cap 1170 can have any suitable shape. Peripheral portion 1172 of anvil cap 1170 is configured to be inserted into a correspondingly shaped opening 1137 formed in upper body portion 1165 and extending axially therein. It is positioned against ledge portion 1139 . Please refer to FIG. Internal ledge portions 1139 are configured to support corresponding long sides 1177 of anvil cap 1170 . In an alternate embodiment, anvil cap 1170 may slide over internal ledge 1139 through an opening 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 made 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 side 1177 of the anvil cap 1170 rather than the distal end 1173 and/or its proximal end 1175 . may only be placed along 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 sections may be evenly distributed along the long side 1177 of the anvil cap 1170 or at the distal end of the long side 1177. may be more closely spaced closer to the part, or more closely spaced closer to the proximal end of the long side 1177 . In certain configurations, 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 with anvil body 1132' and welded to upper body portion 1165. As shown in FIG. In this embodiment, a plurality of retention formations 1182 are defined in wall 1180 of upper body portion 1165 defining 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, although other suitable configurations may be employed. Retaining structure 1182 may be integrally formed into wall 1180 or otherwise attached thereto. Retaining formation 1182 is designed to frictionally engage a corresponding portion of anvil cap 1170' when anvil cap 1170' is installed in opening 1137 and frictionally retained to anvil cap 1170'. Retention formation 1182 projects inwardly into opening 1137 and is configured to be frictionally received within a correspondingly shaped engagement region 1184 formed in outer perimeter 1172' of anvil cap 1170'. . Retaining formations 1182 correspond only to long sides 1177' of anvil cap 1170' and are not provided on portions of wall 1180 corresponding to distal end 1173 or proximal end 1175 of anvil cap 1170'. In an alternative configuration, retention formations 1182 may 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 configurations, retention formations 1182 may be provided only on a portion of wall 1180 corresponding to one or both of distal end 1173 and proximal end 1175 of anvil cap 1170'. In still other configurations, retention formations 1182 may be provided on the long side 1177' of anvil cap 1170' and a portion of wall 1180 corresponding to only one of proximal end 1173 and distal end 1175'. . 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 of the anvil cap 1170'. In alternative embodiments, the retention structures 1182 may be spaced more closely together near the distal end of the long side 1177', or spaced more closely together near the proximal end of the long side 1177'. may be placed. 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 can be smaller than the body spacing. In still other configurations, the retention formations 1182 may be more closely spaced in the central region of the long side 1177' of the anvil cap 1170'. In some alternative embodiments, a correspondingly shaped engagement region 1184 may not be provided on the outer periphery 1172' or a portion of the periphery 1172' of the anvil cap 1170'. In other embodiments, the retention formations and correspondingly shaped engagement regions 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 configurations, the anvil cap may be held in place by, for example, welding and/or adhesive.

In the example shown, the weld 1178' extends around the entire perimeter 1172' of the anvil cap 1170'. Alternatively, the welds 1178' are located along the long side 1177' of the anvil cap 1170' and are not located at the distal end 1173 and/or the proximal end 1175 thereof. 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 closely spaced near the proximal end of the long side 1177'. In still other configurations, the weld sections may be more closely spaced in the central region of the long side 1177' of the anvil cap 1170'.

31 and 32 show another anvil configuration 1130'' with anvil cap 1170'' attached. Anvil cap 1170'' is generally rectangular and has an outer cap perimeter 1172''. However, anvil cap 1170'' may include any suitable configuration. The outer cap periphery 1172'' is inserted into and formed within a correspondingly shaped opening 1137'' in the upper body portion 1165 of the anvil body 1132'' with an axially extending inner ledge portion 1139''. and 1190''. Please refer to FIG. Ledge portions 1139'' and 1190'' are configured to support corresponding long sides 1177'' of anvil cap 1170''. In an alternative embodiment, anvil cap 1170'' is slid over internal ledges 1139'' and 1190'' through openings in distal end 1133'' of anvil body 1132'. Anvil body 1132'' and anvil cap 1170'' may be made of a metallic material conducive to welding. The first weld 1178'' may extend around the entire perimeter 1172'' of the anvil cap 1170'', or the anvil cap 1170'', but not the distal end 1173'' and/or its proximal end. '' may be disposed only along the long side 1177''. Welds 1178 may be continuous, or they may be discontinuous or intermittent. Continuous weld embodiments are more flexible due to the irregularly shaped perimeter of the anvil cap 1170'' compared to embodiments with a straight perimeter, such as, for example, the anvil cap shown in FIG. It will be appreciated that there are many weld surface areas. 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 , may be more closely spaced near the distal end of the long side 1177'', or more closely spaced near the proximal end of the long side 1177''. In still other configurations, 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 FIGS. 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'' are It may be formed along a portion of anvil body 1132'' between ledges 1190'' and 1139''. Please refer to FIG. The welds 1192'' may be evenly distributed along the long side 1177'' of the anvil cap 1170'', or the welds 1192'' may be proximate the distal end of the long side 1177''. They may be more closely spaced, or more closely spaced closer to the proximal end of the long side 1177''. In still other configurations, 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 with anvil body 1132 ″ and welded to upper body portion 1165 . In this embodiment, a tongue and groove configuration is used 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''' slides through an opening in the distal end of anvil body 1132''' to "mechanically" secure the anvil cap to 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 made of a metal that lends itself to welding. The weld 1178''' may extend around the entire perimeter 1172''' of the anvil cap 1170''' or may be located only along the long side 1177''' of the anvil cap 1170'''. may be 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''', or The welded sections may be more closely spaced proximate the distal end of the long side 1177''' or more closely spaced proximate the proximal end of the long side 1177'''. you can In still other configurations, 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, the amount of firing force required to drive the firing member from its start to end positions in a surgical staple cartridge can also be reduced.

FIGS. 34-39 show forming pocket arrangement 10200 configured to deform staples during a surgical stapling procedure. Forming pocket arrangement 10200 and various alternative forming pocket arrangements are described in U.S. patent application Ser. WITH THE SAME SURGICAL STAPLING INSTRUMENTS". US Patent Application No. 15/385,914 is incorporated herein by reference in its entirety. Forming pocket arrangement 10200 comprises proximal forming pocket 10210 and distal forming pocket 10230 defined in planar or tissue engaging surface 10207 of anvil 10201 . Pockets 10210 , 10230 are aligned along longitudinal pocket axis 10203 of forming pocket array 10200 . Staples are intended to be formed along pocket axis 10203 by forming pocket arrangement 10200 when deployed from a staple cartridge. 35 and 36, forming pocket arrangement 10200 further includes a bridging portion 10205 defined between forming pockets 10210 and 10230. Referring to FIGS. In this case, bridge portion 10205 is recessed with respect to plane 10207 of anvil 10201 . Bridge portion 10205 includes a bridge width "W" and a bridge depth "D". Bridge depth “D” is the distance that bridge portion 10205 is recessed relative to plane 10207 . Forming pocket array 10200 includes a center “C” defined within bridge portion 10205 . Forming pocket array 10200 is bilaterally symmetrical about bridge portion 10205, bilaterally symmetrical about pocket axis 10203, and rotationally symmetrical about center "C".

Forming pocket arrangement 10200 further comprises a pair of primary sidewalls 10208 extending from plane 10207 of anvil 10201 toward pockets 10210 , 10230 and bridge portion 10205 . Primary sidewall 10208 is angled at angle θ ₂ (FIG. 37) with respect to plane 10207 of anvil 10201 . The forming pocket arrangement 10200 is between the outer edges of the pockets 10210, 10230 and the plane 10207, between the longitudinal edges of the pockets 10210, 10230 and the primary sidewall 10208, between the inner edges of the pockets 10210, 10230 and the bridge portion 10205. Further provided are edge features 10215, 10235 that provide a transition feature in between. These edges 10215, 10235 may be rounded and/or chamfered, for example. Edge features 10215, 10235 can help prevent staple tips from sticking.

Forming pocket 10210 includes a pair of pocket sidewalls 10213 and forming pocket 10230 includes a pair of pocket sidewalls 10233 . The pocket sidewalls 10213, 10233 are oriented toward the forming surfaces of the pockets 10210, 10230 when the staple tips and/or staple legs first strike the sidewalls 10213, 10233 of the pockets 10210, 10230. Configured to orient the legs of the staple. Side walls 10213, 10233 extend from transition edges 10215, 10235 toward the forming surface of each pocket 10210, 10230. FIG. The sidewalls 10213, 10233 of the forming pockets 10210, 10230 are oriented at an angle θ ₁ (FIG. 38) to direct or channel the staple legs and/or staple tips toward the forming surface of the pockets 10210, 10230. , angled with respect to plane 10207 of anvil 10201 . Sidewalls 10213, 10233 are configured to encourage formation of staple tips and/or staple legs along pocket axis 10203 as staples are formed against forming surfaces of pockets 10210, 10230. be. Collectively, primary sidewall 10208 and pocket sidewalls 10213, 10233 can provide a funnel-like configuration for directing staple tips. Referring to Figures 37 and 38, angle θ ₁ is greater than angle θ ₂ .

Pockets 10210, 10230 further include transition edges 10214, 10234 that provide a transition mechanism between pocket sidewalls 10213, 10233 and forming surfaces, as discussed in more detail below. In various examples, transition edges 10214, 10234 can have profiles similar to transition edges 10215, 10235. In other examples, the transition edges 10214, 10234 can have different contours than the transition edges 10215, 10235. Thereby, the edges 10214, 10234 may be rounded or chamfered, for example. Edges 10214, 10234 are arranged at first ends where edges 10214, 10234 meet the outer ends of pockets 10210, 10230 and edges 10214, 10234 approach bridge portions 10205 or inner ends of pockets 10210, 10230. a second end for Edges 10214 , 10234 may transition to transition edges 10215 , 10235 near bridge portion 10205 . Edge features 10214, 10234 may also help prevent staple tips from sticking in pockets 10210, 10230 during formation.

Referring again to FIG. 35, the forming surfaces of pockets 10210, 10230 each include entry area forming surfaces 10211, 10231 and exit area forming surfaces 10212, 10232, respectively. In this case, the amount of surface area of the forming surfaces covered by the inlet area forming surfaces 10211 and 10231 is greater than the surface area of the forming surfaces covered by the outlet area forming surfaces 10212 and 10232 . As a result, the entrance area forming surfaces 10211, 10231 do not transition to the exit area forming surfaces 10212, 10232 at the center of each pocket 10210, 10230. FIG. Rather, the transition point where the inlet regions 10211, 10231 transition to the outlet regions 10212, 10232 is closer to the bridge portion 10205. The transitions between the entrance area-forming surfaces 10211, 10231 and the exit area-forming surfaces 10212, 10232 define the valleys or troughs of each pocket 10210, 10230. The valleys of forming pockets 10210 , 10230 define portions or sections of the forming surface having the greatest vertical distance from plane 10207 .

Referring to Figure 36, the forming surface of each pocket 10210, 10230 has two or more radii of curvature. Specifically, the pocket 10210 has an entrance radius of curvature 10217 corresponding to the entrance area forming surface 10211 and an exit radius of curvature 10218 corresponding to the exit area forming surface 10212 . Similarly, pocket 10230 has an entrance radius of curvature 10237 corresponding to entrance area-defining surface 10231 and an exit radius of curvature 10238 corresponding to exit area-defining surface 10232 . In this case, inlet radii of curvature 10217, 10237 are greater than outlet radii of curvature 10218, 10238, respectively. Specific relationships between radii of curvature and various pocket features, along with some potential advantages and specific patterns of relationships, are further described in US patent application Ser. No. 15/385,914.

In addition to defining the transition point where the entry region transitions to the exit region, the valleys of the forming pockets 10210, 10230 also define the narrowest portion of the forming surface of each pocket 10210, 10230. The outer edge of each pocket 10210, 10230, also referred to as the inlet edge, includes the inlet width as they define the beginning of the inlet region forming surfaces 10211, 10231. The inner edge of each pocket 10210, 10230, also referred to as the outlet edge, includes the outlet width because they define the ends of the outlet area forming surfaces 10212, 10232. In this case, the inlet width is greater than the outlet width. Also, the exit width is greater than the valley width or narrowest portion of the forming surface. FIG. 38 is a cross-sectional view of distal formation pocket 10230 taken along line 38-38 of FIG. This view shows the valley or trough of the distal forming pocket 10230. FIG. This valley or trough is also the transition between the entrance area-defining surface 10231 and the exit area-defining surface 10232 . 37 shows a cross-sectional view of distal forming pocket 10230 taken along line 37-37 of FIG. 35 positioned within exit region forming surface 10232 of forming pocket 10230. FIG. 39 is a cross-sectional view of distal forming pocket 10230 taken along line 39-39 of FIG.

Forming pocket arrangement 10200 and various other forming pocket arrangements disclosed herein are configured for use with staples having various diameters. The diameter of staples used with forming pocket array 10200 can vary, for example, between about 0.0079 inches and about 0.0094 inches. Additionally, the entry and exit radii of curvature of each forming surface are, for example, between about 1.5:1 and about 1.5:1 when the entry radius is between about 8 times the staple diameter and 10 times the staple diameter. It has a ratio of 3:1. In at least one case, the entry radius and exit radius of curvature of each forming surface have a ratio of about 2:1, for example, when the entry radius is about nine times the staple diameter. In other cases, the entry and exit radii of curvature of each forming surface are such that the entry radius is greater than about 0.6 times the staple crown length and ridge, or bridge, or the width is 1 times the staple diameter. If less than, it has a ratio of about 1.5:1 to about 3:1. In at least one case, the entry and exit radii of curvature of each forming surface are such that the entry radius is greater than about 0.6 times the staple crown length and ridge or bridge, or the width is 1 times the staple diameter. If less, it has a ratio of about 2:1. The exit radius of curvature is, for example, between about 4 times the staple diameter and about 6 times the diameter. In at least one case, the exit radius of curvature is about 4.5 times the staple diameter.

Figures 40-45 show a formation pocket arrangement 10500 configured to deform staples during a surgical stapling procedure. Forming pocket sequence 10500 and various alternative forming pocket sequences are described in U.S. patent application Ser. WITH THE SAME SURGICAL STAPLING INSTRUMENTS". US Patent Application No. 15/385,914 is incorporated herein by reference in its entirety. Formation pocket arrangement 10500 comprises a proximal formation pocket 10510 and a distal formation pocket 10530 defined in a planar or tissue contacting surface 10507 of anvil 10501 . Pockets 10510 , 10530 are aligned along longitudinal pocket axis 10503 of forming pocket array 10500 . Staples are intended to be formed along pocket axis 10503 by forming pocket arrangement 10500 when deployed from a staple cartridge. 41 and 42, forming pocket arrangement 10500 further includes a bridge portion 10505 defined between forming pockets 10510 and 10530. Referring to FIGS. In this case, bridge portion 10505 is recessed with respect to plane 10507 of anvil 10501 . Bridge portion 10505 has a bridge width "W" and a bridge depth "D". Bridge portion 10505 is substantially V-shaped with a rounded bottom. Bridge depth “D” is the distance that the bottom of bridge portion 10505 is recessed relative to planar surface 10507 . Forming pocket array 10500 includes a center “C” defined within bridge portion 10505 . The formed pocket array 10500 is bilaterally symmetrical about the bridge portion 10505, bilaterally symmetrical about the pocket axis 10503, and rotationally symmetrical about the center C.

Forming pocket arrangement 10500 further comprises a pair of primary sidewalls 10508 extending from plane 10507 of anvil 10501 toward pockets 10510 , 10530 and bridge portion 10505 . Primary sidewall 10508 is angled at angle θ ₁ (FIG. 43) with respect to plane 10507 of anvil 10501 . The primary sidewall 10508 includes a curved or contoured inner edge for the pockets 10510,10530.

Forming pocket 10510 includes a pair of pocket sidewalls 10513 and forming pocket 10530 includes a pair of pocket sidewalls 10533 . The pocket sidewalls 10513, 10533 have a curved or undulating profile and help direct the staple tips and staple legs toward the forming surfaces of the pockets 10510, 10530 and to control the staple forming process. is configured to be Side walls 10513, 10533 extend from primary side wall 10508 and planar surface 10507 toward the forming surface of each pocket 10510, 10530. Sidewalls 10513, 10533 are configured to encourage formation of staple tips and/or staple legs along pocket axis 10503 as staples are formed against forming surfaces of pockets 10510, 10530. be. Generally, primary sidewall 10508 and pocket sidewalls 10513, 10533 cooperate to gather corresponding staple tips toward the lateral center of each pocket 10510, 10530. FIG. As discussed in more detail below, the sidewalls 10513, 10533 include an inlet portion and an outlet portion, the inlet portion including a less erosive channeling configuration than the outlet portion.

Referring again to FIG. 41, the forming surfaces of pockets 10510, 10530 include entry area forming surfaces 10511, 10531 and exit area forming surfaces 10512, 10532, respectively. Inlet region forming surfaces 10511, 10531 coincide with less erosive channel portions of sidewalls 10513, 10533. FIG. Similarly, exit region forming surfaces 10512, 10532 coincide with more eroded channel portions of sidewalls 10513, 10533. FIG. Pockets 10510, 10530 are formed grooves, also called tip control channels, that extend the entire longitudinal length of each pocket 10510, 10530 and are centrally located relative to the outer lateral edges of the pockets 10510, 10530. or grooves 10515, 10535, which are guide grooves. The grooves 10515,10535 are narrower at the outer longitudinal edges of the pockets 10510,10530 than at the inner longitudinal edges of the pockets 10510,10530. Grooves 10515, 10535 meet at bridge portion 10505 to encourage the staple tips and staple legs to contact each other during the forming process, as further discussed in U.S. patent application Ser. No. 15/385,914. . In some cases, the grooves defined in the forming surface of the forming pocket may have a similar effect in forming staples as a more erosionally angled exit wall and/or a narrower configured exit wall.

Referring to FIG. 42, the forming surface of each pocket 10510, 10530 has two or more radii of curvature. Specifically, the pocket 10510 has an entrance radius of curvature 10517 corresponding to the entrance area forming surface 10511 and an exit radius of curvature 10518 corresponding to the exit area forming surface 10512 . Similarly, pocket 10530 has an entrance radius of curvature 10537 corresponding to entrance area-defining surface 10531 and an exit radius of curvature 10538 corresponding to exit area-defining surface 10532 . In this case, the entrance radii of curvature 10517, 10537 are larger than the exit radii of curvature 10518, 10538. Specific relationships between radius of curvature and various pocket features, along with some potential benefits and patterns of specific relationships, are further described in US patent application Ser. No. 15/385,914.

43-45, the outer longitudinal edges of each pocket 10510, 10530 are also referred to as inlet edges because they define the beginning of the inlet region forming surfaces 10511, 10531. . The inlet edge includes an inlet width that is the maximum width of the forming surface of each pocket 10510, 10530. FIG. The inner edges of each pocket 10510, 10530 are also referred to as the exit edges because they define the ends of the exit area forming surfaces 10512, 10532. The outlet edge includes an outlet width, also referred to as a bridge width "W", which is the narrowest portion of the forming surface of each pocket 10510, 10530. The transition between the entrance region and the exit region includes a transition width less than the entrance width but greater than the exit width. FIG. 44 is a cross-sectional view of distal formation pocket 10530 taken along line 44-44 of FIG. This view is taken near the valley or trough of the distal forming pocket 10530 . This valley or trough is also the transition between the entrance area-defining surface 10531 and the exit area-defining surface 10532 . In various examples, the transition between the inlet region and the outlet region does not occur at a pocket valley or trough. 43 shows a cross-sectional view of distal forming pocket 10530 taken along line 43-43 of FIG. 41 positioned within exit region forming surface 10532 of forming pocket 10530. FIG. 45 is a cross-sectional view of distal forming pocket 10530 taken along line 45-45 of FIG. Sidewall 10533 is illustrated here as straight or at least substantially straight, angled at angle θ ₂ (FIG. 45) with respect to plane 10507 . Angle θ ₂ is greater than angle θ ₁ (FIG. 43).

46 and 47 show staples formed in the forming pocket array 10500, one staple aligned with the pocket axis 10503 of the forming pocket array 10500 and the other staple aligned with the pocket axis 10503 of the forming pocket array 10500. not aligned. 46 shows side view 13100 and bottom view 13100' of staple 13101 in the fully formed configuration formed with forming pocket arrangement 10500. FIG. This staple 13101 was aligned with the pocket axis 10503 of the forming pocket array 10500 during the forming process. The tips 13104 of the staple legs 13103 strike the formed pocket array 10500 along the pocket axis 10503 .

Staple 13101 includes a first tip alignment axis TA1, a second tip alignment axis TA2, and a crown alignment axis CA. When aligned with pocket axis 10503, staple 13101 is formed such that second tip alignment axis TA2 and crown alignment axis CA are substantially aligned, or in other words: Staple 13101 has a substantially planar shape. The force causing staple 13101 to fire is shown in graph 13110 .

47 shows side view 13120 and bottom view 13120' of staple 13121 in the fully formed configuration formed with forming pocket arrangement 10500. FIG. This staple 13121 was not aligned with the pocket axis 10503 of the forming pocket array 10500 during the forming process. Staple 13121 is driven out of plane with respect to pocket axis 10503 . The tips 13124 of the staple legs 13123 are not striking the formed pocket array 10500 along the pocket axis 10503, nor are the crowns or bases 13122 of the staples 13121 aligned with the pocket axis 10503 during formation.

Staple 13121 includes a first tip alignment axis TA1, a second tip alignment axis TA2, and a crown alignment axis CA. When not aligned with pocket axis 10503, staple 13121 is formed such that second tip alignment axis TA2 and crown alignment axis CA are substantially aligned with each other, or in other words: The staple 13121 has a substantially planar shape. 46, in which the staple 13101 is aligned with the pocket axis 10503, the staple 13121 allows the surgeon to cut the tissue more than staples formed with other formed pocket arrangements formed in a non-aligned state. Formed into a fully formed configuration that may allow for proper sealing.

FIGS. 48-54 show a formation pocket arrangement 6500 configured to deform staples during a surgical stapling procedure. Formation pocket arrangement 6500 comprises a proximal formation cup or pocket 6510 and a distal formation cup or pocket 6530 defined in a planar or tissue contacting surface 6507 of anvil 6501 . Tissue contacting surface 6507 of anvil 6501 can be configured to compress tissue against the staple cartridge when anvil 6501 is clamped or closed against the staple cartridge. Each cup 6510, 6530 is defined by an interface as further described herein. Cups 6510 , 6530 are aligned along pocket axis 6503 of forming pocket array 6500 . Staples are intended to be formed along pocket axis 6503 by forming pocket arrangement 6500 when deployed from a staple cartridge. For example, a first leg of the staple is formed by the proximal formation cup 6510 and a second leg of the staple is formed by the distal formation cup 6530 . In such an example, when the anvil 6501 is clamped against the staple cartridge, the first leg of the staple is aligned with a portion of the proximal preparation cup 6510 and the second leg of the staple is aligned with the distal preparation cup 6510. Aligned with a portion of cup 6530 .

50 and 51, forming pocket arrangement 6500 further includes a bridge portion 6505 defined between forming cups 6510 and 6530. Referring to FIGS. In this case, bridge portion 6505 is recessed with respect to plane 6507 of anvil 6501 . Bridge portion 6505 has a bridge width BW and a bridge depth BD (FIG. 54). Bridge depth BD is the distance that the bottom of bridge portion 6505 is recessed relative to plane 6507 . Bridge width BW is the width of pocket array 6500 between cups 6510,6530. In this case, the bridge width BW is the narrowest part of the formation surface of each cup 6510, 6530. FIG. Forming pocket array 6500 has a center C defined within bridge portion 6505 (FIGS. 48-50). The formed pocket array 6500 is bilaterally symmetrical about the bridge portion 6505, bilaterally symmetrical about the pocket axis 6503, and rotationally symmetrical about the center C.

Forming pocket arrangement 6500 further comprises a pair of primary sidewalls 6508 extending from plane 6507 of anvil 6501 toward cups 6510 , 6530 and bridge portion 6505 . Primary sidewall 6508 is angled at angle θ ₁ (FIGS. 52-54) with respect to plane 6507 of anvil 6501 . The cups 6510,6530 define a perimeter 6520, and the inner edge of the primary sidewall 6508 extends between the plane 6507 and the perimeter 6520 of the cups 6510,6530. Referring primarily to FIG. 50, the inner edge of the primary sidewall 6508 is curved or contoured relative to the cups 6510,6530.

In certain examples, forming pocket array 6500 may not include primary sidewalls 6508 . In such examples, the cups 6510 , 6530 can extend directly into the plane 6507 and the perimeters 6520 of the cups 6510 , 6530 can be defined within the plane 6507 .

50 and 51, the proximal formation cup 6510 includes a pair of cup sidewalls 6513 and the distal formation cup 6530 includes a pair of cup sidewalls 6533. As shown in FIG. The cup sidewalls 6513, 6533 have a curved or undulating profile and help direct the staple tips and staple legs toward the forming surfaces of the cups 6510, 6530 and to control the staple forming process. is configured to be Side walls 6513, 6533 extend from primary side wall 6508 and plane 6507 toward the forming surface of each cup 6510, 6530. Sidewalls 6513, 6533 are configured to facilitate forming staple tips and/or staple legs along pocket axis 6503 as staples are formed against the forming surfaces of cups 6510, 6530. . Generally, primary sidewall 6508 and cup sidewalls 6513, 6533 cooperate to gather corresponding staple tips toward the lateral center of each cup 6510, 6530. An inflection surface or bottom surface 6514,6534 extends along the lateral center of each corresponding cup 6510,6530 intermediate the corresponding side wall 6513,6533.

Referring again to FIG. 50, the forming surfaces of cups 6510, 6530 include inlet area forming surfaces 6511, 6531, respectively, and outlet area forming surfaces 6512, 6532, respectively. Inlet region forming surfaces 6511, 6531 may coincide with less erodible channel portions of sidewalls 6513, 6533. FIG. Similarly, exit region forming surfaces 6512, 6532 may coincide with more eroded channel portions of sidewalls 6513, 6533. FIG.

Referring now primarily to Figure 51, the forming surface of each cup 6510, 6530 is defined by a depth profile or contour. Proximal formation cup 6510 includes depth profile 6522 and distal formation cup 6530 includes depth profile 6542 . Depth profiles 6522, 6542 define the depth of cups 6510, 6530, respectively, along the length of the cup. Cups 6510, 6530 reach maximum cup depth CD in transition regions 6509, 6529, respectively, which will be further described below. The cup depth CD of the pockets 6510, 6530 can be, for example, 0.3-0.5 millimeters. For example, the cup depth CD can be 0.4 millimeters. In other examples, the cup depth CD can be less than 0.3 millimeters or greater than 0.5 millimeters, for example.

Depth profiles 6522, 6542 are curved contours lacking straight portions. Additionally, depth profiles 6522, 6542 may have one or more radii of curvature. Specifically, depth profile 6522 of proximal forming cup 6510 has an inlet radius of curvature 6517 corresponding to inlet region forming surface 6511 and an outlet radius of curvature 6518 corresponding to outlet region forming surface 6512 . Similarly, depth profile 6542 of distal forming cup 6530 has an inlet radius of curvature 6537 corresponding to inlet region forming surface 6531 and an outlet radius of curvature 6538 corresponding to outlet region forming surface 6532 . In this case, the entrance radii of curvature 6517,6537 are larger than the exit radii of curvature 6518,6538. Specific relationships between the radii of curvature of the entry and exit regions and various pocket features, along with some potential advantages and patterns of specific relationships, are further described in U.S. patent application Ser. No. 15/385,914. ing.

The outer longitudinal edge of each cup 6510, 6530 defines the beginning of the inlet region forming surface 6511, 6531 and is therefore also referred to as the inlet edge. The inlet edge includes an inlet width that is the widest width of the forming surface of each cup 6510,6530. The inner edges of each cup 6510, 6530 define the ends of the exit area defining surfaces 6512, 6532 and are therefore also referred to as exit edges. The outlet edge has an outlet width, also referred to as bridge width BW (Fig. 54), which is the narrowest part of the forming surface of each cup 6510, 6530. Transition regions 6509, 6529 are positioned intermediate the inlet and outlet regions of each cup. The transition regions 6509, 6529 have a transition width that is less than the entrance width but greater than the exit width. The transition regions 6509,6529 include the inflections of the respective depth profiles 6522,6542 and thus the deepest portion of each cup 6510,6530. In various examples, the transition regions 6509, 6529 include most of the length of each cup 6510, 6530. More specifically, the length of the transition regions 6509, 6529 may be longer than the sum of the respective lengths of the inlet and outlet regions of each cup 6510, 6530. The transition regions 6509, 6529 may extend along the taper or constriction of each cup 6510, 6530. For example, each transition region 6509,6529 may extend inwardly toward the bridge 6505 from the widest portion of the corresponding cup 6510,6530.

FIG. 53 is a cross-sectional view of distal shaping cup 6530 taken along line 53-53 of FIG. This view is taken near the valley or trough of the distal shaping cup 6530 . This valley or trough is also the transition between the entrance area-defining surface 6531 and the exit area-defining surface 6532 . In various examples, the transition between the inlet region and the outlet region does not occur at the valley or trough of the cup. FIG. 54 shows a cross-sectional view of distal forming cup 6530 taken along line 54-54 of FIG. 50 positioned within exit region forming surface 6532 of distal forming cup 6530. 52 is a cross-sectional view of distal forming cup 6530 taken along line 52-52 of FIG. 50 positioned within inlet region forming surface 6532 of distal forming cup 6530. FIG.

Referring primarily to FIGS. 52-54, the pair of cup sidewalls 6533 of the distal forming cup 6530 includes a first sidewall 6533a and a second sidewall 6533b. First sidewall 6533a and second sidewall 6533b are opposing sidewalls that extend from laterally opposing sides of distal forming cup 6530 toward one another. An inflection surface or bottom surface 6534 of distal forming cup 6530 is positioned between first sidewall 6533a and second sidewall 6533b. The bottom surface 6534 of the distal forming cup 6530 is a fully curved non-flat surface. In other words, bottom surface 6534 lacks a flat plane. The bottom surface 6534 can define one or more radii of curvature. For example, at various longitudinal positions along the pocket axis 6503, the bottom surface 6534 defines different radii of curvature. A tangent to the bottom surface 6534 at the lateral center of the cup 6530 is parallel to the plane 6507 along its length.

In various examples, the curvature of the bottom surface 6534 can be sized such that the staple legs do not move along a plane during the staple forming process. In such instances, especially when the staple being formed is not aligned with the pocket axis 6503, the bottom surface 6543 is configured to form the staple into a flatter configuration than staples formed along a flat bottom surface. can be encouraged. The curvature of the bottom surface 6543 can be sized such that the bottom surface 6543 provides multiple contact surfaces for the staple legs. For example, the radius of curvature of the bottom surface 6534 may be less than the radius of curvature of the staple legs.

The cup sidewalls 6513, 6533 are fully curved non-flat surfaces. In other words, the cup sidewalls 6513, 6533 lack flat surfaces. Referring again to Figures 52-54, sidewalls 6533a, 6533b define one or more radii of curvature. For example, at various longitudinal positions along pocket axis 6503, sidewalls 6533a, 6533b define different radii of curvature. The fully curved contours of the cup sidewalls 6513, 6533 and the bottom surface 6534 can define the curved interface of the cups 6510, 6530. The cups 6513, 6533 may be fully curved and lack flat surfaces.

Sidewalls 6533 a , 6533 b are oriented at an entry angle θ ₂ with respect to tissue contacting surface 6507 at various cross-sections of distal forming cup 6530 . More specifically, in FIGS. 52-54, a tangent T to each sidewall 6533a, 6533b at the perimeter 6520 of the distal forming cup 6530 is oriented at an angle θ ₂ with respect to the tissue contacting surface 6507. In FIGS. The entry angle θ ₂ is constant along most of the length of the distal forming cup 6530 within the transition forming region 6529 (FIGS. 50 and 51). The tangents to such sidewalls are oriented at constant angles along the length or substantial length of the cups 6510, 6530, but define the sidewalls as the depth and width of the cups vary along their length. The radius of curvature and length of the arc can also vary. In various examples, angle θ ₂ can be, for example, between about 55 degrees and about 80 degrees. For example, in FIGS. 52-54, angle θ ₂ is 80 degrees. In other examples, angle θ ₂ can be less than 55 degrees or greater than 80 degrees. Sidewalls 6533a, 6533b are non-vertical sidewalls, so the angle θ ₂ of tangent T along perimeter 6520 can be less than 90 degrees, for example.

Reference points at the transitions between sidewalls 6533a, 6533b and bottom surface 6534 are shown in FIGS. 52-54 for illustrative purposes. For example, the curved interface of distal forming cup 6530 includes reference point A at the transition between sidewall 6533 a and bottom surface 6534 . At each longitudinal position along cup 6530 , first sidewall 6533 a and second sidewall 6533 b define sidewall radius of curvature 6543 and bottom surface 6534 defines bottom radius of curvature 6544 . Bottom radius of curvature 6544 can be different than sidewall radius of curvature 6543 . The radius of curvature transition at reference point A includes a smooth, non-abrupt transition.

Reference line B is also shown in FIGS. 52-54 for illustrative purposes. A reference line B extends between the first reference point A and the perimeter 6520 of the distal forming cup 6530 . Reference line B is oriented at an angle θ ₃ in FIGS. 52-54. Angle θ ₃ can determine where curved sidewall 6533 a meets curved bottom surface 6534 . Further, the steepness of sidewall _6533a can be affected by angle θ3. For example, if angle θ ₂ is constant, increasing angle θ ₃ may result in a deeper and narrower cup. _In a particular example, angle θ3 may be limited by the desired minimum pocket width at the deepest portion of the cup. For example, a desired minimum pocket width may be a requirement of the anvil 6501 tooling process and/or may be required by the staple wire width.

Angle θ ₃ is constant along most of the length of distal forming cup 6530 within transition forming surface region 6529 (FIG. 51). In various examples, angle θ ₃ may be less than angle θ ₂ . Angle θ ₃ in FIGS. 52-54 is, for example, about 55 degrees. In other examples, angle θ ₃ can be less than 55 degrees or greater than 80 degrees, for example. Angles θ ₂ and θ ₃ are constant along the length of distal formation cup 6530 , or at least along a substantial length of distal formation cup 6530 , but the depth of distal formation cup 6530 and θ 3 are constant. As the width varies along its length, the radius of curvature and length of the arcs defining sidewalls 6533a, 6533b also vary.

Angle θ ₂ with respect to the tissue contacting surface can include a relatively steep angle. For example, angle θ ₂ may be greater than angles θ ₁ and θ ₃ . The steepness of angle θ ₂ can encourage the formation of staples along the pocket axis. Additionally, the constant angle θ ₂ along the length of the distal forming cup 6530 encourages unaligned staple legs to move from the periphery of the cup 6530 toward the lateral center or axis 6503. can be done. As described herein, the depth of the pocket can vary along its length. However, maintaining a constant angle θ ₂ encourages misaligned staple legs to move from the periphery of the distal forming cup 6530 toward the lateral center, even in the shallow regions of the cup 6530. be able to.

In certain cases, the maximum cup depth CD may vary between staple forming pockets and/or arrangements within the anvil. For example, different depths can be utilized to form staples at different heights, and/or staples driven by drivers having different heights, as further described herein. can be formed. The depth of the pockets may vary, for example, across a row of pockets and/or within one or more rows of pockets. The deeper the pocket, the greater the control over staple formation. However, pocket depth may be limited by anvil tooling constraints and staple geometry. If certain pockets are shallower than others, the sidewalls of the shallow pockets _are oriented at the same entry angle θ2 as the deeper pockets to encourage the staples formed by the shallow pockets to form along the pocket axis. can be done.

54A is a partial negative view of various slices of forming pockets of forming pocket array 6500. FIG. The dimensions of various slices are indicated thereon. A slice is obtained in a plane along the formation pocket perpendicular to the tissue contacting surface 6507 and the pocket axis 6503 on only a single sidewall of the formation pocket. Each slice has a width 'x', a height 'y', an upper radius of curvature 'ra', and a lower radius of curvature 'rb'. Width “x” is defined as the x component of the distance between the forming pocket perimeter 6520 and the forming pocket bottom radius of curvature 6544 . Height “y” is defined as the y component of the distance between the forming pocket perimeter 6520 and the forming pocket bottom radius of curvature 6544 . A top radius of curvature "ra" is defined as the radius of curvature at the top of the sidewall. A bottom radius of curvature "rb" is defined as the radius of curvature of the bottom of the sidewall. Each dimension includes a number that indicates the slice to which that dimension corresponds. For example, slice 1 has width 'x ₁ ', height 'y ₁ ', upper radius of curvature 'ra ₁ ', and lower radius of curvature 'rb ₁ '. FIG. 54B is a table 6550 containing dimensions of slices 1-12 of FIG. 54A in at least one embodiment.

54C is a cross-sectional view of formed pocket array 6500 taken along pocket axis 6503. FIG. 54C includes various dimensions of distal forming pocket 6530 of forming pocket array 6500. FIG. The length of forming pocket 6530 is, for example, 1.90 mm. The depth of forming pocket 6530 is, for example, 0.40 mm. In a particular example, distal forming pocket 6530 has three radii of curvature, an inlet radius of curvature of 1.90 mm, a first outlet radius of curvature of 1.00 mm, and a second outlet radius of curvature of 0.10 mm. The width of the bridge portion of distal forming pocket 6530 is, in this example, the distance between the center of forming pocket array 6500 and the innermost edge of the first exit radius of curvature (the first closest to the center of forming pocket array 6500). defined as 0.10 mm of the edge of the exit radius of curvature of 1). The bridge depth is, for example, 0.05 mm.

55-60 show another forming pocket arrangement 6600 within anvil 6501. FIG. Formation pocket array 6600 is configured to deform staples during a surgical stapling procedure and includes a proximal formation cup or pocket 6610 and a distal formation cup or pocket 6610 defined in planar or tissue contacting surface 6507 of anvil 6501 . a pocket 6630; Forming pocket array 6600 can be similar in many respects to forming pocket array 6500 . For example, the sidewalls of the staple forming cups 6610, 6630 can intersect the plane 6507 at the same constant entry angle θ ₂ along their length. The sidewall entry angle θ ₂ may be the same for cups 6510 and 6530 as for cups 6610 and 6630 (FIGS. 48-54), but as further described herein, the maximum cup depth CD is can be different. In such a case, the shallow pocket sidewalls can define the same entry angle θ ₂ as the deep pocket sidewalls, which can facilitate proper planarization of staples formed by pockets of different depths.

In other examples, forming pocket arrays 6600 can be defined in different anvils. For example, anvil 6501 may not include different forming pocket sequences. Rather, an anvil such as anvil 6501 can consist of, for example, uniform or identical formation pocket arrangements. In certain examples, forming pocket array 6600 may form pocket arrays only within certain anvils.

Each cup 6610, 6630 is defined by an interface as further described herein. Cups 6610 , 6630 are aligned along pocket axis 6603 of forming pocket array 6600 . Staples are intended to be formed along pocket axis 6603 by forming pocket arrangement 6600 when deployed from a staple cartridge. For example, a first leg of the staple can be formed by the proximal formation cup 6610 and a second leg of the staple can be formed by the distal formation cup 6630. In such an example, when the anvil 6501 is clamped against the staple cartridge, the first leg of the staple is aligned with a portion of the proximal formation cup 6610 and the second leg of the staple is aligned with the distal formation cup 6630. aligned with a portion of

56 and 57, forming pocket arrangement 6600 further includes a bridge portion 6605 defined between forming cups 6610 and 6630. Referring to FIGS. Although bridge portion 6605 is recessed with respect to plane 6507 of anvil 6501 , bridge portion 6605 can be flush with plane 6507 . Bridge portion 6605 has a bridge width BW and a bridge depth BD (FIG. 60). Bridge depth BD is the distance that the bottom of bridge portion 6605 is recessed with respect to plane 6507 . Bridge width BW is the width of pocket array 6600 between cups 6610,6630. In this case, the bridge width BW is the narrowest part of the forming surface of each cup 6610, 6630. Forming pocket array 6600 has a center C (FIGS. 55 and 56) defined within bridge portion 6605 . The forming pocket arrangement 6600 is bilaterally symmetrical about the bridge portion 6605, bilaterally symmetrical about the pocket axis 6603, and rotationally symmetrical about the center C.

Forming pocket arrangement 6605 further comprises a pair of primary sidewalls 6608 extending from plane 6507 of anvil 6501 toward cups 6610 , 6630 and bridge portion 6605 . Primary sidewall 6608 is angled at angle θ ₁ (FIGS. 58-60) with respect to plane 6507 of anvil 6501 . The cups 6610,6630 define a perimeter 6620, and the inner edge of the primary sidewall 6608 extends between the plane 6507 and the perimeter 6620 of the cups 6610,6630. Referring primarily to FIG. 56, the inner edge of the primary sidewall 6608 is curved or contoured relative to the cups 6610,6630.

In certain examples, forming pocket array 6600 may not include primary sidewalls 6608 . In such examples, the cups 6610 , 6630 can extend directly into the plane 6507 and the perimeters 6620 of the cups 6610 , 6630 can be defined within the plane 6507 .

56 and 57, the proximal formation cup 6610 includes a pair of cup sidewalls 6613 and the distal formation cup 6630 includes a pair of cup sidewalls 6633. The cup sidewalls 6613, 6633 have a curved or undulating profile and help direct the staple tips and staple legs toward the forming surfaces of the pockets 6610, 6630 and to control the staple forming process. is configured to be Sidewalls 6613, 6633 extend from primary sidewall 6608 and plane 6507 toward the forming surface of each cup 6610,6630. Sidewalls 6613, 6633 are configured to facilitate forming staple tips and/or staple legs along pocket axis 6603 as staples are formed against the forming surfaces of cups 6610, 6630. . Generally, the primary sidewall 6608 and the cup sidewalls 6613,6633 cooperate to gather corresponding staple tips toward the lateral center of each cup 6610,6630. An inflection surface or bottom surface 6614,6634 extends along the lateral center of each corresponding cup 6610,6630 intermediate the corresponding side wall 6613,6633.

Referring again to FIG. 56, the forming surfaces of cups 6610, 6630 include inlet area forming surfaces 6611, 6631, respectively, and outlet area forming surfaces 6612, 6632, respectively. Inlet region forming surfaces 6611, 6631 may coincide with less erodible channel portions of sidewalls 6613, 6633. FIG. Similarly, the exit region forming surfaces 6612, 6632 may coincide with the more eroded channel portions of the sidewalls 6613, 6633.

Referring now primarily to Figure 57, the forming surface of each cup 6610, 6630 is defined by a depth profile or contour. Proximal formation cup 6610 includes depth profile 6622 and distal formation cup 6630 includes depth profile 6642 . Depth profiles 6622, 6642 define the depth of cups 6610, 6630, respectively, along the length of the cup. Cups 6610, 6630 reach maximum cup depth CD in transition regions 6609, 6629, respectively, which will be further described below. The cup depth CD of the pockets 6610, 6630 can be, for example, 0.2-0.4 millimeters. For example, the cup depth CD can be 0.3 millimeters. In other examples, the cup depth CD can be less than 0.2 millimeters or greater than 0.4 millimeters.

The cup depth CD of cups 6610, 6630 is less than the cup depth CD of cups 6510, 6530 (Fig. 51). For example, the cup depth CD of cups 6610,6630 may be 0.2 millimeters less than the cup depth CD of cups 6510,6530. In certain examples, the cup depth CD of the cups 6610, 6630 may be 0.1 mm to 0.3 mm less than the cup depth CD of the cups 6510, 6530. The cup depth CD of the cups 6510,6530 may be 25% to 50% greater than the cup depth CD of the cups 6610,6630. For example, the cup depth CD of cups 6510,6530 may be 40% greater than the cup depth CD of cups 6610,6630. In various examples, the difference between the cup depths CD of the pocket forming sequences 6500 and 6600 can be selected to equal or substantially equal the diameter of the staples formed by the pocket forming sequences 6500, 6600. can.

Depth profiles 6622, 6642 are curved contours lacking straight portions. Additionally, depth profiles 6622, 6642 may have one or more radii of curvature. In this case, depth profiles 6622, 6642 have more than one radius of curvature. Specifically, depth profile 6622 of proximal forming cup 6610 has an inlet radius of curvature 6617 corresponding to inlet region forming surface 6611 and an outlet radius of curvature 6618 corresponding to outlet region forming surface 6612 . Similarly, depth profile 6642 of distal forming cup 6630 has an inlet radius of curvature 6637 corresponding to inlet region forming surface 6631 and an outlet radius of curvature 6638 corresponding to outlet region forming surface 6632 . In this case, the entrance radii of curvature 6617,6637 are larger than the exit radii of curvature 6618,6638. Specific relationships between entry and exit radii of curvature and various pocket features, along with some potential advantages and patterns of specific relationships, are further described in US patent application Ser. No. 15/385,914. there is

The outer longitudinal edge of each cup 6610, 6630 defines the beginning of the inlet region forming surface 6611, 6631 and is therefore also referred to as the inlet edge. The inlet edge includes an inlet width that is the maximum width of the forming surface of each cup 6610,6630. The inner edges of each cup 6610, 6630 define the ends of the exit area defining surfaces 6612, 6632 and are therefore also referred to as exit edges. The outlet edge includes an outlet width, also referred to as bridge width BW (FIG. 60), which is the narrowest portion of the forming surface of each cup 6610,6630. Transition regions 6609, 6629 are positioned intermediate the inlet and outlet regions of each cup. The transition regions 6609, 6629 have a transition width that is less than the entrance width but greater than the exit width. The transition regions 6609, 6629 include inflections of corresponding depth profiles 6622, 6642 and thus the deepest portions of each cup 6610, 6630. In various examples, the transition regions 6609, 6629 include most of the length of each cup 6610, 6630. More specifically, the length of the transition regions 6609, 6629 may be longer than the sum of the respective lengths of the inlet and outlet regions of each cup 6610, 6630. The transition regions 6609, 6629 may extend along the taper or constriction of each cup 6610, 6630. For example, each transition region 6609,6629 may extend inwardly toward the bridge 6605 from the widest section of the corresponding cup 6610,6630.

FIG. 59 is a cross-sectional view of distal forming cup 6630 taken along line 59-59 of FIG. This view is taken near the valley or trough of the distal shaping cup 6630 . This valley or trough is also the transition between the entrance area-defining surface 6631 and the exit area-defining surface 6632 . In various examples, the transition between the inlet region and the outlet region does not occur at the valley or trough of the cup. FIG. 60 shows a cross-sectional view of distal forming cup 6630 taken along line 60-60 in FIG. 58 is a cross-sectional view of distal forming cup 6630 taken along line 58-58 of FIG. 56 disposed within inlet region forming surface 6632 of distal forming cup 6630.

Referring primarily to FIGS. 58-60, a pair of cup sidewalls 6633 of distal forming cup 6630 includes first sidewall 6633a and second sidewall 6633b. First sidewall 6633a and second sidewall 6633b are opposing sidewalls that extend from laterally opposing sides of distal forming cup 6630 toward one another. An inflection surface or bottom surface 6634 of distal forming cup 6630 is positioned between first sidewall 6633a and second sidewall 6633b. The bottom surface 6634 of the distal forming cup 6630 is a fully curved non-flat surface. In other words, the bottom surface 6634 lacks a flat plane. The bottom surface 6634 can define one or more radii of curvature. For example, at various longitudinal positions along the pocket axis 6603, the bottom surface 6634 defines different radii of curvature. A tangent to the bottom surface 6634 at the lateral center of the cup 6630 is parallel to the plane 6507 along its length.

In various examples, the curvature of the bottom surface 6634 can be sized such that the staple legs do not move along a plane during the staple forming process. In such instances, especially when the staple being formed is not aligned with the pocket axis 6603, the bottom surface 6643 is configured to form the staple into a flatter configuration than staples formed along a flat bottom surface. can be encouraged. The curvature of the bottom surface 6643 can be sized such that the bottom surface 6643 provides multiple contact surfaces for the staple legs. For example, the radius of curvature of the bottom surface 6634 may be less than the radius of curvature of the staple legs.

The cup sidewalls 6613, 6633 are fully curved non-flat surfaces. In other words, the cup sidewalls 6613, 6633 lack flat surfaces. Referring again to FIGS. 58-60, sidewalls 6633a, 6633b define one or more radii of curvature. For example, at various longitudinal positions along pocket axis 6603, sidewalls 6633a, 6633b define different radii of curvature. The fully curved contours of the cup sidewalls 6613, 6633 and the bottom surface 6634 can define the curved interface of the cups 6610, 6630. The cups 6613, 6633 may be fully curved and lack flat surfaces.

Sidewalls 6633 a , 6633 b are oriented at an entry angle θ ₂ with respect to tissue contacting surface 6507 at various cross-sections of distal forming cup 6630 . More specifically, in FIGS. 58-60, a tangent T to each sidewall 6633a, 6633b at the perimeter 6620 of the distal forming cup 6630 is oriented at an angle θ ₂ with respect to the tissue contacting surface 6507. In FIGS. The entry angle θ ₂ is constant along most of the length of the distal forming cup 6630 within the transition forming region 6629 ( FIGS. 56 and 57 ). In various examples, angle θ ₂ can be, for example, between about 55 degrees and about 80 degrees. For example, in FIGS. 58-60, angle θ ₂ is 80 degrees. In other examples, angle θ ₂ can be less than 55 degrees or greater than 80 degrees. Sidewalls 6633a, 6633b are non-vertical sidewalls, so the angle θ ₂ of tangent T along perimeter 6620 can be less than 90 degrees, for example.

Reference points at the transitions between sidewalls 6633a, 6633b and bottom surface 6634 are shown in FIGS. 58-60 for illustrative purposes. For example, the curved interface of distal forming cup 6630 includes reference point A at the transition between sidewall 6633 a and bottom surface 6634 . At each longitudinal position along cup 6630 , first sidewall 6633 a and second sidewall 6633 b define sidewall radius of curvature 6643 and bottom surface 6634 defines bottom radius of curvature 6644 . Bottom radius of curvature 6644 can be different than sidewall radius of curvature 6643 . The radius of curvature transition at reference point A includes a smooth, non-abrupt transition.

Reference line B is also shown in FIGS. 58-60 for illustrative purposes. A reference line B extends between the first reference point A and the perimeter 6620 of the distal forming cup 6630 . Reference line B is oriented at an angle θ ₃ in FIGS. 58-60. Angle θ ₃ is constant within transition forming surface region 6629 (FIG. 57) along most of the length of distal forming cup 6630 . In various examples, angle θ ₃ may be less than angle θ ₂ . Angle θ ₃ in FIGS. 58-60 is, for example, about 55 degrees. In other examples, angle θ ₃ can be less than 55 degrees or greater than 80 degrees. Angles θ ₂ and θ ₃ are constant along the length of distal formation cup 6630 , or at least along a substantial length of distal formation cup 6630 , but the depth of distal formation cup 6630 and θ 3 are constant. As the width varies along its length, the radius of curvature and length of the arcs defining sidewalls 6633a, 6633b also vary.

Angle θ ₂ with respect to the tissue contacting surface can include a relatively steep angle. For example, angle θ ₂ may be greater than angles θ ₁ and θ ₃ . The steepness of angle θ ₂ can encourage the formation of staples along the pocket axis. A constant angle θ ₂ can encourage unaligned staple legs to move from the periphery of the distal forming cup 6630 toward the lateral center or axis 6603 . As described herein, the depth of the pocket can vary along its length. However, maintaining a constant angle θ ₂ encourages misaligned staple legs to move from the periphery toward the lateral center of the distal forming cup 6630, even in the shallow regions of the cup 6630. be able to.

Pocket arrays with different cup depths CD can be sized to have the same angles θ ₂ and θ ₃ . For example, the cup depth CD of cups 6610, 6630 (FIG. 57) is less than the cup depth CD of cups 6510, 6530 (FIG. 51), but angles θ ₂ and θ ₃ may be the same. In at least one example, angle θ ₂ can be 80 degrees and angle θ ₃ can be 55 degrees for both forming pocket arrays 6500 and 6600. If the tissue contacting surface 6507 comprises a flat surface, the pocket forming arrangement 6600 can be configured to form staples at a lower height than the pocket forming arrangement 6500. For example, a staple formed by pocket-forming arrangement 6600 may be shorter than the same staple formed by pocket-forming arrangement 6500 . In certain instances, varying the staple formation height may be desirable, for example, to control tissue compression and/or fluid flow between the anvil and staple cartridge. The cup depth CD can be varied to control the height of staple formation, but is configured to maintain a constant entry angle θ ₂ along different cup lengths or at least a portion of the length. Thus, even short formed staples can be ensured to be formed in a more consistent planar configuration, which is desirable in certain instances.

68 and 69 show staples 6701 (FIGS. 55-60) formed with forming pocket array 6600, where staple 6701 was aligned with pocket axis 6603 of forming pocket array 6600 during the forming process. FIG. 68 shows a top view of staple 6701 in a fully formed configuration and FIG. 69 shows a side view of staple 6701 in a fully formed configuration. A staple may include a base 6702 and staple legs 6703 extending from the base 6702 . The base 6702 is aligned with the pocket axis 6603 and the tips 6704 of the staple legs 6703 hit the formed pocket array 6600 along the pocket axis 6603 .

Staple 6701 includes a centerline CL (FIG. 69) that traverses base 6702 and extends vertically intermediate unformed staple legs 6703 . When staple 6701 is formed into the fully formed configuration, distal ends 6704 of staple legs 6703 bend toward centerline CL and base 6702 . Staple legs 6703 are shaped to define a height H (FIG. 69) when staple 6701 is in the fully formed configuration. When formed with formed pocket array 6500 (FIGS. 48-54), because the cup depth CD of cups 6610, 6630 (FIG. 57) is less than the cup depth CD of cups 6510, 6530 (FIG. 51), Height H may be less than the height of staple 6701 .

To achieve a shorter height H, a portion of staple legs 6703 can be laterally biased with respect to centerline CL and/or tips 6704 of staple legs 6702 can be and/or extend below the base 6704 . In contrast, if the staples 6701 are formed in a forming pocket arrangement 6500 having a deeper cup depth CD, the staple legs 6703 may not deflect laterally with respect to the centerline CL, and/ Alternatively, the tip 6704 of the staple leg 6702 may not overlap the base 6704 (see, eg, staple 13100 (FIG. 46)). Referring to FIG. 69, a portion of each staple leg 6703 traverses centerline CL, and tip 6704 of staple leg 6702 extends beyond or below the tissue compression surface of base 6702. . In addition, staple 6701 includes a first tip alignment axis TA1, a second tip alignment axis TA2, and a crown alignment axis CA. When aligned with pocket axis 6603, staple 6701 is such that first tip alignment axis TA1 and second tip alignment axis TA2 are laterally offset from crown alignment axis CA and equidistant (D ). Distance D may be approximately equal to the diameter of staple 6701 . As a result of the above, the staple 6701 assumes a substantially planar shape. However, the tip 6704 overlaps and is offset from the base 6702 slightly to achieve a shorter height H. FIG.

60A is a partial negative view of various slices of forming pockets of forming pocket array 6600. FIG. The dimensions of various slices are indicated thereon. A slice is obtained in a plane along the formation pocket perpendicular to the tissue contacting surface 6507 and the pocket axis 6603 with only a single sidewall of the formation pocket. Each slice has a width 'x', a height 'y', an upper radius of curvature 'ra', and a lower radius of curvature 'rb'. Width “x” is defined as the x component of the distance between the forming pocket perimeter 6620 and the forming pocket bottom radius of curvature 6644 . Height “y” is defined as the y component of the distance between the forming pocket perimeter 6620 and the forming pocket bottom radius of curvature 6644 . A top radius of curvature "ra" is defined as the radius of curvature at the top of the sidewall. A bottom radius of curvature "rb" is defined as the radius of curvature of the bottom of the sidewall. Each dimension includes a number that indicates the slice to which that dimension corresponds. For example, slice 1 has width 'x ₁ ', height 'y ₁ ', upper radius of curvature 'ra ₁ ', and lower radius of curvature 'rb ₁ '. FIG. 60B is a table 6650 containing dimensions of slices 1-12 of FIG. 60A in at least one embodiment.

60C is a cross-sectional view of formed pocket array 6600 taken along pocket axis 6603. FIG. FIG. 60C includes various dimensions of distal forming pocket 6630 of forming pocket array 6600. FIG. The length of forming pocket 6630 is, for example, 1.90 mm. The depth of forming pocket 6630 is, for example, 0.30 mm. In a particular example, distal forming pocket 6630 has three radii of curvature, an inlet radius of curvature of 2.90 mm, a first outlet radius of curvature of 0.70 mm, and a second outlet radius of curvature of 0.10 mm. . The width of the bridge portion of the distal forming pocket 6630 is, in this example, the distance between the center of the forming pocket array 6600 and the innermost edge of the first exit radius of curvature (the width closest to the center of the forming pocket array 6600). defined as 0.10 mm of the edge of the exit radius of curvature of 1). The bridge depth is, for example, 0.05 mm.

FIGS. 61-67 show a formation pocket arrangement 6800 configured to deform staples during a surgical stapling procedure. Formation pocket arrangement 6800 comprises a proximal formation cup or pocket 6810 and a distal formation cup or pocket 6830 defined in a planar or tissue contacting surface 6807 of anvil 6801 . Tissue contacting surface 6807 of anvil 6801 is configured to compress tissue against the staple cartridge when anvil 6801 is clamped or closed against the staple cartridge. Formed pocket array 6800 can be similar in many respects to formed pocket array 6500 . For example, sidewalls of staple forming cups 6810, 6830 intersect plane 6807 at a constant angle along their length. Each cup 6810, 6830 is defined by an interface as further described herein. Cups 6810 , 6830 are aligned along pocket axis 6803 of forming pocket array 6800 . Staples are intended to be formed along pocket axis 6803 by forming pocket arrangement 6800 when deployed from a staple cartridge. In at least one such example, a first leg of the staple can be formed by the proximal forming cup 6810 and a second leg of the staple can be formed by the distal forming cup 6830. In such an example, when the anvil 6801 is clamped against the staple cartridge, the first leg of the staple is aligned with a portion of the proximal preparation cup 6810 and the second leg of the staple is aligned with the distal preparation cup 6810. Aligned with a portion of cup 6830 .

62 and 63, forming pocket arrangement 6800 further includes a bridge portion 6805 defined between forming cups 6810 and 6830. Referring to FIGS. Bridge portion 6805 is recessed with respect to plane 6807 of anvil 6801 . However, in other embodiments, bridge portion 6805 can be flush with plane 6807 . Bridge portion 6805 has a bridge width BW and a bridge depth BD (FIG. 67). Bridge depth BD is the distance that the bottom of bridge portion 6805 is recessed relative to plane 6807 . Bridge width BW is the width of pocket array 6800 between cups 6810,6830. In this case, the bridge width BW is the narrowest part of the formation surface of each cup 6810, 6830. The forming pocket array 6800 has a center C (FIGS. 61 and 62) defined within the bridge portion 6805. As shown in FIG. The formed pocket arrangement 6800 is bilaterally symmetrical about the bridge portion 6805, bilaterally symmetrical about the pocket axis 6803, and rotationally symmetrical about the center C.

Forming pocket arrangement 6800 further comprises a pair of primary sidewalls 6808 extending from plane 6807 of anvil 6801 toward cups 6810 , 6830 and bridge portion 6805 . Primary sidewall 6808 is angled at angle θ ₁ (FIG. 64) with respect to plane 6807 of anvil 6801 . The cups 6810,6830 define a perimeter 6820, and the inner edge of the primary sidewall 6808 extends between the plane 6807 and the perimeter 6820 of the cups 6810,6830. Referring primarily to FIG. 62, the inner edge of the primary sidewall 6808 is curved or contoured relative to the cups 6810,6830. In certain examples, forming pocket array 6800 may not include primary sidewalls 6808 . In such examples, the cups 6810 , 6830 can extend directly into the plane 6807 and the perimeters 6820 of the cups 6810 , 6830 can be defined within the plane 6807 .

62 and 63, the proximal formation cup 6810 includes a pair of cup sidewalls 6813 and the distal formation cup 6830 includes a pair of cup sidewalls 6833. The cup sidewalls 6813, 6833 have a curved or undulating profile and direct the staple tips and staple legs toward the forming surfaces of the cups 6810, 6830 and help control the staple forming process. is configured to be Side walls 6813, 6833 extend from primary side wall 6808 and plane 6807 toward the forming surface of each cup 6810, 6830. Sidewalls 6813, 6833 are configured to facilitate forming staple tips and/or staple legs along pocket axis 6803 as staples are formed against the forming surfaces of cups 6810, 6830. . Generally, the primary sidewall 6808 and the cup sidewalls 6813,6833 cooperate to gather corresponding staple tips toward the lateral center of each cup 6810,6830. An inflection surface or bottom surface 6814,6834 extends along the lateral center of each corresponding cup 6810,6830 intermediate the corresponding side wall 6813,6833.

Referring again to FIG. 62, the forming surfaces of cups 6810, 6830 include inlet area forming surfaces 6811, 6831, respectively, and outlet area forming surfaces 6812, 6832, respectively. Inlet region forming surfaces 6811, 6831 may coincide with less erodible channel portions of sidewalls 6813, 6833. FIG. Similarly, exit region forming surfaces 6812, 6832 may coincide with more eroded channel portions of sidewalls 6813, 6833. FIG.

Referring now primarily to Figure 63, the forming surface of each cup 6810, 6830 is defined by a depth profile or contour. Proximal formation cup 6810 includes depth profile 6822 and distal formation cup 6830 includes depth profile 6842 . Depth profiles 6822, 6842 define the depth of cups 6810, 6830, respectively, along the length of the cup. Cups 6810, 6830 reach maximum cup depth CD in transition regions 6809, 6829, respectively, which will be further described below. The cup depth CD of the pockets 6810, 6830 can be, for example, 0.4-0.6 millimeters. For example, the cup depth CD can be 0.5 millimeters. In other examples, the cup depth CD can be less than 0.4 millimeters or greater than 0.6 millimeters.

Depth profiles 6822, 6842 are curved contours lacking straight sections. Additionally, depth profiles 6822, 6842 may have one or more radii of curvature. In this case, depth profiles 6822, 6842 have more than one radius of curvature. Specifically, depth profile 6822 of proximal forming cup 6810 has an inlet radius of curvature 6817 corresponding to inlet zone forming surface 6811 and an outlet radius of curvature 6818 corresponding to outlet zone forming surface 6812 . Similarly, depth profile 6842 of distal forming cup 6830 has an inlet radius of curvature 6837 corresponding to inlet region forming surface 6831 and an outlet radius of curvature 6838 corresponding to outlet region forming surface 6832 . In this case, the entrance radii of curvature 6817,6837 are larger than the exit radii of curvature 6818,6838. Specific relationships between entry and exit radii of curvature and various pocket features, along with some potential advantages and patterns of specific relationships, are further described in US patent application Ser. No. 15/385,914. there is

The outer longitudinal edge of each cup 6810, 6830 defines the beginning of the inlet region forming surface 6811, 6831 and is therefore also referred to as the inlet edge. The inlet edge includes an inlet width that is the maximum width of the forming surface of each cup 6810,6830. The inner edges of each cup 6810, 6830 define the ends of the exit area defining surfaces 6812, 6832 and are therefore also referred to as exit edges. The outlet edge includes an outlet width, also referred to as bridge width BW (FIG. 67), which is the narrowest portion of the forming surface of each cup 6810,6830. Transition regions 6809, 6829 are positioned intermediate the inlet and outlet regions of each cup. The transition regions 6809, 6829 have a transition width that is less than the entrance width but greater than the exit width. The transition regions 6809, 6829 include inflections of corresponding depth profiles 6822, 6842 and thus the deepest portions of each cup 6810, 6830. In various examples, the transition regions 6809, 6829 include most of the length of each cup 6810, 6830. More specifically, the length of the transition regions 6809, 6829 may be longer than the sum of the respective lengths of the inlet and outlet regions of each cup 6810, 6830. The transition regions 6809, 6829 may extend along the taper or constriction of each cup 6810, 6830. For example, each transition region 6809,6829 may extend inwardly toward the bridge 6805 from the widest section of the corresponding cup 6810,6830.

FIG. 66 is a cross-sectional view of distal forming cup 6830 taken along line 66-66 of FIG. This view is taken near the valley or trough of the distal shaping cup 6830 . This valley or trough is also the transition between the entrance area-defining surface 6831 and the exit area-defining surface 6832 . In various examples, the transition between the inlet region and the outlet region does not occur at the valley or trough of the cup. FIG. 67 shows a cross-sectional view of distal forming cup 6830 taken along line 67-67 in FIG. 64 is a cross-sectional view of the distal formation cup 6830 taken along line 64-64 of FIG. 62 and FIG. 65 is a cross-sectional view of the distal formation cup 6830 taken along line 65-65 of FIG. , both within the entry region forming surface 6832 of the distal forming cup 6830. FIG.

Referring primarily to FIGS. 64-67, the pair of cup sidewalls 6833 of the distal forming cup 6830 includes a first sidewall 6833a and a second sidewall 6833b. First sidewall 6833a and second sidewall 6833b are opposing sidewalls that extend from laterally opposing sides of distal forming cup 6830 toward one another. An inflection surface or bottom surface 6834 of distal forming cup 6830 is positioned between first sidewall 6833a and second sidewall 6833b. The bottom surface 6834 of the distal forming cup 6830 is a fully curved non-flat surface. In other words, bottom surface 6834 lacks a flat plane. The bottom surface 6834 can define one or more radii of curvature. For example, at various longitudinal positions along the pocket axis 6803, the bottom surface 6834 defines different radii of curvature. A tangent to the bottom surface 6834 at the lateral center of the cup 6830 is parallel to the plane 6807 along its length.

In various examples, the curvature of the bottom surface 6834 can be sized such that the staple legs do not move along a plane during the staple forming process. In such instances, especially when the staple being formed is not aligned with the pocket axis 6803, the bottom surface 6843 is configured to form the staple into a flatter configuration than staples formed along a flat bottom surface. can be encouraged. The curvature of the bottom surface 6843 can be sized such that the bottom surface 6843 provides multiple contact surfaces for the staple legs. For example, the radius of curvature of the bottom surface 6834 may be less than the radius of curvature of the staple legs.

Cup sidewalls 6813, 6833 are fully curved and non-planar. In other words, the cup sidewalls 6813, 6833 lack flat surfaces. Sidewalls 6833a, 6833b define one or more radii of curvature. For example, at various longitudinal positions along pocket axis 6803, sidewalls 6833a, 6833b define different radii of curvature. The fully curved contours of the cup sidewalls 6813, 6833 and the bottom surface 6834 can define the curved interface of the cups 6810, 6830. The cups 6813, 6833 may be fully curved and lack flat surfaces.

Sidewalls 6833 a , 6833 b are oriented at an entry angle θ ₂ with respect to tissue contacting surface 6807 at various cross-sections of distal forming cup 6830 . More specifically, in FIGS. 64-67, a tangent T to each sidewall 6833a, 6833b at the perimeter 6820 of the distal forming cup 6830 is oriented at an angle θ ₂ with respect to the tissue contacting surface 6807. In FIGS. The entry angle θ ₂ is constant within the transition forming region 6829 ( FIGS. 62 and 64 ) along most of the length of the distal forming cup 6830 . In various examples, angle θ ₂ can be, for example, between about 55 degrees and about 80 degrees. For example, in FIGS. _64-67 , angle θ2 is 80 degrees. In other examples, angle θ ₂ can be less than 55 degrees or greater than 80 degrees. Sidewalls 6833a, 6833b are non-vertical sidewalls, so the angle θ ₂ of tangent T along perimeter 6820 can be less than 90 degrees, for example.

Reference points at the transitions between sidewalls 6833a, 6833b and bottom surface 6834 are shown in FIGS. 64-67 for illustrative purposes. For example, the curved interface of distal forming cup 6830 includes reference point A at the transition between sidewall 6833 a and bottom surface 6834 . At each longitudinal position along cup 6530 , first sidewall 6833 a and second sidewall 6833 b define sidewall radius of curvature 6843 and bottom surface 6834 defines bottom radius of curvature 6844 . Bottom radius of curvature 6844 can be different than sidewall radius of curvature 6843 . The radius of curvature transition at reference point A includes a smooth, non-abrupt transition.

Reference line B is also shown in FIGS. 64-67 for illustrative purposes. A reference line B extends between the first reference point A and the perimeter 6820 of the distal forming cup 6830 . Reference line B is oriented at an angle θ ₃ in FIGS. 64-67. Angle θ ₃ varies along the length of distal shaping cup 6830 . In various examples, angle θ ₃ may be less than angle θ ₂ along the length of distal shaping cup 6830 . Angle θ3 may increase and then decrease as sidewalls _6833a , 6833b extend inward toward center C. For example, angle θ ₃ increases from the inlet edge of cup 6830 to transition region 6829, remains constant within transition region 6829, and decreases from transition region 6829 to the outlet edge of cup 6830. can be done. In the embodiment shown, for example, angle θ ₃ is 45 degrees in FIG. 64, angle θ _{3 ′} is 55 degrees in FIG. 65, angle θ _3″ is 70 degrees in FIG. _''' is 55 degrees in FIG. Angles θ ₂ and θ ₃ are constant within transition region 6829 of distal formation cup 6830, but define sidewalls 6833a, 6833b as the depth and width of distal formation cup 6830 vary along its length. The radius of curvature and length of the arc that passes through also changes.

Angle θ ₂ with respect to the tissue contacting surface can include a relatively steep angle. For example _, angle θ2 may be greater _than variable angle θ3. The steepness of angle θ ₂ can encourage the formation of staples along the pocket axis. A constant angle θ ₂ can encourage the misaligned staple legs to move from the perimeter of the cup toward the lateral center. In various examples, the angle θ ₂ can be constant and steep within the exit region, which can improve staple formation quality. Additionally or alternatively, the angle θ ₂ may be constant in the transition region. As described herein, the depth of the pocket can vary along its length. However, by maintaining a constant angle θ ₂ , even shallow regions of the cup can encourage misaligned staple legs to move from the perimeter of the cup toward the lateral center. . Further, the maximum cup depth CD for a particular anvil may vary between anvil pockets. For example, different depths can be utilized to form staples at different heights, and/or staples driven by drivers having different heights, as further described herein. can be formed. In such cases, the constant angle θ ₂ can encourage the formation of staples formed by shallow pockets along the pocket axis.

In certain examples, a surgical end effector anvil can include staple forming pockets of varying depths. For example, the depth of the staple forming pockets may vary longitudinally between rows of forming pockets and/or along the length of the rows of forming pockets. Such depth differences are to accommodate changes in the displacement of the staple driver within the staple cartridge during the staple firing stroke, changes in the overdrive distance of the fired staples, and/or changes in the position of the anvil relative to the staple cartridge. can be selected. Additionally or alternatively, depth differences between staple forming pockets may accommodate varying tissue gaps between stepped tissue compression surfaces on the anvil and/or staple cartridge. For example, when staples are driven by drivers having different lift lengths that result in different amounts of staple overdrive, different stroke lengths and different amounts of staple overdrive are accommodated to form staples to the same formed height. A depth difference between the staple forming pockets can be selected. In other examples, the different depth staple forming pockets in the anvil can be selected to form staples at different heights, which in certain examples can reduce the compression of the stapled tissue. and/or to accommodate variations in tissue thickness.

67A is a partial negative view of various slices of forming pockets of forming pocket array 6800. FIG. The dimensions of various slices are indicated thereon. A slice is obtained in a plane along the formation pocket perpendicular to the tissue contacting surface 6807 and the pocket axis 6803 on only a single sidewall of the formation pocket. Each slice has a width 'x', a height 'y', an upper radius of curvature 'ra', and a lower radius of curvature 'rb'. Width “x” is defined as the x component of the distance between the forming pocket perimeter 6820 and the forming pocket bottom radius of curvature 6844 . Height “y” is defined as the y component of the distance between the forming pocket perimeter 6820 and the forming pocket bottom radius of curvature 6844 . A top radius of curvature "ra" is defined as the radius of curvature at the top of the sidewall. A bottom radius of curvature "rb" is defined as the radius of curvature of the bottom of the sidewall. Each dimension includes a number that indicates the slice to which that dimension corresponds. For example, slice 1 has width 'x ₁ ', height 'y ₁ ', upper radius of curvature 'ra ₁ ', and lower radius of curvature 'rb ₁ '. FIG. 67B is a table 6850 containing dimensions of slices 1-12 of FIG. 67A in at least one embodiment.

67C is a cross-sectional view of formed pocket array 6800 taken along pocket axis 6803. FIG. 67C includes various dimensions of distal forming pocket 6830 of forming pocket array 6800. FIG. The length of forming pocket 6830 is, for example, 1.90 mm. The depth of forming pocket 6830 is, for example, 0.50 mm. In a particular example, distal forming pocket 6830 has three radii of curvature, an inlet radius of curvature of 1.40 mm, a first outlet radius of curvature of 0.80 mm, and a second outlet radius of curvature of 0.10 mm. . The width of the bridge portion of the distal forming pocket 6830 is, in this example, the distance between the center of the forming pocket array 6800 and the innermost edge of the first exit radius of curvature (the width closest to the center of the forming pocket array 6800). defined as 0.10 mm of the edge of the exit radius of curvature of 1). The bridge depth is, for example, 0.15 mm.

Referring now to FIG. 70, surgical end effector 7000 comprising anvil 7001 and staple cartridge 7060 having a plurality of staples 7080 is shown. The end effector 7000 is in a closed or clamped position. More specifically, anvil 7001 can be pivoted relative to staple cartridge 7060 to move end effector 7000 to a closed position to clamp tissue between anvil 7001 and staple cartridge 7060 . In other examples, the anvil 7001 can be fixed and the staple cartridge 7060 can pivot relative to the anvil 7001 to move the end effector 7000 to the closed position. In still other examples, both anvil 7001 and staple cartridge 7060 can be configured to pivot to move end effector 7000 toward the closed position.

In the closed position, a uniform tissue gap TG is defined between staple cartridge 7060 and anvil 7001 . In other words, tissue gap TG is constant across the width of end effector 7000 . Staple cartridge 7060 includes a planar or substantially planar tissue compression surface or deck 7062 and anvil 7001 also includes a planar or substantially planar tissue compression surface 7007 . Neither the deck 7062 of the staple cartridge 7060 nor the tissue compression surface 7007 of the anvil 7001 include stepped surfaces with longitudinal steps between adjacent longitudinal portions. In other examples, the deck of the staple cartridge and/or the tissue compressing surface of the anvil can include a stepped profile, as described herein.

Staple cartridge 7060 includes a staple cartridge body 7064 having longitudinal slots 7065 and a plurality of staple cavities 7066 defined therein. Slot 7065 extends along the central longitudinal axis of staple cartridge 7060 . Each staple cavity 7066 includes an opening in deck 7062 . Staple cavities 7066 extend in a plurality of longitudinal directions on each side of slot 7065, including a first or outer row 7068a, a second or intermediate row 7068b, and a third or inner row 7068c. existing column 7068. In other examples, the staple cartridge 7060 can have less than 6 rows or more than 6 rows of staple cavities 7066 . For example, a staple cartridge can have two rows of staple cavities on each side of longitudinal slot 7065 .

A staple 7080 is removably stored within each staple cavity 7066 and each staple 7080 is supported by a staple driver 7070 . In various examples, the staple driver 7070 can support and fire more than one staple 7080. For example, the driver may be configured to simultaneously fire staples from adjacent rows of staple cavities within the staple cartridge. Deck 7062 includes cavity extenders 7061 projecting from deck 7062 toward tissue compression surface 7007 of anvil 7001 . Cavity extenders 7061 can be disposed around at least a portion of staple cavities 7066 to guide staples 7080 above deck 7062 . Cavity extender 7061 may also be configured to engage or grip tissue during firing and/or support staple 7080 and/or driver 7070 . In other examples, the deck 7062 may have no cavity extenders and may have a smooth tissue contacting surface, for example.

Staples 7080 in FIG. 70 are shown in a formed configuration with staples 7080 fired from cavity 7066 across rows 7068a, 7068b, 7068c on opposite sides of slot 7065 formed at the same height H. FIG. Forming the staples at a uniform height can tighten the tissue and reduce bleeding from the tissue.

Driver 7070 is movably positioned within cavity 7066 . During the firing stroke, the firing member is configured to lift driver 7070 toward anvil 7001 and drive staples 7080 supported on driver 7070 into engagement with anvil 7001 . Each staple 7080 is driven to form contact with a staple forming pocket array 7002 , 7004 defined within the plane 7007 of the anvil 7001 . The staple-forming pocket arrays 7002, 7004 are arranged on each side of the anvil 7001 with a plurality of longitudinal rows including a first or outer row 7003a, a second or intermediate row 7003b, and a third or inner row 7003c. are arranged in columns 7003 extending in the direction. Each row of staple cavities 7066 is aligned with a row 7003 of staple forming pocket arrays 7002,7004. As described with respect to the various staple forming pocket arrangements disclosed herein, the staple forming pocket arrangements 7002, 7004 can each include a pair of forming pockets or cups, e.g., proximal and distal cups. Each cup can be positioned to receive a staple leg when staple 7080 is driven to make contact with anvil 7001 .

Anvil 7001 includes two different staple forming pocket arrangements. More specifically, anvil 7001 includes a first staple forming pocket array 7002 having a first shape and a second staple forming pocket array 7004 having a second shape. The first staple forming pocket array 7002 is aligned with the outermost rows 7068a of staple cavities 7066 on either side of slot 7065, the second staple forming pocket array 7004 is aligned with the rows 7068b of staple cavities 7066 on either side of slot 7065, 7068c. The cups of the first staple forming pocket array 7002 define a cup depth CD ₁ relative to the anvil plane 7007, and the cups of the second staple forming pocket array 7004 define a cup depth CD ₂ relative to the anvil plane 7007. define Cup depth CD ₁ of outer staple forming pocket array 7002 is greater than cup depth CD ₂ of inner staple forming pocket array 7004 . As a result, the deep staple forming pockets of the first array 7002 are positioned laterally outward of the shallow staple forming pockets of the second array 7004, although any suitable arrangement can be used.

In various examples, the first staple forming pocket array 7002 can be the same or similar to the staple forming pocket array 6800 (FIGS. 61-67), and the second staple forming pocket array 7004 is a staple forming pocket array. It may be the same as or similar to array 6600 (FIGS. 55-61). Although the cup depth differs between the first forming pocket array 7002 and the second forming pocket array 7004, the cup sidewalls can intersect the plane 7007 at the same angle. That is, the tangents to the sidewalls may be maintained at a constant entry angle along the length of the cups within each array 7002,7004, or at least along most of the length of the cups within each array 7002,7004. The steep, constant-angled sidewalls are configured to facilitate planar formation of staples 7080, including staples that are not aligned with the central axis of the arrays 7002, 7004, as described herein. .

In the fired position shown in FIG. 70, staples 7080 are overdriven relative to staple cartridge body 7064 . More specifically, the staple bearing surface of each driver 7070 is driven past the staple cartridge body 7064 so that the staples 7080 are completely removed from the cartridge body 7064 during firing. When overdriven, the cradle or bottom surface of each staple 7080 is positioned above deck 7062 and/or above cavity extenders 7061 protruding from deck 7062 . An overdrive mechanism of the driver 7070 can be configured to fully eject the fired staples 7080 from the staple cartridge 7060 to facilitate release of stapled tissue from the end effector 7000, for example. Stated another way, the overdrive mechanism of driver 7070 can push tissue away from deck 7067 .

In various examples, different staples can be overdriven by different amounts. For example, staples 7080 fired from outer row 7068a of staple cavities 7066 were overdriven by a _first distance D1 relative to deck surface 7062 and fired from middle row 7068b and inner row 7068c of staple cavities 7066. Staples 7080 are overdriven a _second distance D2 relative to deck surface 7062 . Distances D ₁ and D ₂ in FIG. 70 are the distances between the cradle of staple 7080 and planar deck surface 7062 . In another example, the overdrive distance can be measured between the support surface of the staple cradle and the top surface of the adjacent cavity extender 7061.

To achieve the different overdriven distances D ₁ and D ₂ of FIG. 70, the stroke length of driver 7070 can be varied. For example, the firing elements may lift the drivers 7070 supporting the staples 7080 in the outer row 7068a a first distance and the drivers 7070 supporting the staples 7080 in the inner rows 7068b, 7068c a second distance. can be configured to In certain examples, the sled shape can be selected to control various stroke lengths of the driver 7070 . Additionally or alternatively, the shape of the driver 7070, such as the height of the driver, can be selected to control different overdrive distances, for example.

In FIG. 70, for each staple 7080 formed, the sum of tissue gap and cup depth equals the sum of overdrive distance and staple height. for example:
TG + _CD1 = _D1 + H
and TG+CD2 ₌ D2 ₊ H

Stated another way, for each staple formed, the height of the staple H is equal to the sum of the tissue gap TG and the cup depth CD minus the overdrive distance D.
H = TG + CD ₁ - D ₁
and H = TG + CD ₂ - D ₂

As shown in FIG. 70, when staple height H and tissue gap TG are constant laterally across end effector 7000, different cup depths correspond to different overdrive distances. For example, in order for anvil 7001 to be compatible with staple cartridge 7060, staple forming pocket arrays 7002, 7004 and _cup depths _CD1 , _{CD2 are} selected to accommodate different overdrive distances D1, D2. can do. For example, the difference between cup depth CD ₁ and cup depth CD ₂ can be configured to accommodate the difference between overdrive distances D ₁ and D ₂ .
CD1 _{- CD2 =} D1 _- D2

More specifically, for example, if the difference between the _overdrive distances D1 and D2 is 0.38 millimeters, the difference between the _cup depths _CD1 and _CD2 may also be 0.38 millimeters. In certain examples, the difference between overdrive distance and cup depth can be, for example, 0.2 millimeters to 1 millimeter. Corresponding differences in overdrive distances D ₁ and D ₂ and cup depths CD ₁ and CD ₂ are configured to form staples 7080 at the same height H across the lateral direction of the end effector 7000 . Regardless of the cup depth, the side walls of the cup align with tissue compression surface 7007 of anvil 7001 to facilitate planar formation of staples 7080, including misaligned staples, as further described herein. It can be designed to intersect at a certain angle.

In certain examples, surgical instruments and/or subassemblies thereof may be modular. Different types of staple cartridges may be compatible with more than one anvil, and/or different types of anvils may be compatible with more than one staple cartridge. For example, a staple cartridge 7060 (see, eg, FIG. 70) compatible with an anvil 7001 having a flat tissue compressing surface 7007 may also be compatible with a stepped anvil. An end effector including a staple cartridge 7060 and a compatible stepped anvil can define a laterally variable tissue gap TG. However, such end effectors may still be configured to form staples at a constant formed height. _In such examples, different _overdrive distances D1 and D2 can correspond to different heights of the anvil's stepped tissue compressing surface.

Referring now to FIG. 71, end effector 7100 is shown with staple cartridge 7060 and anvil 7101 . End effector 7100 is in a closed or clamped position. In use, anvil 7101 can be pivoted relative to staple cartridge 7060 to move end effector 7100 to a closed position and clamp tissue between anvil 7101 and staple cartridge 7060 . In other examples, the anvil 7101 can be fixed and the staple cartridge 7060 can pivot relative to the anvil 7101 to move the end effector 7100 to the closed position. In still other examples, both anvil 7101 and staple cartridge 7060 can be configured to pivot to move end effector 7100 toward the closed position.

Anvil 7101 includes longitudinal stepped tissue compression surfaces 7107 between adjacent longitudinal portions. More specifically, anvil 7101 includes a plurality of longitudinal portions 7110 including a first portion or outer portion 7110a and a second portion or inner portion 7110b on each outer side of anvil 7101 . A step 7112 is positioned between the outer portion 7100a and the inner portion 7100b. Steps 7112 extend parallel to the rows of staple forming pocket arrays 7102 defined in surface 7107 and along an axis positioned intermediate adjacent rows of staple forming pocket arrays 7102 .

Step 7112 has a height H _step corresponding to the height difference between first longitudinal portion 7110 a and second longitudinal portion 7110 b of tissue compression surface 7107 . Because staple cartridge 7060 includes an unstepped deck 7062, height H _step corresponds to the change in tissue gap between staple cartridge 7060 and anvil 7101 when end effector 7100 is in the closed position. A first tissue gap TG ₁ is defined between the first portion 7110a and the staple cartridge 7060 and a second tissue gap TG ₂ is defined between the second portion 7110b and the staple cartridge 7060 . Tissue gap TG1 is larger _than tissue gap _TG2 . It may be desirable to apply greater tissue compression adjacent the slot 7065 and/or along the inner portion 7110b of the anvil 7101 compared to the sides of the end effector 7100. In other examples, the anvil 7101 can include additional longitudinal portions with steps therebetween, in such examples defining additional and different tissue gaps when the end effector 7100 is in the closed position. good.

Staples 7080 in FIG. 71 are shown in a formed configuration with staples 7080 fired from rows 7068a, 7068b, 7068c of staple cavities 7066 on either side of slot 7065 formed at the same height H. FIG. During a staple firing stroke, the firing member is configured to lift driver 7070 toward anvil 7101 and drive staples 7080 supported on driver 7070 into engagement with anvil 7101 . More specifically, each staple 7080 is driven to form contact with one of the staple forming pocket arrays 7102 defined in the tissue compressing surface 7107 of the anvil 7101 . The staple-forming pocket arrays 7102 extend in multiple longitudinal directions on either side of the anvil 7101, including a first or outer row 7103a, a second or intermediate row 7103b, and a third or inner row 7103c. is placed in existing column 7103 . First longitudinal portion 7110a includes first row 7103a and second longitudinal portion 7110b includes second row 7103b and third row 7103c. Each row 7068 of staple cavities 7066 is aligned with a row 7103 of staple forming pocket arrays 7102 . As described with respect to the various staple forming pocket arrangements disclosed herein, each staple forming pocket arrangement 7102 includes a pair of forming pockets or cups, e.g., a proximal cup and a distal cup, each cup comprising: , positioned to receive staple legs when staple 7080 is driven to make contact with anvil 7101 .

Staple forming pocket array 7102 defines a cup depth CD with respect to tissue compression surface 7107 . In various examples, staple forming pocket array 7102 is the same or similar to staple forming pocket array 6600 (FIGS. 55-60). In such examples, the side walls of the cup can intersect the tissue compression surface 7107 at an angle. That is, the tangent to the sidewall can be maintained at a constant entry angle along the length of the cup, or at least along most of the length of the cup. Steep, constant-angled sidewalls along the length of the cup are configured to facilitate planar formation of staples 7080 , including staples that are not aligned with the central axis of staple forming array 7102 .

In FIG. 71, for each staple 7080 formed, the sum of tissue gap and cup depth equals the sum of overdrive distance and staple height. for example:
TG ₁ +CD=D ₁ +H
and TG ₂ +CD=D ₂ +H

Stated another way, for each staple formed, the height of the staple H is equal to the sum of the tissue gap TG and the cup depth CD minus the overdrive distance D.
H = TG ₁ + CD-D ₁
and H = TG ₂ + CD-D ₂

As shown in FIG. 71, if the staple height H and cup depth CD are constant laterally across the end effector 7100, the height of the tissue compression surface 7107 varies, i.e., corresponds to different overdrive distances. A stepped profile can be defined that For example, the difference between tissue gap TG ₁ and tissue gap TG ₂ can be configured to accommodate the difference in overdrive distances D ₁ and D ₂ .
TG ₁ - TG ₂ = D ₁ - D ₂

In other words, the height H _step of the step 7112 between the longitudinal portions _7110a , _7110b can be equal to the difference between the overdrive distances D1 and D2.
H _step = D ₁ - D ₂

For example, if the difference between _overdrive distances D1 and D2 is 0.38 millimeters, the height H _step of step ₇₁₁₂ may also be 0.38 millimeters. In certain examples, the difference between the overdrive distance and the tissue gap can be 0.2 millimeters to 1 millimeter. The corresponding difference between the overdrive distances D1 and D2 and the height of the longitudinal portions _7110a , _7110b can be configured to form the staples 7080 to the same forming height H across the lateral direction of the end effector 7100. can.

Above a certain threshold load, the anvil 7101 can tend to flex along the step 7112 such that the tissue gap along the sides of the anvil 7101 is greater than the tissue gap TG ₁ shown in FIG. . As a result, anvil 7001 (FIG. 70) may be stiffer than anvil 7101 because anvil 7001 (FIG. 70) includes a planar or stepless tissue compression surface 7007 . The anvil 7001 can be stiffer and thus less prone to bending and/or deflecting when subjected to high compressive loads during clamping and/or firing.

In various examples, it may be desirable to utilize an anvil with a planar or stepless tissue compression surface, such as anvil 7001, to minimize deflection along the sides of the anvil. In certain instances, the variable tissue gap may also be desirable to control the amount of tissue that is compressed and ultimately captured by tissue flow and/or the end effector. For example, a relatively small outer tissue gap and a relatively large inner tissue gap may allow the end effector to capture more tissue adjacent the cut line, thereby improving hemostasis. A small outer tissue gap can improve control over tissue flow and ensure that the sides of the end effector effectively grasp and engage the target tissue. Additionally, a large inner tissue gap may allow the end effector to capture larger, eg, thicker pieces of tissue.

An exemplary variable tissue gap end effector 7200 is shown in FIG. End effector 7200 includes an anvil 7001 having a planar or unstepped tissue compression surface 7007 (see also FIG. 70) and a staple cartridge 7260 having a stepped deck 7262 . Although the tissue gap varies laterally across the end effector 7200, the end effector 7200 can be configured to form staples 7280 at a constant forming height. For example, different staple overdrive distances may correspond to different staple forming arrangements with different tissue gaps and/or different cup depths, as described further herein.

Still referring to FIG. 72, the end effector 7200 is in the closed or clamped position. In use, anvil 7001 can be pivoted relative to staple cartridge 7260 to move end effector 7200 to a closed position and clamp tissue between anvil 7001 and staple cartridge 7260 . In other examples, the anvil 7001 can be fixed and the staple cartridge 7260 can pivot relative to the anvil 7001 to move the end effector 7200 to the closed position. In still other examples, both anvil 7001 and staple cartridge 7260 can be configured to pivot to move end effector 7200 toward the closed position.

Staple cartridge 7260 includes a staple cartridge body 7264 having longitudinal slots 7265 and a plurality of staple cavities 7266 defined therein. Staples 7280 are movably positioned within staple cavities 7266 . Slots 7265 can extend along the central longitudinal axis of staple cartridge 7260 . Each staple cavity 7266 includes an opening in deck 7262 . The staple cavities 7266 extend in multiple longitudinal directions on each side of the slot 7265 including a first or outer row 7268a, a second or intermediate row 7268b, and a third or inner row 7268c. existing column 7268. In other examples, the staple cartridge 7260 can have less than 6 rows or more than 6 rows of staple cavities 7266 . For example, a staple cartridge can have two rows of staple cavities on each side of the longitudinal slot.

Each staple 7280 is supported by a staple driver 7270 . In various examples, the staple driver 7270 can support and fire more than one staple 7280. For example, the driver may be configured to fire staples from adjacent rows of staple cavities within the staple cartridge. Deck 7262 includes cavity extenders 7261 projecting from deck 7262 toward tissue compression surface 7007 of anvil 7001 . Cavity extenders 7261 can be disposed about at least a portion of staple cavities 7266 to guide staples as they are ejected from staple cavities 7266 . Cavity extender 7261 may also be configured to engage or grip tissue and/or support staple 7280 and/or driver 7270 during firing, for example. In other examples, the deck 7262 may have no cavity extenders, and may have a smooth tissue contacting surface, for example.

Staples 7280 in FIG. 72 are shown in a formed configuration with staples 7280 fired from cavities 7266 across opposite rows 7268a, 7268b, 7268c of slots 7265 formed at the same height H. FIG. In certain instances, it may be advantageous to form staples over multiple rows to cinch the tissue and reduce bleeding from the tissue.

Driver 7270 is movably positioned within cavity 7266 . During the firing stroke, the firing member is configured to lift driver 7270 toward anvil 7001 and drive staples 7280 supported on driver 7070 into engagement with anvil 7001 . Each staple 7280 is driven to make contact with the staple forming pocket arrays 7002,7004. Each row 7268 of staple cavities 7266 is aligned with a row 7003 of staple forming pocket arrays 7002,7004. The first staple forming pocket array 7002 is aligned with the outermost rows 7268a of staple cavities 7266 on each side of the slot 7265, and the second staple forming pocket array 7004 is aligned with the staple cavities 7266 on each side of the slot 7265. are aligned with the innermost rows 7268b, 7268c of the .

Staple cartridge 7260 includes a stepped deck 7262 having longitudinal steps between adjacent longitudinal portions. More specifically, staple cartridge 7260 includes a plurality of longitudinal portions 7263 on each side of slot 7260 including a first portion or outer portion 7263a and a second portion or inner portion 7263b. A step 7267 is positioned between an outer portion 7263a and an inner portion 7263b. Steps 7267 extend parallel to rows 7268 of staple cavities 7266 defined in deck 7262 and along an axis positioned intermediate adjacent rows 7268 of staple cavities 7266 .

Step 7267 has a height H _step corresponding to the height difference between first longitudinal portion 7263 a and second longitudinal portion 7263 b of deck 7262 . Additionally, because the anvil 7001 includes an unstepped tissue compression surface 7007, the height H _step accommodates the change in tissue gap between the staple cartridge 7260 and the anvil 7001 when the end effector 7200 is in the closed position. A first tissue gap TG ₁ is defined between the first portion 7263 a and the anvil 7001 and a second tissue gap TG ₂ is defined between the second portion 7263 b and the anvil 7001 . Tissue gap TG2 is larger _than tissue gap _TG1 . In certain instances, it may be desirable to apply greater tissue compression adjacent the sides of the end effector 7200 than along the central medial portion of the end effector 7200, as further described herein. In other examples, the staple cartridge 7260 can include additional longitudinal portions with steps therebetween to define additional and different tissue gaps when the end effector 7200 is in the closed position, in such examples. good too.

In the fired position shown in FIG. 72, staples 7280 are overdriven relative to staple cartridge body 7264 . More specifically, the staple bearing surface of each driver 7270 is driven past the staple cartridge body 7264 such that the staples 7280 are completely removed from the cartridge body 7264 during firing. The cradle or bottom surface of each staple 7280 is positioned above deck 7262 . Certain staples 7280 cradles are also positioned above cavity extenders 7261 protruding from deck 7262, and other staple 7280 cradles are positioned below cavity extenders 7261 and/or flush with cavity extenders 7261. Positioned. An overdrive mechanism of driver 7270 can be configured to fully dislodge fired staples 7280 from staple cartridge 7260 to facilitate release of stapled tissue from end effector 7200 .

In various examples, different staples can be overdriven by different amounts. For example, staples 7280 fired from outer rows 7268 a of staple cavities 7266 are overdriven by a first distance D ₁ , and staples 7280 fired from middle rows 7268 b of staple cavities 7266 are overdriven a second distance relative to cartridge body 7264 . Staples 7280 fired from the inner _row 7268c of staple cavities 7266 are overdriven a _third distance D3 relative to the cartridge body 7264. Distances D ₁ , D ₂ , and D ₃ in FIG. 72 are the distances between the cradle of staple 7280 and the adjacent portion of deck surface 7262 .

To achieve the different overdriven distances D ₁ , D ₂ , and D ₃ of FIG. 72, the stroke length of driver 7270 can be varied. For example, the firing elements may lift drivers 7270 supporting staples 7280 in outer row 7268a a first distance, lift drivers 7070 supporting staples 7280 in middle row 7268b a second distance, and lift drivers 7270 supporting staples 7280 in middle row 7268b a second distance. It can be configured to lift the driver 7270 supporting staples 7280 in 7268c a third distance. In certain examples, the shape of the firing element may be selected to control various stroke lengths of the driver 7270. Additionally or alternatively, the shape of the driver 7270, such as the height of the driver, can be selected to control different overdrive distances, for example. Different overdriven distances D ₁ , D ₂ , and D ₃ in FIG. 72 can also be controlled by different heights of stepped deck 7262 .

As described herein with respect to the end effector 7000 (FIG. 70), when the tissue gap is constant between rows of staples, different cup depths are used so that the staples are formed at the same formed height. , may be configured to accommodate variations in overdrive distance. For example, referring again to FIG. 72, the tissue gap TG ₁ is constant between the first row 6268a and the second row 6268b of the staple cavities 6266, with different cup depths CD ₁ and CD 1 in such an example. _{2 are} configured to accommodate variations in the _overdrive distances D1 and D2. Further, as described with respect to the end effector 7100 (FIG. 71), when tissue spacing varies between rows of staples, the tissue spacing difference may be reduced by the overdrive distance so that the staples are formed at the same forming height. can adapt to variations in For example, referring again to FIG. 72 _, the height H _step of step ₇₂₆₇ corresponds to the difference between overdrive distances D2 and D3.

In various examples, staple cartridge 7260 can also be compatible with anvils having stepped tissue compression surfaces, such as anvil 7101 (FIG. 71). In such examples, different overdrive distances D ₁ , D ₂ and D ₃ can correspond to different tissue gaps between the anvil stepped tissue compression surface 7107 and the staple cartridge stepped deck 7262 . An end effector 7300 including staple cartridge 7260 and anvil 7101 is shown in FIG. As described further herein, the end effector 7300 is configured to form staples at a constant forming height across multiple rows.

Due to the two stepped surfaces 7107 and 7262 of FIG. 73, the end effector 7300 defines multiple tissue gaps between the anvil 7101 and the staple cartridge 7260 . A first tissue gap TG ₁ is defined between a first portion 7263 a of deck 7262 and a first portion 7110 a of tissue compression surface 7107 , and a second tissue gap TG ₂ is defined between first portion 7263 a of deck 7262 and first portion 7110 a of tissue compression surface 7107 . Defined between portion 7263a and second portion 7110b of tissue compression surface 7107, _third tissue gap TG3 is between second portion 7263b of deck 7262 and second portion 7110b of tissue compression surface 7107. defined between The outer row 7268a of staple cavities 7266 and the outer row 7103a of staple forming pockets 7102 are aligned with the first tissue gap TG ₁ and the middle row 7268b of staple cavities 7266 and the middle row 7103b of staple forming pockets 7102 are aligned with the second tissue gap TG1. The inner row 7268c of staple cavities 7266 and the inner row 7103c of staple forming pockets 7102 are aligned with a _third tissue gap _TG3 . As described with respect to the end effector 7100 (FIG. 71), when the tissue gap varies between rows of staples, the tissue gap difference is a variation of the overdrive distance such that the staples are formed at the same formed height. can correspond to For example, referring again to FIG. 73, the height H _step of anvil step 7112 corresponds to the difference between overdrive distances D ₁ and D ₂ , and the height H _step of cartridge step 7267 corresponds to the overdrive distance D corresponds to the difference between ₂ and _D3 .

As described herein, a surgical instrument assembly may include a shaft portion and an articulatable end effector portion. For example, an articulation assembly may be positioned intermediate the shaft portion and the end effector portion, and the articulation assembly may allow the end effector portion to articulate relative to the shaft portion at an articulation joint. can. Various articulation assemblies are disclosed herein and in U.S. patent application Ser. No. 15/019,245, filed February 9, 2016, entitled " SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

An exemplary surgical instrument assembly 8000 having an articulation joint 8200 is shown in FIGS. 74-77. Surgical instrument assembly 8000 includes shaft 8010 and end effector 8100 . Shaft 8010 includes a closed tube assembly 8040 . Closure tube assembly 8040, for example, is similar in many respects to closure tube assembly 140 (see, eg, FIG. 2) and is further described herein. Shaft 8010 also includes an articulation drive system 8201 configured to articulate end effector 8100 relative to shaft 8010 . Articulation joint 8200 is configured such that articulation generated by articulation drive system 8201 articulates end effector 8100 relative to shaft 8010 about articulation axis BB (FIGS. 75-77). It is positioned intermediate the shaft 8010 and the end effector 8100 .

Articulation drive system 8201 includes articulation rod 8202 including distal end 8204 . Articulation drive system 8201 also includes articulation link 8206 with proximal end 8208 coupled to distal end 8204 of articulation rod 8202 . Articulating rod 8202 extends longitudinally through shaft portion 8010 . In at least one example, the articulation rod 8202 can be co-linear with the central longitudinal axis L (FIGS. 75-77) of the shaft portion 8010 extending through the articulation axis BB, but Articulating rod 8202 may be offset from longitudinal axis L in other embodiments. Distal end 8204 of articulating rod 8202 includes extension 8205 extending transversely to central longitudinal axis L. As shown in FIG. For example, extension 8205 extends away from central longitudinal axis L. FIG. The lateral offset of extension 8205 relative to axis L is configured to obtain the desired angular orientation of articulation link 8206, as described further herein. Articulation rod 8202 is configured to move axially along central longitudinal axis L to affect articulation of end effector 8100 . More specifically, for example, distal (DD) displacement of the articulating rod 8202 is configured to articulate the end effector 8100 clockwise, and proximal (PD) displacement of the articulating rod 8202 is configured to articulate the end effector 8100 clockwise. , is configured to articulate the end effector 8100 counterclockwise.

End effector 8100 is articulatable between a first fully articulated configuration and a second fully articulated configuration. A first full articulation configuration may correspond, for example, to a full clockwise range of rotation, and a second full articulation configuration may correspond, for example, to a full counterclockwise range of rotation. A non-articulating or linear configuration of the end effector 8100 can be positioned intermediate a first fully articulating configuration and a second fully articulating configuration. In various examples, the non-articulated configuration may be equidistant between the first fully articulated configuration and the second fully articulated configuration. In other examples, based on the geometry of end effector 8100 and shaft 8010, a greater degree of articulation may be allowed in one rotational direction. End effector 8100 is articulatable through a full range of motion including, for example, at least 120 degrees. In other examples, the end effector 8100 can be configured to articulate less than 120 degrees. For example, the end effector 8100 can be configured to articulate through approximately 90 degrees.

Articulating link 8206 is, for example, a cross-link that is similar in certain respects to cross-link 1237 (FIG. 10). The articulation link 8206 is oriented obliquely with respect to the central longitudinal axis L. More specifically, articulation link 8206 is positioned such that proximal end 8208 of articulation link 8206 is positioned on a first side of central longitudinal axis L and distal end 8210 of articulation link 8206 is positioned on central longitudinal axis L. transversely to the central longitudinal axis L so as to be positioned on a second opposite side of the In various examples, the angular orientation of articulation link 8206 can be configured to enhance the mechanical advantage of articulation drive system 8201 . As the articulation rod 8202 moves axially relative to the central longitudinal axis L, the articulation link 8206 also displaces relative to the central longitudinal axis. For example, referring to FIGS. 75-77, when the articulation joint 8200 is moved from a non-articulated configuration (FIG. 75) to a first articulated configuration (FIG. 76) and a second articulated configuration (FIG. 77): Articulation rod 8202 and articulation link 8206 are displaced distally. The first articulation configuration corresponds to a partially articulated configuration and the second articulation configuration corresponds to a fully articulated configuration of surgical instrument assembly 8000, as further described herein.

In certain examples, articulation drive system 8201 may not include articulation link 8206 . For example, articulation rod 8202 can be pivotally coupled to end effector 8100 . In certain examples, the distal end portion of the articulating rod 8202 is contoured and/or shaped such that the distal end of the articulating rod 8202 is laterally offset from the proximal end and/or central longitudinal axis L. An offset can be defined.

74-77, distal end 8210 of articulation link 8206 is pivotally coupled to end effector portion 8100 of surgical instrument assembly 8000 at pivot joint 8211 . For example, distal end 8210 is coupled through pivot joint 8211 to proximal portion or extension 8103 of end effector elongated channel or retaining portion 8102 at pivot axis AA (FIGS. 75-77). . The orientation of articulation link 8206 causes pivot axis AA to be laterally offset from central longitudinal axis L and from articulation axis BB. Distal end 8210 of articulation link 8206 is coupled to proximal extension 8103 such that pivot axis AA extends through proximal extension 8103 .

When articulation rod 8202 and articulation link 8206 are moved, eg, pushed, in a distal direction (DD), elongated channel 8102 is pivoted clockwise about pivot axis AA. In various examples, as the end effector 8100 encounters resistance to articulation and the articulation drive system 8201 attempts to overcome that resistance, the articulation link 8206 can be subjected to a compressive load. In certain examples, articulation bar 8202 and/or articulation link 8206 may be prone to bending, buckling, and/or retraction from a desired articulation position when subjected to loads above a threshold load. Stated another way, the articulation link 8206 may be subject to lateral bending under increased compressive loads. To counteract and/or resist bending and/or non-articulation of the compressed articulation bar 8202 and/or articulation link 8206 under high compressive loads, the articulation system 8201 may include a stiffening or anti-backup mechanism. can be done.

A stiffening mechanism 8220 is shown in FIGS. 74-77. The stiffening mechanism 8220 includes a brace 8106 on the end effector 8100 that is operably configured to engage a recess or notch 8226 in the articulation link 8206 in certain examples. Brace 8106 is disengaged from recess 8226 during most of the articulation (see FIGS. 74-76). However, in the fully articulated configuration of FIG. 77, brace 8106 is received in recess or pocket 8226 and portions of brace 8106 abut sidewalls of recess 8226 . Brace 8106 includes a post projecting from the proximal end of elongated channel 8102 and recess 8226 defines a pocket aligned with brace 8106 when end effector 8100 is articulated to the fully articulated configuration. (FIG. 77), the brace 8226 moves into the pocket. In such instances, brace 8106 provides a stop surface that prevents further clockwise articulation of end effector 8100 beyond the fully articulated configuration.

Further, in the fully articulated configuration of FIG. 77, brace 8106 is configured to apply a bending and anti-backup force to articulation link 8206. FIG. More specifically, when a force is applied to the end effector 8100, such as a force applied to the outside opposite the articulation of the articulation drive system 8201, the engagement between the recess 8226 and the brace 8106 is strengthened. , to resist non-articulation and/or bending of the articulation link 8206 . For example, the recess 8226 can apply a resistive force to the brace 8016 to prevent retraction in response to non-articulating forces applied to the fully articulated end effector 8100 .

In various examples, the stiffening feature 8220 can include at least a pair of opposing flat surfaces or "flats" to transfer force between the brace 8106 and the recess 8226. For example, the recess 8226 can define an inner surface with at least one flat surface or plane and the brace 8106 can define an outer surface with at least one flat surface or plane. These planes can be complementary such that they are positioned abuttingly when the end effector 8100 is in the fully articulated configuration. For example, recess 8226 can fit around a portion of brace 8106 like a wrench and fit over the head of a bolt. The abutting planes provide a force transmission surface for stiffening feature 8220 and are configured to oppose rotation of brace 8106 within recess 8226 . Brace 8106 and recess 8226 have an asymmetric profile. However, brace 8106 and recess 8226 can have symmetrical profiles in other examples.

Referring primarily to FIG. 77A, a detailed view of stiffening mechanism 8220 of FIG. 77 is shown. Recess 8226 includes an inner surface 8228 having a plurality of planar surfaces 8230a, 8230b, 8230c. Additionally, brace 8106 includes an outer surface 8108 having a plurality of complementary planar surfaces 8110a, 8110b, 8210b. Planes 8230 a , 8230 b of recess 8226 can abut corresponding planes 8210 a , 8210 b of brace 8226 to retain brace 8106 within recess 8226 . Further, when the brace 8106 is received in the recess 8226 , the planes can be oriented to resist non-articulating motion and/or apply anti-bending forces to the articulating link 8206 . In various examples, the inner surface 8228 of the recess 8226 and the outer surface 8108 of the brace 8106 can also include contoured and/or rounded surfaces adjacent and/or intermediate the planes.

In various examples, articulation system 8201 can include multiple stiffening mechanisms 8220 . For example, articulation system 8201 can include a recess similar to recess 8226 towards proximal end 8208 of articulation link 8206 . Such recesses can be configured, for example, to engage a grounding feature on the end effector 8100 and/or to provide a positive stopping surface when the end effector 8100 is fully articulated counterclockwise. .

Example 1 - An end effector comprising a staple cartridge comprising staples including legs. The end effector further comprises an anvil including a tissue compression surface, with a plurality of pockets defined within the tissue compression surface. The plurality of pockets includes pockets containing cups configured to form legs. The cup includes an interface. The interface includes a periphery, a depth profile defining the depth of the cup along the length of the cup, first curved sidewalls extending from the periphery toward the depth profile, and a depth profile from the periphery. a second curved side wall extending toward the . The first curved side wall and the second curved side wall intersect the periphery at an angle along most of the length of the cup.

Example 2 - The end effector of Example 1, wherein the interface lacks a planar surface.

Example 3 - The end effector of Example 1 or 2, wherein the constant angle is between 55 degrees and 80 degrees.

Example 4 - The end effector of Examples 1, 2, or 3, wherein the interface further comprises a bottom surface intermediate the first curved sidewall and the second curved sidewall. The first curved sidewall has a first radius of curvature at a first cross-sectional location. The bottom surface has a second radius of curvature at the first cross-sectional location. The second radius of curvature is different than the first radius of curvature.

Example 5 - The end effector of Example 4, wherein the bottom surface has a variable radius of curvature along the length of the bottom surface.

Example 6 - An end effector comprising a staple cartridge comprising staples including legs. The end effector further comprises an anvil including a plane with a plurality of pockets defined within the plane. The plurality of pockets includes pockets containing cups configured to form legs. The cup includes an interface. The interface includes a perimeter, a depth profile defining the depth of the cup along the length of the cup, and a plurality of curvatures across the perimeter and depth profile. Each curvature comprises a first arc that intersects the perimeter and has a first radius of curvature, and a tangent to each first arc at the perimeter is oriented at an angle.

Example 7 - The end effector of Example 6, each curvature comprising a second arc having a second radius of curvature. The second radius of curvature is different than the first radius of curvature.

Example 8 - The end effector of Example 6 or 7, wherein the angle is between 55 degrees and 80 degrees.

Example 9 - The interface has a first sidewall extending from the periphery toward the depth profile, a second sidewall extending from the periphery toward the depth profile, and the first sidewall and the second sidewall extending from the periphery toward the depth profile. and an inflection surface extending intermediate the side walls of 2. A curved surface lacks a flat surface.

Example 10 - The end effector of Example 6, 7, 8, or 9, wherein the depth of the cup varies along the length of the cup.

Example 11 - An end effector comprising a staple cartridge comprising staples including legs. The end effector further comprises an anvil including a plane with a plurality of pockets defined within the plane. The plurality of pockets includes pockets containing cups configured to form staple legs. The cup includes an interface. The interface includes a perimeter, a depth profile defining the depth of the cup along the length of the cup, and a plurality of longitudinally offset profile curvatures intersecting the perimeter and the depth profile. The profile curvature intersects the perimeter at a first angle.

Example 12 - The end effector of Example 11, wherein the end effector is movable between an open position and a clamped position. The leg is aligned with the cup when the end effector is in the clamped position.

Example 13 - The end effector of Example 11 or 12, wherein the plurality of profile curvatures comprises a first curvature and a second curvature. The perimeter of the cup extends around a staple entry region, a staple exit region, and a transition region intermediate the staple entry region and the staple exit region. The first curvature and the second curvature intersect the perimeter in the transition region.

Example 14 - The end effector of Example 13, wherein the plurality of profile curvatures further includes a third curvature that intersects the perimeter at a second angle at the staple entry region. The second angle is different than the first angle.

Example 15 - The end effector of example 13, wherein the plurality of profile curvatures further includes a third curvature that intersects the perimeter at a second angle at the staple exit region. The second angle is different than the first angle.

Example 16 - Example 13 wherein the bounding surface further comprises a first sidewall extending from the first side of the cup, a second sidewall extending from the second side of the cup, and a bottom surface end effector. The first sidewall and the second sidewall meet at the bottom surface. The first sidewall contacts the plane at a first angle along the length of the transition region.

Example 17 - The end effector of example 16, wherein the second sidewall meets the plane at a first angle along the length of the transition region.

Example 18 - The end effector of Example 11, 12, 13, 14, 15, 16, or 17, wherein the first angle is between 55 degrees and 80 degrees.

Example 19—The end effector of Examples 11, 12, 13, 14, 15, 16, 17, or 18, wherein the profile curvature lacks a straight portion.

Example 20 - The end effector of Example 11, 12, 13, 14, 15, 16, 17, 18, or 19, wherein each profile curvature comprises a parabolic curvature.

Example 21 - An end effector comprising a staple cartridge comprising staples including a first leg. The end effector further comprises an anvil including a tissue compression surface, with a plurality of pockets defined within the tissue compression surface. The plurality of pockets includes a pocket including a first cup configured to form a first leg. The first cup includes a first side, a second side, and a bottom intermediate the first side and the second side. The bottom defines a depth relative to the tissue compression surface, the depth varying longitudinally along the length of the bottom. The first cup has a first side wall extending from the first side to the bottom and a first side wall extending from the first side to the bottom defining a first fully curved surface and a second side to the bottom. Further including a second sidewall present. A second sidewall defines a second fully curved surface.

Example 22 - The end effector of Example 21, wherein the first cup lacks a flat surface.

Example 23 - The pocket has a first beveled edge intermediate the tissue compression surface and the first side and a second beveled edge intermediate the tissue compression surface and the second side. The end effector of embodiment 21 or 22, further comprising.

Example 24 - The end effector of Examples 21, 22, or 23, wherein the pocket further comprises a second cup. The staple further includes a second leg configured to form a second leg of the staple. The pockets are bilaterally symmetrical about a longitudinal axis extending through the first cup and the second cup, the pockets being oriented perpendicular to the longitudinal axis from the first cup and the second cup. It is bilaterally symmetrical about an equidistantly spaced horizontal axis.

Example 25 - The end effector of example 21, 22, 23, or 24, wherein the first cup further comprises a plurality of boundary curves extending from the first side to the second side. Each bounding curve includes an inflection located along the bottom. A boundary curve traverses the tissue compression plane at a constant angle along the first side and the second side.

Example 26 - The end effector of Example 25, wherein the boundary curve defines a parabolic curve.

Example 27 - An end effector comprising a staple cartridge comprising staples including a first leg. The end effector further comprises an anvil including a tissue compression surface, with a plurality of pockets defined within the tissue compression surface. The plurality of pockets includes a pocket including a first cup configured to form a first leg. The first cup includes a first side, a second side, and a bottom intermediate the first side and the second side. The bottom defines a depth relative to the tissue compression surface, the depth varying longitudinally along the length of the bottom. The first cup further includes a plurality of parabolic boundary curves extending intermediate the first side and the second side.

Example 28 - The first cup further comprises an inlet region, an outlet region, a transition region intermediate the inlet region and the outlet region, and a sidewall extending from the first side toward the bottom, The end effector of Example 27. The tangents to the sidewalls on the first side are oriented at constant angles in the entrance region, the exit region and the transition region.

Example 29 - The end effector of Example 27 or 28, wherein the first cup defines a fully curved interface.

Embodiment 30 - The first cup further comprises a first side wall extending from the first side toward the bottom and a second side wall extending from the second side toward the bottom, 30. The end effector of Example 27, 28, or 29, wherein each parabolic boundary curve includes an apex located along the bottom.

Example 31 - The end effector of Example 30, wherein the first sidewall defines a first fully curved interface. The second sidewall defines a second fully curved interface.

Example 32 - The pocket has a first beveled edge intermediate the tissue compression surface and the first side and a second beveled edge intermediate the tissue compression surface and the second side. The end effector of embodiment 27, 28, 29, 30, or 31 further comprising.

Example 33—The end effector of example 27, 28, 29, 30, 31, or 32, wherein the staple further comprises a second leg. The pocket further includes a second cup configured to form a second leg. The pockets are bilaterally symmetrical about a longitudinal axis extending through the first cup and the second cup, the pockets being oriented perpendicular to the longitudinal axis from the first cup and the second cup. It is bilaterally symmetrical about an equidistantly spaced horizontal axis.

Example 34 - An end effector comprising a staple cartridge comprising staples including a first leg. The end effector further comprises an anvil including a plane with a plurality of pockets defined within the plane. The plurality of pockets includes a pocket including a first cup configured to form a first leg. The first cup defines a fully curved bounding surface that includes a bottom, the bottom defining a depth with respect to the plane. The depth varies longitudinally along the length of the base.

Example 35—The end effector of example 34, wherein the staple further comprises a second leg. The pocket further includes a second cup configured to form a second leg. The pockets are bilaterally symmetrical about a longitudinal axis extending through the first cup and the second cup, the pockets being oriented perpendicular to the longitudinal axis from the first cup and the second cup. It is bilaterally symmetrical about an equidistantly spaced horizontal axis.

Example 36 - The end effector of example 34 or 35, wherein the first staple further comprises a second leg. The pocket further includes a second cup configured to form a second leg. The second cup defines a second fully curved bounding surface including a second bottom. The second bottom defines a second depth with respect to the plane. The second depth varies longitudinally along the length of the second bottom portion.

Example 37 - An implementation wherein the first cup further comprises a first side, a second side, and a plurality of radial boundary curves extending intermediate the first and second sides The end effector of Examples 34, 35, or 36.

Example 38 - Examples 34, 35, 36, wherein the first cup further comprises a first side extending along an inlet region, an outlet region, and a transition region intermediate the inlet and outlet regions, 37 end effector. The first cup further includes a sidewall extending from the first side toward the bottom, and tangents to the sidewall at the first side are oriented at an angle at the entrance region, the exit region, and the transition region.

Example 39 - The end effector of Example 38, wherein the tangent to the sidewall on the first side is oriented at an angle between 55 degrees and 80 degrees.

Example 40 - The pocket has a first beveled edge extending along a first side of the pocket and a second beveled edge extending along a second side of the pocket The end effector of embodiment 34, 35, 36, 37, 38, or 39, further comprising.

Example 41 - Surgical end effector with an anvil movable between open and closed positions. The anvil includes a planar surface with a plurality of forming pockets defined within the planar surface. The plurality of forming pockets comprises a first forming pocket having a first depth and a second forming pocket having a second depth, the second depth being different than the first depth. The surgical end effector further includes a staple cartridge with a deck. The deck includes a first portion aligned with the first pocket, a second portion aligned with the second pocket, and a step intermediate the first and second portions. The staple cartridge further comprises a plurality of drivers. A plurality of actuators aligned with the first pocket and aligned with the first actuator movable a first distance between an unfired position and a fired position, and the second pocket. , a second actuator movable a second distance between an unfired position and a fired position. The second distance is different than the first distance. The staple cartridge further comprises a plurality of staples. The plurality of staples is a first staple supported by the first driver and formed at a first forming height intermediate the first driver and the first pocket. Contains staples. The plurality of staples is a second staple supported by a second driver and formed at a second forming height intermediate the second driver and the second pocket. Further including staples. The first formed height is equal to the second formed height.

Example 42 - The surgical end effector of example 41, wherein the difference between the first distance and the second distance corresponds to the difference between the first depth and the second depth.

Example 43 - The first staple has a first unformed height, the second staple has a second unformed height, the second unformed height is the first unformed height The surgical end effector of Example 41 or 42 equal to the formed height.

Example 44 - The first staple has a first unformed height, the second staple has a second unformed height, the second unformed height is the first unformed height 43. The surgical end effector of Example 41 or 42, wherein the formed height is different.

Example 45—The surgical end effector of Example 41, 42, 43, or 44, wherein the staple cartridge is replaceable.

Example 46 - A first tissue gap is defined between the first portion and the plane, a second tissue gap is defined between the second portion and the plane, and the first 46. The surgical end effector of embodiment 41, 42, 43, 44, or 45, wherein the tissue gap of is smaller than the tissue gap of the second.

[00101] Example 47 - The surgical end effector of Examples 41, 42, 43, 44, 45, or 46, wherein the first portion is laterally outward of the second portion.

Example 48 - A staple forming device comprising a plurality of first staples, each first staple supported by a first drive surface. The staple forming device further comprises a plurality of second staples, each second staple supported by the second drive surface. The staple forming device further comprises a tissue compression surface and a plurality of forming pockets defined within the tissue compression surface. The plurality of forming pockets includes longitudinal rows of first forming pockets each having a first depth, each first forming pocket supporting one of the first staples to a forming height. It is configured to form to a first forming height within a first range. The plurality of forming pockets further includes longitudinal rows of second forming pockets each having a second depth. The second depth is different than the first depth, and each second forming pocket forms one of the second staples to a formed height within the second range of formed heights. is configured as The second range of formed heights is equal to the first range of formed heights.

Example 49 - The staple forming device of example 48, wherein the first depth is twice the second depth.

Example 50 - The staple forming device of example 48 or 49, wherein the longitudinal row of the first forming pockets is laterally outward of the longitudinal row of the second forming pockets.

Example 51—Further comprising a staple cartridge including a deck, each first drive surface configured to drive one of the first staples a first overdrive distance relative to the deck The staple forming device of example 48, 49, or 50. The first overdrive distance corresponds to the first depth, and each second drive surface drives one of the second staples relative to the deck by the second overdrive distance. is configured to A second overdrive distance corresponds to a second depth.

Example 52—The staple forming apparatus of example 51, wherein the deck further comprises a stepped surface.

[00104] Example 53 - The staple forming device of any of examples 48, 49, 50, 51, or 52, wherein each first drive surface is movable a first distance between an unfired position and a fired position. Each second drive surface is movable a second distance between an unfired position and a fired position. The second distance is different than the first distance.

Example 54 - The staple forming device of example 53, wherein the difference between the first distance and the second distance corresponds to the difference between the first depth and the second depth.

Example 55 - A surgical end effector comprising an anvil including a tissue compression surface, wherein a plurality of formation pockets are defined within the tissue compression surface. The plurality of forming pockets includes a first forming pocket having a first depth and a second forming pocket having a second depth, the second depth being different than the first depth. The surgical end effector further comprises a staple cartridge. The staple cartridge includes a plurality of drivers including a first driver and a second driver. The staple cartridge further comprises a plurality of staples. A plurality of staples, a first staple having a first unformed height and supported by the first driver, forming contact with the first pocket by the first driver a first staple driven a first distance and formed to a first formed height. A plurality of staples having a second unformed height and a second staple supported by a second driver to form contact with the second pocket by the second driver. Further includes a second staple driven a second distance so as to be formed at a second forming height. The second distance is different than the first distance. The second formed height is substantially the same as the first formed height. The difference between the first distance and the second distance corresponds to the difference between the first depth and the second depth.

Example 56 - The surgical end effector of example 55, wherein the tissue compression surface comprises a planar surface. The plane includes a first portion with a first forming pocket defined in the first portion. The plane further includes a second portion laterally outward of the first portion, the second portion defining a second forming pocket in the second portion.

Example 57—The surgical end effector is moveable between an open configuration and a closed configuration, wherein the constant tissue gap is between the staple cartridge and the planar first when the surgical end effector is in the closed configuration. 57. The surgical end effector of Example 56 defined between the portion and the second portion.

Example 58 - A surgical end effector is moveable between an open configuration and a closed configuration, a first tissue gap defined between the staple cartridge and the first portion, and a second tissue gap is defined between the staple cartridge and the second portion, and the first tissue gap is different than the tissue gap.

Example 59 - Configured to Displace a First Driver by a First Lifting Length and Configured to Displace a Second Driver by a Second Lifting Length During a Staple Firing Stroke 59. The surgical end effector of embodiment 55, 56, 57, or 58, further comprising a sled. The first lift length is different than the second lift length.

Example 60—The surgical end effector of example 55, 56, 57, 58, or 59, wherein the staple cartridge further comprises a deck. The first driver is configured to drive the first staple relative to the deck a first overdrive distance, the first overdrive distance corresponding to the first depth. The second driver is configured to drive the second staple relative to the deck a second overdrive distance, the second overdrive distance corresponding to the second depth.

Example 61 - The staple has a staple diameter, a first depth equal to the staple diameter and a second depth equal to twice the staple diameter, Examples 55, 56, 57, 58, 59, or 60 surgical end effectors.

Example 62 - A surgical instrument assembly comprising an end effector comprising an elongated channel configured to receive a fastener cartridge. The elongated channel is provided with braces. The surgical instrument assembly further includes a shaft including an articulation drive assembly. The articulation drive assembly includes an articulation link pivotally connected to the elongated channel. The articulation link includes a pocket configured to receive the brace when the end effector is in the fully articulated configuration.

Example 63 - The surgical instrument assembly of example 62, wherein the brace comprises an outer surface including a plurality of first planar surfaces. The pocket has an inner surface that includes a plurality of second planar surfaces. The second planar surface is complementary to the first planar surface.

[00101] Example 64 - The surgical instrument assembly of Example 62 or 63, wherein the shaft extends along the longitudinal axis. The articulation link is pivotally connected to the elongated channel at a pivot axis, the pivot axis being laterally offset from the longitudinal axis.

[00103] Embodiment 65 - The surgical instrument assembly of embodiment 62, 63, or 64, wherein the articulation drive assembly further comprises an articulation rod coupled to the articulation link. Distal displacement of the articulation rod is configured to pivot the end effector toward the fully articulated configuration.

[00103] Embodiment 66 - The surgical instrument assembly of embodiment 65, wherein the articulation drive assembly further comprises an articulation lock configured to selectively prevent axial displacement of the articulation rod.

Example 67—The surgical instrument assembly of Example 62, 63, 64, 65, or 66, further comprising a fastener cartridge.

Example 68—A surgical instrument assembly comprising a shaft and an end effector including a proximal portion, the proximal portion comprising a brace. The surgical instrument assembly further comprises an articulation assembly configured to articulate the end effector with respect to the shaft between a first articulation configuration and a second articulation configuration. The articulation assembly includes an articulation driver that includes a recess. The recess is configured to receive the brace when the end effector is in the first articulated configuration.

Example 69 - The surgical instrument assembly of example 68, wherein the end effector comprises an elongated channel configured to receive a staple cartridge. The elongated channel is provided with braces.

Example 70 - The surgical instrument assembly of Example 69, further comprising a staple cartridge.

Example 71 - The surgical instrument assembly of example 69 or 70, wherein the brace comprises a post projecting from the elongated channel.

Example 72 - The surgical instrument assembly of example 71, wherein the post comprises an outer surface including a plurality of flat surfaces.

Example 73 - The surgical instrument assembly of example 72, wherein the recess comprises an inner surface including a plurality of second planar surfaces. The plurality of second planar surfaces are complementary to the planar surfaces of the posts.

[00103] Example 74 - The surgical instrument assembly of example 69, 70, 71, 72, or 73, wherein the articulation driver comprises an articulation link. The articulation link has a proximal end and a distal end. The proximal end is connected to the articulation rod. The distal end is pivotally connected to the elongated channel.

Example 75—The surgical instrument assembly of example 74, wherein the shaft extends along the longitudinal axis. The distal end of the articulation link is laterally offset from the longitudinal axis.

Example 76 - The surgical instrument assembly of example 68, 69, 70, 71, 72, 73, 74, or 75, further comprising a second brace. The articulation driver includes a second recess configured to receive the second brace when the end effector is in the second articulated configuration.

Example 77 - The surgical method of Examples 68, 69, 70, 71, 72, 73, 74, 75, or 76, wherein the second articulation configuration is offset from the first articulation configuration by at least 120 degrees instrument assembly.

Example 78 - A surgical instrument assembly comprising a shaft and an end effector. The end effector includes an elongated channel configured to receive the fastener cartridge. The surgical instrument assembly further includes an articulation assembly intermediate the shaft and the end effector. The articulation assembly is configured to articulate the end effector with respect to the shaft. The articulation assembly includes an articulation link pivotally connected to the elongated channel. The surgical instrument assembly further comprises means for resisting buckling of the articulation link when the articulation link is compressed.

Example 79—The surgical instrument assembly of Example 78, further comprising a fastener cartridge.

Example 80 - A surgical instrument assembly comprising a shaft and an end effector. The end effector includes an elongated channel configured to receive the fastener cartridge. The surgical instrument assembly further includes an articulation assembly configured to articulate the end effector with respect to the shaft. The articulation assembly includes an articulation driver pivotally coupled to the end effector. The surgical instrument assembly further comprises means for bracing the articulation driver when the end effector is in the fully articulated configuration.

Example 81 - The surgical instrument assembly of Example 80, further comprising a fastener cartridge.

Example 82 - A surgical instrument assembly comprising a shaft and an end effector. The end effector has a proximal end and a distal end. The surgical instrument assembly further includes an articulation joint rotatably connecting the proximal end of the end effector to the shaft. The surgical instrument assembly further comprises an articulation assembly configured to articulate the end effector with respect to the shaft between a first articulation configuration and a second articulation configuration. The articulation assembly includes a longitudinal articulation driver movable proximally and distally. The articulation assembly further comprises a link connecting the longitudinal articulation driver to the end effector. The articulation assembly articulates the end effector without impeding proximal and distal movement of the articulation driver, but resists reverse rotation of the end effector to prevent reverse drive of the articulation driver. A mechanism is further provided.

Although many of the surgical instrument systems described herein operate with electric motors, the surgical instrument systems described herein can operate in any suitable manner. In various examples, the surgical instrument systems described herein can be operated by a manually operated trigger, for example. In certain examples, the motors disclosed herein may comprise part(s) of a robotic control system. Additionally, any of the end effectors and/or instrument assemblies disclosed herein can be utilized with robotic surgical instrument systems. For example, US patent application Ser. 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 envisioned utilizing any suitable means for sealing tissue. For example, an end effector according to various embodiments may 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. Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", issued Apr. 4, 1995;
- U.S. Patent No. 7,000,818, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRRING SYSTEMS", issued February 21, 2006;
- U.S. Patent No. 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", issued September 9, 2008;
- U.S. Patent No. 7,464,849, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENTS WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", issued Dec. 16, 2008;
- U.S. Patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", issued March 2, 2010;
- U.S. Patent No. 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS", issued July 13, 2010;
- U.S. Patent No. 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", issued March 12, 2013,
- U.S. patent application Ser.
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- U.S. Patent Application Publication No. 2007/0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM", filed on Jan. 31, 2006;
- US Patent Application Publication No. 2010/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed April 22, 2010, now US Patent No. 8,308,040.

Although various devices have been described herein in conjunction with specific embodiments, modifications and changes may be made to those embodiments. Certain features, structures or characteristics 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 discarded 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 an exemplary design, 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 disclosure documents that are incorporated herein by reference in whole or in part are subject to any existing definitions, statements, or other disclosures in which the incorporated material is set forth in this disclosure. It is incorporated herein only to the extent not inconsistent with its content. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting statements incorporated herein by reference. This document is hereby incorporated by reference, but any document, or portion thereof, that contradicts any existing definition, statement, or other disclosure document set forth herein shall be deemed to be a shall be incorporated only to the extent not inconsistent with the disclosure.

[Mode of implementation]
(1) A surgical instrument assembly comprising:
an end effector comprising an elongated channel configured to receive a fastener cartridge, said elongated channel comprising a brace;
A shaft including an articulation drive assembly, said articulation drive assembly comprising an articulation link pivotally coupled to said elongated channel, said articulation link allowing said end effector to be in a fully articulated configuration. a shaft including a pocket configured to receive the brace at one time.
(2) the brace includes an outer surface including a plurality of first planar surfaces; the pocket includes an inner surface including a plurality of second planar surfaces; 2. The surgical instrument assembly of embodiment 1, wherein the surgical instrument assembly is complementary to the flat surface of the .
(3) the shaft extends along a longitudinal axis and the articulation link is pivotally connected to the elongate channel at a pivot axis, the pivot axis transversely from the longitudinal axis; 2. The surgical instrument assembly of embodiment 1, wherein the offset is .
(4) the articulation drive assembly further comprises an articulation rod coupled to the articulation link, such that distal displacement of the articulation rod pivots the end effector toward the fully articulated configuration; 2. The surgical instrument assembly of claim 1, wherein the surgical instrument assembly is configured.
Clause 5. The surgical instrument assembly of Clause 4, wherein the articulation drive assembly further comprises an articulation lock configured to selectively prevent axial displacement of the articulation rod.

(6) The surgical instrument assembly of Clause 1, further comprising the fastener cartridge.
(7) A surgical instrument assembly comprising:
a shaft;
an end effector including a proximal portion, said proximal portion comprising a brace;
An articulation assembly configured to articulate the end effector relative to the shaft between a first articulation configuration and a second articulation configuration, the articulation driver including a recess. and an articulation assembly, wherein the recess is configured to receive the brace when the end effector is in the first articulated configuration.
Clause 8. The surgical instrument assembly of clause 7, wherein the end effector comprises an elongated channel configured to receive a staple cartridge, the elongated channel comprising the brace.
(9) The surgical instrument assembly of Clause 8, further comprising the staple cartridge.
Clause 10. The surgical instrument assembly of Clause 8, wherein the brace includes a post projecting from the elongated channel.

Clause 11. The surgical instrument assembly of Clause 10, wherein the post comprises an outer surface including a plurality of flat surfaces.
Clause 12. The surgical procedure of clause 11, wherein the recess comprises an inner surface including a plurality of second planar surfaces, the plurality of second planar surfaces being complementary to the planar surfaces of the post. instrument assembly.
(13) said articulation driver comprises an articulation link including a proximal end and a distal end, said proximal end being connected to an articulating rod, said distal end being in said elongated channel; 9. A surgical instrument assembly according to embodiment 8, pivotally connected.
Clause 14. The surgical instrument of clause 13, wherein the shaft extends along a longitudinal axis and the distal end of the articulation link is laterally offset from the longitudinal axis. assembly.
(15) further comprising a second brace, the articulation driver having a second recess configured to receive the second brace when the end effector is in the second articulation configuration; 8. The surgical instrument assembly according to embodiment 7, comprising:

Clause 16. The surgical instrument assembly of Clause 7, wherein the second articulation configuration is offset from the first articulation configuration by at least 120 degrees.
(17) A surgical instrument assembly comprising:
a shaft;
an end effector comprising an elongated channel configured to receive a fastener cartridge;
An articulation assembly intermediate the shaft and the end effector, the articulation assembly configured to articulate the end effector relative to the shaft and comprising an articulation link pivotally coupled to the elongate channel. , an articulating assembly;
and means for resisting buckling of said articulation link when said articulation link is compressed.
(18) The surgical instrument assembly of Clause 17, further comprising the fastener cartridge.
(19) A surgical instrument assembly comprising:
a shaft;
an end effector comprising an elongated channel configured to receive a fastener cartridge;
an articulation assembly configured to articulate the end effector with respect to the shaft, the articulation assembly comprising an articulation driver pivotally coupled to the end effector;
means for bracing the articulation driver when the end effector is in a fully articulated configuration.
(20) The surgical instrument assembly of Clause 19, further comprising the fastener cartridge.

(21) A surgical instrument assembly comprising:
a shaft;
an end effector including a proximal end and a distal end;
an articulation joint rotatably connecting the proximal end of the end effector to the shaft;
An articulation assembly configured to articulate the end effector relative to the shaft between a first articulation configuration and a second articulation configuration, comprising:
a longitudinal articulation driver movable proximally and distally;
a link connecting the longitudinal articulation driver to the end effector; and articulating the end effector without impeding proximal and distal movement of the articulation driver, but against reverse rotation of the end effector. a mechanism that resists and prevents back-driving of the articulation driver.

Claims (4)

A surgical instrument assembly comprising:
an end effector comprising an elongated channel configured to receive a fastener cartridge, the end effector comprising a brace that is a pin-like part projecting upwardly from a proximal end of the elongated channel;
A shaft including an articulation drive assembly, said articulation drive assembly comprising an articulation link pivotally coupled to said elongated channel, said articulation link connecting said end effector to said end effector. a shaft including a pocket configured to receive the brace when in a full articulation configuration, which is a configuration in which articulation is prevented ;
The brace includes an outer surface including a plurality of first flat surfaces that are flat in cross-sectional plan view of the elongate channel, and the pocket includes a plurality of second flat surfaces that are flat in cross-sectional plan view of the shaft. and wherein said second planar surface is complementary to said first planar surface . The shaft extends along a longitudinal axis and the articulation link is pivotally connected to the elongate channel at a pivot axis, the pivot axis laterally offset from the longitudinal axis. The surgical instrument assembly of claim 1, wherein the surgical instrument assembly comprises: The articulation drive assembly further comprises an articulation rod coupled to the articulation link, wherein distal displacement of the articulation rod is configured to pivot the end effector toward the fully articulated configuration. The surgical instrument assembly of claim 1, wherein the surgical instrument assembly comprises: The surgical instrument assembly according to claim 3 , wherein the articulation drive assembly further comprises an articulation lock configured to selectively prevent axial displacement of the articulation rod.

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