JP7317726B2 - Surgical instrument having an axially movable closure member - 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 view of a surgical system including a handle assembly and multiple interchangeable surgical tool assemblies that can be used with the handle assembly; FIG. 2 is an exploded view of one of the handle assembly and replaceable surgical tool assembly shown in FIG. 1; FIG. 2 is a perspective view of one of the replaceable surgical tool assemblies of FIG. 1; FIG. 4 is an exploded view of the replaceable surgical tool assembly of FIG. 3; FIG. 5 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3 and 4; FIG. 6 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3-5; FIG. 7 is an exploded view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-6; FIG. 8 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-7; FIG. 9 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-8; FIG. 10 is a perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-9; FIG. 11 is another perspective view of the proximal portion of the interchangeable surgical tool assembly of FIGS. 3-10; FIG. 12 is a cross-sectional perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-11; FIG. 13 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-12; FIG. 14 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-13; FIG. 15 is a cross-sectional perspective view of a distal portion of the replaceable surgical tool assembly of FIGS. 3-14; FIG. 2 is a perspective view of another one of the replaceable surgical tool assemblies shown in FIG. 1; FIG. 17 is an exploded view of the proximal portion of the replaceable surgical tool assembly of FIG. 16; FIG. 18 is another exploded view of the distal portion of the interchangeable surgical tool assembly of FIGS. 16 and 17; FIG. 2 is a perspective view of another one of the replaceable surgical tool assemblies of FIG. 1; FIG. 20 is an exploded view of the proximal portion of the replaceable surgical tool assembly of FIG. 19; FIG. 21 is another exploded view of the distal portion of the interchangeable surgical tool assembly of FIGS. 19 and 20; FIG. 2 is another perspective view of the replaceable surgical tool assembly of FIG. 1; FIG. 23 is an exploded view of the proximal portion of the replaceable surgical tool assembly of FIG. 22; FIG. 24 is another exploded view of the distal portion of the interchangeable surgical tool assembly of FIGS. 22 and 23; FIG. 4 is a side view of the distal portion of the replaceable surgical tool assembly of FIG. 3 with the anvil in the fully closed position; FIG. 26 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 25; FIG. 17 is a side view of the distal portion of the replaceable surgical tool assembly of FIG. 16 with the anvil in the fully closed position; FIG. 28 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 27; FIG. 20 is a side view of the distal portion of the replaceable surgical tool assembly of FIG. 19 with the anvil in the fully closed position; FIG. 30 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 29; FIG. 23 is a side view of the distal portion of the replaceable surgical tool assembly of FIG. 22 with the anvil in a fully closed position; FIG. 32 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 31; FIG. 4 is a side view of the distal portion of the interchangeable surgical tool assembly of FIG. 3 with the anvil in the fully open position; FIG. 17 is a side view of the distal portion of the interchangeable surgical tool assembly of FIG. 16 with the anvil in the fully open position; FIG. 20 is a side view of the distal portion of the interchangeable surgical tool assembly of FIG. 19 with the anvil in the fully open position; FIG. 23 is a side view of the distal portion of the interchangeable surgical tool assembly of FIG. 22 with the anvil in the fully open position; FIG. FIG. 4 is a side view of a distal portion of another replaceable surgical tool assembly with the anvil shown in solid line in one open position and in phantom line in another open position; FIG. 12 is a side view of the distal portion of another interchangeable surgical tool assembly with the anvil in the fully open position; 4 is a side view of the distal portion of the interchangeable surgical tool assembly of FIG. 3 with the anvil in the fully open position; FIG. 40 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 39; FIG. 41 is a side view of the distal portion of the replaceable surgical tool assembly of FIGS. 39 and 40 with the anvil in the fully closed position; FIG. 17 is an enlarged side view of the anvil attachment portion and elongated channel portion of the replaceable surgical tool assembly of FIG. 16 with the anvil in the fully open position; FIG. 43 is a side view of the distal portion of the replaceable surgical tool assembly of FIG. 42 with the anvil in the fully closed position; FIG. 20 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 19 with the anvil in the fully open position; FIG. 45 is a side view of the distal portion of the replaceable surgical tool assembly of FIG. 44 with the anvil in the fully closed position; FIG. 23 is an enlarged side view of the anvil attachment portion and elongated channel portion of the replaceable surgical tool assembly of FIG. 22, with the anvil in a fully open position; FIG. 47 is a side view of the distal portion of the replaceable surgical tool assembly of FIG. 46 with the anvil in the fully closed position; FIG. 4 is a partial cross-sectional view of the anvil attachment portion and elongated channel of the replaceable surgical tool assembly of FIG. 3, with the anvil in a fully open position; FIG. 17 is a partial cross-sectional view of the anvil mounting portion and elongated channel portion of the replaceable surgical tool assembly of FIG. 16, with the anvil in a fully open position; FIG. 20 is a partial cross-sectional view of the anvil attachment portion and elongated channel of the replaceable surgical tool assembly of FIG. 19, with the anvil in a fully open position; FIG. 23 is a partial cross-sectional view of the anvil attachment portion and elongated channel of the replaceable surgical tool assembly of FIG. 22, with the anvil in a fully open position; FIG. 4 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 3 with the anvil of the surgical end effector in a fully open position; FIG. 53 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 52 with the anvil in a fully closed position; FIG. 17 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 16 with the anvil in a fully open position; FIG. FIG. 20 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 19 with the anvil in a fully open position; 23 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 22 with the anvil in a fully open position; FIG. 4 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 3 with the firing member in the starting position; FIG. 58 is a side view of the surgical end effector of FIG. 57 with the anvil in the fully closed position; FIG. 59 is another partial cross-sectional view of a portion of the surgical end effector of FIGS. 57 and 58 with the firing member in initial engagement with the anvil; FIG. 59 is another partial cross-sectional view of the surgical end effector of FIGS. 57 and 58 with the firing member advanced distally in the firing process; FIG. A firing member assembly of a surgical stapling instrument having a first firing member element and a second firing member element movable relative to the first firing member element between a locked position and an unlocked position. 1 is a perspective view of a part; FIG. 60B is another perspective view of the firing member assembly of FIG. 60A with the second firing member element in the locked position; FIG. 60B is a cross-sectional view of the surgical stapling instrument of FIG. 60A with the firing member elements in the starting position; FIG. FIG. 60D is another cross-sectional view of the surgical stapling instrument of FIG. 60C shown in a lockout configuration; Fig. 10 is a side view of the firing member assembly with the second firing member element in the lockout orientation; 60E is another side view of the firing member assembly of FIG. 60E with the second firing member element in the unlocked position or firing orientation; FIG. 60B is another partial perspective view of the surgical stapling instrument of FIG. 60A shown in an unlocked configuration; FIG. 60B is a cross-sectional view of the surgical stapling instrument of FIG. 60A with an unfired surgical fastener cartridge operably supported within an elongated channel and a firing member assembly shown in a starting position; FIG. FIG. 60H is another cross-sectional view of the surgical stapling instrument of FIG. 60H with the firing member assembly shown in a partially fired configuration; 61 is another side view of the surgical end effector of FIGS. 57-60 with the anvil in an over-closed position; FIG. 4 is a partial side view of the surgical end effector of the replaceable surgical tool assembly of FIG. 3 in the fully open position with the distal obturator tube portion shown in phantom to show the anvil retaining member; FIG. 63 is another partial side view of the surgical end effector of FIG. 62 with the anvil in a fully closed position; FIG. 4 is a partial perspective view of the distal obturator tube portion of the replaceable surgical tool assembly of FIG. 3 with the anvil in the fully closed position; FIG. 65 is a plan view of the distal obturator tube portion and anvil of FIG. 64; FIG. 66 is a partial cross-sectional view of the anvil and distal obturator portion of FIGS. 64 and 65 showing the position of the proximal jaw opening mechanism when the anvil is in the fully closed position; FIG. 67 is another partial cross-sectional view of a portion of the anvil and distal closure tube portion of FIGS. 64-66 showing the position of the proximal jaw opening mechanism when the anvil is between fully open and fully closed positions; FIG. . 68 is another partial cross-sectional view of a portion of the anvil and distal obturator portion of FIGS. 64-67 showing the position of the proximal jaw opening mechanism when the anvil is in the fully open position; FIG. 69 is a partial cross-sectional view of the anvil and distal obturator tube portion of FIGS. 64-68 showing the position of the distal jaw opening mechanism when the anvil is in the fully closed position; FIG. 70 is a partial cross-sectional view of the anvil and distal closure tube portion of FIGS. 64-69 showing the position of the distal jaw opening mechanism when the anvil is between fully open and fully closed positions; FIG. 71 is another partial cross-sectional view of a portion of the anvil and distal obturator portion of FIGS. 64-70 showing the position of the distal jaw opening mechanism when the anvil is in the fully open position; FIG. 72 is a partial left side perspective view of the anvil and distal obturator tube portion of FIGS. 64-71, with the anvil in a fully closed position; FIG. 73 is a partial right side perspective view of the anvil and distal obturator tube portion of FIGS. 64-72, with the anvil in a fully closed position; FIG. 74 is a partial left side perspective view of the anvil and distal obturator tube portion of FIGS. 64-73, with the anvil in a partially open position; FIG. 75 is a partial right side perspective view of the anvil and distal obturator tube portion of FIGS. 64-74, with the anvil in a partially open position; FIG. 76 is a partial left side perspective view of the anvil and distal obturator tube portion of FIGS. 64-75, with the anvil in a fully open position; FIG. 77 is a partial right side perspective view of the anvil and distal obturator tube portion of FIGS. 64-76, with the anvil in a fully open position; FIG. FIG. 78 is a graphical comparison between the jaw opening angle and the amount of retraction of the distal obturator tube portion of FIGS. 64-77; 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 INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT", Attorney Docket No. END8207USNP/170098,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8210USNP/170099,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8204USNP/170100,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS", Attorney Docket No. END8218USNP/170101,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", Attorney Docket No. END8217USNP/070102,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM," Attorney Docket No. END8211USNP/170103,
- U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT", Attorney Docket No. END8215USNP/170107,
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS", Attorney Docket No. END8201USNP/170104,
- U.S. Patent Application No. ______, entitled "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES", Attorney Docket No. END8206USNP/170105,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE", Attorney Docket No. END8212USNP/170106,
- U.S. Patent Application No. __________, entitled "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT", Attorney Docket No. END8200USNP/170089M,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS", Attorney Docket No. END8214USNP / 170090,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY Movable FIRRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO T HE JAWS PRIOR TO FIRING", Attorney Docket No. END8202USNP/170091,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY" TO THE PIVOT AXIS, Attorney Docket No. END8213USNP/170092,
- U.S. Patent Application No. __________, entitled "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS", Attorney Docket No. END8203USNP/170093,
- U.S. Patent Application No. __________, entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT", Attorney Arrangement No. END8205USNP/170094,
- U.S. Patent Application No. ________, entitled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT"JAW", Attorney Docket No. END8216USNP/170095,
- U.S. Patent Application No. __________, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES", Attorney Docket No. END8208USNP/170096,
- US Patent Application No. ________, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", Attorney Docket No. END8233USNP/170084,
- U.S. DESIGN PATENT APPLICATION No. ______, entitled "STAPLE FORMING ANVIL", Attorney Docket No. END8236USDP/170109D,
- U.S. DESIGN PATENT APPLICATION No. ______, entitled "SURGICAL INSTRUMENT SHAFT", Attorney Docket No. END8239USDP/170108D, and - U.S. DESIGN PATENT APPLICATION No. ______, entitled "SURGICAL FASTENER CARTRIDGE", Attorney Docket No. END8240USDP/170110D.

The applicant of this application owns the following US patent applications filed June 27, 2017, 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,
- US Patent Application No. __________, entitled "SURGICAL FIRRING 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,
- U.S. Patent Application No. ________, entitled "SURGICAL END EFFECTORS AND ANVILS," Attorney Docket No. END8166USNP/170087; NTS”, by proxy Person Docket No. END8171USNP/170088.

The applicant of this application owns the following US patent applications filed December 21, 2016, each of which is hereby incorporated by reference in its entirety:
- 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.
- U.S. patent application Ser. AND ARTICULATION AND FIRING SYSTEMS",
- US Patent Application No. 15/385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
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- 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"
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- 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",
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- 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"
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- US patent application Ser. No. 15/385,902, entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER",
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- US patent application Ser. No. 15/385,905, entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT",
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- 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",
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- 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"
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- US patent application Ser. No. 15/385,915, entitled "FIRING MEMBER PIN ANGLE",
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- US patent application Ser. No. 15/385,910, entitled "ANVIL HAVING A KNIFE SLOT WIDTH",
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- US patent application Ser. No. 15/386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES",
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- 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"
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- U.S. patent application Ser. URATION", and - US patent application Ser. No. 15/385,936, invention 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:
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- 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.
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- US Patent Application No. 14/984,525, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; SEPARABLE MOTORS 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.
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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. No. 15/019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; LOSURE STROKE REDUCTION ARRANGEMENTS".

The applicant of this application also owns the following identified US patent applications filed on February 12, 2016, the contents of each of which are incorporated herein by reference in their entirety.
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The applicant of the present application owns the following patent applications filed on Jun. 18, 2015, each of which is hereby incorporated by reference in its entirety.
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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:
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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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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:
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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 the present 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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- US Patent Application No. 13/803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent No. 9,629,623, and - US Patent Application No. 13/803,117. , entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. Patent No. 9,351,726;
- US Patent Application No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent No. 9,351,727, and - US Patent Application No. 13/803,159. , entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0277017.

The applicant of this application also owns the following patent applications filed on March 7, 2014, the entire contents of which are incorporated herein by reference:
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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:
- U.S. patent application Ser.
- U.S. patent application Ser.
-The American Public Affiliated Application No. 14/248,595, the name of the invention "Surgical Instrument Shaft Including SwitchES FOR CONTROLLING THE OPERATION OFE THE SURGICAL Instrument ", currently the US patent application open, 2014/0305988,
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- 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",
- US Provisional Patent Application No. 61/812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL," and - US Provisional Patent Application No. 61/812,372, entitled "SURGICAL INSTRUMENT WIT." H. 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 be referred to as one or more of them. It has two or more elements, but is 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 It has two or more features, but is 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 create an incision or puncture made in tissue, for example, through a natural orifice. It will further be appreciated that it may 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 include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, but the staple cartridge is not removable from, or at least readily replaceable from, the first jaw. Other embodiments are envisioned that are not possible. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. Other embodiments wherein the second jaw is pivotable with respect to the first jaw about the closing axis, while the first jaw is pivotable with respect 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 includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck portion extending between the proximal and distal ends. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress and clamp tissue against the deck. Staples removably stored within the cartridge body can then be deployed into tissue. The cartridge body includes a staple cavity defined therein, and staples are removably stored within the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may also be possible.

The staples are supported by staple drivers within the cartridge body. The driver is movable between a first or unfired position and a second or fired position 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. The drivers are moveable between their unfired position and their fired position 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 includes a plurality of ramps configured to slide under and lift the driver, with the 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 includes a first cam that engages the first jaw and a second cam that engages the second jaw. In advancing the firing member distally, the first cam and the second cam can control the distance between the deck portion 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 tool assemblies 1000, 3000, 5000 and 7000 each adapted for interchangeable use with handle assembly 500. Each replaceable surgical tool assembly 1000, 3000, 5000 and 7000 can be designed for use in conjunction with performing one or more specific surgical procedures. In another surgical system embodiment, one or more of the interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000 may be effectively used with an instrument drive assembly of a robotic or automated surgical system. can. For example, the surgical tool assemblies disclosed herein can be used in a variety of 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 STABLE DEPLOYMENT ARRANGEMENTS".

FIG. 2 shows attachment of replaceable surgical tool assembly 1000 to handle assembly 500 . It will be appreciated that any of the other interchangeable tool assemblies 3000, 5000, and 7000 can be coupled to handle assembly 500 in a similar manner. The attachment mechanism and process illustrated in FIG. 2 may also be used in connection with attaching any of the replaceable surgical tool assemblies 1000, 3000, 5000 and 7000 to an instrument drive portion or instrument drive housing of a robotic system. can. Handle assembly 500 may include a handle housing 502 that includes a pistol grip portion 504 that may be grasped and manipulated by a clinician. As discussed briefly below, the handle assembly 500 generates various control motions corresponding portions of the replaceable surgical tool assemblies 1000, 3000, 5000 and/or 7000 operably attached to the handle assembly. operatively supporting a plurality of drive systems 510, 530 configured to apply to the

As seen in FIG. 2, the handle assembly 500 can further include a handle frame 506 that operably supports multiple drive systems. For example, the handle frame 506 can operably support a "first" or closure drive system, generally indicated as 510, which is operably attached to the handle assembly 500. An opening and closing motion can be applied to the connected or coupled interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000. In at least one form, a closure drive system 510 pivotally supported by handle frame 506 may include an actuator in the form of closure trigger 512 . Such a configuration allows the clinician to manipulate the closure trigger 512 such that when the clinician grasps the pistol gripping portion 504 of the handle assembly 500, the closure trigger 512 is in the starting position or " It is readily pivotable from a non-actuated position to an "actuated" position, more specifically to a fully compressed or fully actuated position. In various forms, the closure drive system 510 further includes a closure link assembly 514 that pivotally couples or otherwise interfaces with the closure trigger 512 . As discussed in more detail below, in the example shown, closure link assembly 514 includes lateral mounting pins 516 that facilitate attachment to a corresponding drive system on a surgical tool assembly. In use, the clinician depresses the closure trigger 512 toward the pistol grip portion 504 to activate the closure drive system 510 . More details in U.S. patent application Ser. As will be described, when the clinician fully depresses the closure trigger 512 to achieve a fully closed stroke, the closure drive system 510 moves the closure trigger 512 to either the fully depressed position or the fully actuated position. configured to lock to When the clinician desires to unlock the closure trigger 512 and bias it to the unactuated position, the clinician simply activates the closure release button assembly 518, thereby moving the closure trigger to the unactuated position. It is possible to return to Closure open button assembly 518 may also be configured to interact with various sensors in communication with microprocessor 560 within handle assembly 500 to track the position of closure trigger 512 . Further details regarding the construction and operation of the close open button assembly 518 can be found in US Patent Application Publication No. 2015/0272575.

In at least one form, handle assembly 500 and handle frame 506 are described herein as firing drive system 530 configured to apply a firing motion to corresponding portions of an attached replaceable surgical tool assembly. It can operatively support another drive system called Firing drive system 530 may employ electric motor 505 located within pistol grip portion 504 of handle assembly 500, as described in detail in US Patent Application Publication No. 2015/0272575. In various forms, motor 505 may be a brushed DC drive motor with a maximum speed of, for example, about 25,000 RPM. Alternatively, motor 505 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. Motor 505 may be powered by power source 522, which in one form may include 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 can be used as power source 522 for surgical system 10 . Additionally, power source 522 may be replaceable and/or rechargeable.

Electric motor 505 is configured to axially drive a longitudinally movable drive member (not shown) in distal and proximal directions, depending on the polarity of the motor. For example, when the motor drives in one rotational direction, the longitudinally movable drive member may drive axially in the distal direction "DD". When the motor 505 drives in the opposite rotational direction, the longitudinally movable drive member will drive axially in the proximal direction "PD". Handle assembly 500 may include switch 513 , which may be configured to reverse the polarity applied to electric motor 505 by power source 522 or otherwise control motor 505 . Handle assembly 500 may also include one or more sensors (not shown) configured to detect the position of the drive member and/or the direction in which the drive member moves. Actuation of motor 505 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 the clinician releases firing trigger 532, it is pulled into the unactuated position by the spring or biasing device. 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 (not shown) 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 safety position that prevents actuation of the firing trigger 532; It cannot be moved to or from a firing position where firing trigger 532 can fire. When the clinician depresses the closure trigger 512, the safety button and firing trigger 532 pivot downward and then become available for operation by the clinician.

In at least one form, the longitudinally movable drive member has teeth (not shown) formed thereon for meshing engagement with a corresponding drive gear arrangement (not shown) that interacts with the motor. ) racks. Further details regarding these features can be found in US Patent Application Publication No. 2015/0272575. At least one form also includes a manually actuatable "emergency" assembly configured to allow a clinician to manually retract the longitudinally movable drive member and disable the motor 505. including. The emergency assembly may include a lever or emergency handle assembly stored within handle assembly 500 under removable door portion 550 . Please refer to FIG. The lever may be configured to be manually pivoted into ratcheting engagement with the teeth of the drive member. Accordingly, the clinician can manually retract the drive member by ratcheting it proximally "PD" using the emergency disengagement handle assembly. U.S. Pat. No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRRING SYSTEM," the entire disclosure of which is incorporated herein by reference, provides an emergency release mechanism, as well as a Disclosed are other components, mechanisms, and systems that may be used with any of the various interchangeable surgical tool assemblies disclosed in .

3 and 4, the replaceable surgical tool assembly 1000 has a surgical end effector 1500 that includes a first jaw 1600 and a second jaw 1800. As shown in FIG. In one configuration, first jaw includes elongate channel 1602 configured to operably support surgical staple/fastener cartridge 1700 therein. Second jaw 1800 includes anvil 1810 pivotally supported relative to elongated channel 1602 . Interchangeable surgical tool assembly 1000 includes articulation joint 1302 and articulation lock 1400 (FIGS. 4-6) that can be configured to releasably retain surgical end effector 1500 in a desired articulation position relative to shaft axis _SA1 . ) can include a joint system 1300 . Further details regarding articulation systems and articulation locks are filed on even date herewith and are incorporated herein by reference in their entirety and are incorporated herein by reference in their entirety. It can be found in patent application, Attorney Docket No. END8217USNP/170102.

As further seen in FIGS. 4 and 7-9, replaceable surgical tool assembly 1000 includes tool frame assembly 1200 including tool chassis 1210 operatively supporting nozzle assembly 1240 . In one form, the nozzle assembly 1240 consists of nozzle portions 1242, 1244 and an actuator wheel portion 1246 configured to be coupled to the assembled nozzle portions 1242, 1244 by snaps, lugs, screws, or the like. Interchangeable surgical tool assembly 1000 includes a proximal closure assembly 1900 operably coupled to a distal closure assembly 2000 used to open and close anvil 1810 of surgical end effector 1500, as described in greater detail below. including. Additionally, replaceable surgical tool assembly 1000 includes a spine assembly 1250 that operatively supports proximal closure assembly 1900 and is coupled to surgical end effector 1500 . In various circumstances, to facilitate assembly, spine assembly 1250 can be made from upper spine portion 1251 and lower spine portion 1252 interconnected together by snap mechanisms, adhesives, welding, or the like. In assembled form, spine assembly 1250 includes a proximal end 1253 rotatably supported within tool chassis 1210 . In one configuration, for example, proximal end 1253 of spine 1250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 1210 . Such a configuration facilitates rotatable attachment of spine assembly 1250 to tool chassis 1210 and allows spine assembly 1250 to be selectively rotated relative to tool chassis 1210 about shaft axis SA ₁ . Specifically, in one configuration, for example, proximal ends 1253 of spine assembly 1250 are upper projection seats each configured to receive a corresponding nozzle projection 1245 extending inwardly from each of nozzle portions 1242, 1244. It includes a portion 1254 (FIGS. 4, 5, 7, 8 and 10) and a lower raised seat (not shown). Such a configuration facilitates rotation of spine assembly 1250 about shaft axis SA ₁ by rotating actuator wheel portion 1246 of nozzle assembly 1240 .

As seen in FIGS. 4 and 5, spine assembly 1250 further includes intermediate spine shaft portion 1256 having a smaller diameter than the diameter of proximal end 1253 of spine assembly 1250 . Middle spine shaft portion 1256 of upper spine portion 1251 terminates in upper lug attachment element 1260 and middle spine shaft portion of lower spine portion 1252 terminates in lower lug attachment element 1270 . As seen in most detail in FIG. 6, for example, the upper lug mounting element 1260 is formed with a lug slot 1262 adapted to attachably support an upper mounting link 1264 therein. Similarly, lower projection mounting element 1270 is formed with projection slot 1272 adapted to attachably support lower mounting link 1274 therein. Upper attachment link 1264 includes a pivot socket 1266 offset from shaft axis _SA1 . Pivot socket 1266 is adapted to rotatably receive therein pivot pin 1634 formed on channel cap or anvil retainer 1630 attached to proximal end portion 1610 of elongated channel 1602 . Lower attachment link 1274 includes a lower pivot pin 1276 adapted to be received within pivot hole 1611 formed in proximal end portion 1610 of elongated channel 1602 . See FIG. Lower pivot pin 1276 as well as pivot hole 1611 are offset from shaft axis _SA1 . Lower pivot pin 1276 is vertically aligned with pivot socket 1266 to define an articulation axis _AA1 about which surgical end effector 1500 can articulate relative to shaft axis _SA1 . . Although articulation axis AA ¹ is transverse to shaft axis SA ₁ , articulation axis AA ₁ is laterally offset from shaft axis SA ₁ and does not intersect shaft axis SA ₁ .

6 and 15, the anvil 1810 in the illustrated example includes an anvil body 1812 terminating in an anvil mounting portion 1820. As shown in FIG. Anvil mounting portion 1820 is movable or pivotable on elongate channel 1602 for selective pivotal movement about fixed anvil pivot axis PA ₁ (FIG. 15) that is transverse to shaft axis SA ₁ . supported by In the illustrated configuration, a pivot member or anvil trunnion 1822 extends laterally from each lateral side of anvil mounting portion 1820 to a corresponding trunnion formed in upstanding wall 1612 of proximal end portion 1610 of elongate channel 1602 . Received within cradle 1614 . Anvil trunnions 1822 are pivotally retained within their corresponding trunnion cradles 1614 by channel caps or anvil retainers 1630 . Channel caps or anvil retainers 1630 are configured to be retained and received within corresponding protruding grooves or notches 1616 formed in upstanding wall 1612 of proximal end portion 1610 of elongated channel 1602 . A mounting projection 1636 is included.

In the illustrated example, surgical end effector 1500 is selectively articulable about articulation axis AA ₁ by articulation system 1300 . In one form, articulation system 1300 includes a proximal articulation driver 1310 pivotally coupled to articulation link 1320 . An offset mounting projection 1314 is formed on the distal end 1312 of the proximal articulation driver 1310, as seen in most detail in FIG. A pivot hole 1316 is formed in the offset mounting projection 1314 and is configured to pivotally receive a proximal link pin 1326 formed in the proximal end 1325 of the articulation link 1320 therein. Distal end 1322 of articulation link 1320 has a pivot hole 1324 configured to pivotally receive slot pin 1618 formed in proximal end portion 1610 of elongated channel 1602 therein. . Thus, axial movement of proximal articulation driver 1310 articulates surgical end effector 1500 relative to spine assembly 1250 about articulation axis AA ₁ by thereby imparting articulation to elongate channel 1602 .

Movement of anvil 1810 relative to elongated channel 1602 is effected by axial movement of proximal closure assembly 1900 and distal closure assembly 2000 . 4 and 7, in the illustrated configuration, the proximal closure assembly 1900 includes a proximal closure tube 1910 having a proximal closure tube portion 1920 and a distal portion 1930. As shown in FIG. Distal portion 1930 has a diameter smaller than the diameter of proximal closed tube portion 1920 . The proximal end 1922 of the proximal closure tube portion 1920 is rotatably supported within a closure shuttle 1940 that is slidably supported within the tool chassis 1210 to allow axial movement relative to the tool chassis. can be done. In one form, closure shuttle 1940 includes a pair of proximally projecting hooks 1942 configured to attach to mounting pins 516 attached to closure linkage assembly 514 of handle assembly 500 . A proximal end 1922 of the proximal closure tube portion 1920 is coupled to the closure shuttle for relative rotation relative to the closure shuttle 1940 . For example, U-shaped connector 1944 is inserted into annular slot 1924 of proximal closure tube portion 1920 and retained within vertical slot 1946 of closure shuttle 1940 . Such a configuration functions to mount proximal closure assembly 1900 to closure shuttle 1940 for axial movement with closure shuttle 1940 while proximal closure assembly 1900 moves relative to closure shuttle 1940 about shaft axis _SA1 . allow it to rotate. A closure spring 1948 (FIGS. 12-14) extends over the proximal closure tube portion 1920 to bias the closure shuttle 1940 in the proximal direction PD, because the replaceable surgical tool assembly 1000 is in contact with the handle assembly. 500 functions to pivot closure trigger 512 (FIG. 2) of handle assembly 500 to an unactuated position.

5 and 6, distal portion 1930 of proximal closure tube 1910 is attached to distal closure assembly 2000 . In the illustrated configuration, for example, distal closure assembly 2000 includes articulation connector 2010 coupled to distal closure tube portion 2030 . In the illustrated example, distal obturator tube portion 2030 has a diameter greater than the diameter of distal portion 1930 of proximal obturator tube 1910 . Articulating connector 2010 has a proximally extending end 2012 adapted to be received on a connecting flange 1934 formed at the distal end of distal portion 1930 . Articulating connector 2010 may be retained on connecting flange 1934 by a suitable fastening mechanism such as adhesives, welding, or the like. The articulation connector 2010 includes an upper projection 2014 and a lower projection 2016 projecting distally from the distal end of the articulation connector 2010 and movably coupled to an end effector closure sleeve or distal closure tube portion 2030 . Distal obturator tube portion 2030 includes an upper projection 2032 and a lower projection (not shown) projecting proximally from its proximal end. The upper dual pivot link 2060 includes a proximal pin 2061 and a distal pin 2062 that engage corresponding holes 2015, 2034 in the upper projections 2014, 2032 of the articulation connector 2010 and distal obturator tube portion 2030, respectively. there is Similarly, the lower dual pivot link 2064 has a proximal pin 2065 and a distal pin 2066 that engage corresponding holes 2019 in the lower projection 2016 of the articulation connector 2010 and the distal obturator tube portion 2030, respectively. contains. Axial translation of proximal closure assembly 1900 and distal closure assembly 2000 in the distal and proximal directions results in opening and closing of anvil 1810 relative to elongate channel 1602, as will be described in greater detail below.

In at least one configuration, replaceable surgical tool assembly 1000 further includes a firing system, generally indicated as 2100 . In the illustrated embodiment, firing system 2100 includes firing member assembly 2110 supported for axial movement within shaft assembly 1250 . In the illustrated embodiment, firing member assembly 2110 includes an intermediate firing shaft portion 2120 configured to be attached to a distal cutting portion or knife bar 2130 . Firing member assembly 2110 may also be referred to herein as a "second shaft" and/or a "second shaft assembly." As can be seen in FIG. 5, intermediate firing shaft portion 2120 can include longitudinal slot 2124 at its distal end 2122 that can be configured to receive proximal end 2132 of knife bar 2130 . The longitudinal slot 2124 and the proximal end 2132 of the knife bar 2130 can be sized and configured to allow relative movement therebetween and can form a slip joint 2134 . Slip joint 2134 allows middle firing shaft portion 2120 of firing member assembly 2110 to be moved to articulate end effector 1500 without moving knife bar 2130, or at least substantially without moving it. After end effector 1500 is properly oriented, knife bar 2130 is advanced by advancing intermediate firing shaft portion 2120 distally until the proximal sidewall of longitudinal slot 2124 contacts a portion of knife bar 2130; A surgical staple/fastening element cartridge 1700 disposed within elongated channel 1602 can be fired. In the illustrated configuration, the proximal end 2127 of the intermediate firing shaft portion 2120 includes a mounting cradle (not shown) at the distal end of the longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. (not shown) is formed thereon with a firing shaft mounting projection 2128 (FIG. 8) configured to be disposed within. Such a configuration facilitates axial movement of intermediate firing shaft portion 2120 during actuation of firing drive system 530 .

Further to the above, replaceable surgical tool assembly 1000 can include shifter assembly 2200 that can be configured to selectively and releasably couple proximal articulation driver 1310 to firing system 2100 . In one form, shifter assembly 2200 includes a locking collar, or locking sleeve, 2210 disposed about intermediate firing shaft portion 2120 of firing system 2100 , wherein locking sleeve 2210 engages proximal articulation driver 1310 . to the firing member assembly 2110 and a disengaged position in which the proximal articulation driver 1310 is not operatively coupled with the firing member assembly 2110. When locking sleeve 2210 is in its engaged position, distal movement of firing member assembly 2110 can move proximal articulation driver 1310 distally, correspondingly proximally moving firing member assembly 2110 . The proximal movement can move the proximal articulation driver 1310 proximally. When locking sleeve 2210 is in its disengaged position, motion of firing member assembly 2110 is not transmitted to proximal articulation driver 1310, such that firing member assembly 2110 operates independently of proximal articulation driver 1310. can move. In various circumstances, the proximal articulation driver 1310 may be held in place by the articulation lock 1400 when the proximal articulation driver 1310 is not moved proximally or distally by the firing member assembly 2110. .

In the illustrated configuration, the intermediate firing shaft portion 2120 of the firing member assembly 2110 is formed with two opposed flat surfaces 2121, 2123 with drive notches 2126 formed therein. See FIG. As also seen in FIG. 13, locking sleeve 2210 includes a cylindrical, or at least approximately cylindrical body that includes a longitudinal opening 2212 configured to receive intermediate firing shaft portion 2120 therethrough. there is Locking sleeve 2210 is received for engagement within a corresponding portion of drive notch 2126 in intermediate firing shaft portion 2120 when locking sleeve 2210 is in one position, and when in another position, the drive. May include diametrically opposed inwardly directed locking projections 2214 , 2216 that are not received within notches 2126 thereby permitting relative axial movement of locking sleeve 2210 and intermediate firing shaft portion 2120 . can.

8 and 12-14, in the example shown, locking sleeve 2210 is sized to be movably received within notch 1319 in proximal end 1318 of proximal articulation driver 1310. Also includes a locked locking member 2218 . Such a configuration allows locking sleeve 2210 to rotate slightly into and out of engagement with intermediate firing shaft portion 2120 while remaining engaged with notch 1319 in proximal articulation driver 1310. is. For example, when locking sleeve 2210 is in its engaged position, locking projections 2214, 2216 are positioned within drive notches 2126 of intermediate firing shaft portion 2120 to provide a distally pushing force and/or a proximally pushing force. A pulling force may be transmitted from firing member assembly 2110 to locking sleeve 2210 . Such axial pushing or pulling motion is then transmitted from locking sleeve 2210 to proximal articulation driver 1310 , thereby articulating surgical end effector 1500 . In effect, firing member assembly 2110, locking sleeve 2210, and proximal articulation driver 1310 move together when locking sleeve 2210 is in its engaged (articulated) position. On the other hand, when locking sleeve 2210 is in its disengaged position, locking projections 2214, 2216 are not received within drive notches 2126 of intermediate firing shaft portion 2120, resulting in distal pushing forces and/or proximal Posterior pulling forces may not be transmitted from firing member assembly 2110 to locking sleeve 2210 (and proximal articulation driver 1310).

In the illustrated example, relative movement of locking sleeve 2210 between the engaged and disengaged positions can be controlled by shifter assembly 2200 interconnected with proximal closure tube 1910 of proximal closure assembly 1900 . More particularly, referring to FIGS. 8 and 9, shifter assembly 2200 further includes a shifter key 2240 configured to be slidably received within a keyway 2217 formed in the outer periphery of lock sleeve 2210. I'm in. Such a configuration allows shifter key 2240 to move axially relative to locking sleeve 2210 . 8-11, the shifter key 2240 includes an actuator projection 2242 that extends through a cam slot or opening 1926 in the proximal closure tube portion 1920. As shown in FIG. See FIG. In addition, a camming surface 2243 is also provided adjacent actuator projection 2242 that is configured to cammingly interact with cam opening 1926 such that axial movement of proximal closure tube portion 1920 is responsive to axial movement. to rotate shifter key 2240 .

Also in the illustrated example, shifter assembly 2200 further includes a switch drum 2220 rotatably received on the proximal end portion of proximal closure tube portion 1920 . As seen in FIGS. 10-14, actuator projection 2242 extends through axial slot portion 2222 in switch drum 2220 and is movably received within arcuate slot portion 2224 of switch drum 2220 . A switch drum torsion spring 2226 (FIGS. 12-14) is mounted on the switch drum 2220 and engages the nozzle portion 1244 to push the switch drum until the actuator projection 2242 reaches the end of the arcuate slot portion 2224. A torsional bias or rotation (arrow SR in FIGS. 10 and 11) is applied which serves to rotate 2220 . See FIGS. 11 and 12. FIG. When in that position, switch drum 2220 can impart a torsional bias to shifter key 2240, causing locking sleeve 2210 to rotate with intermediate firing shaft portion 2120 to its engaged position. This position also corresponds to the non-actuated configuration of proximal closure assembly 1900 . In one configuration, for example, when proximal closure assembly 1900 is in an unactuated configuration (anvil 1810 in an open position away from surgical staple/fastening element cartridge 1700), actuator projection 2242 engages the proximal closure tube. Located in the upper portion of cam opening 1926 in portion 1920 . When in that position, actuation of intermediate firing shaft portion 2120 causes proximal articulation driver 1310 to move axially. Once the user has articulated surgical end effector 1500 in the desired orientation, the user can then actuate proximal closure assembly 1900 . Activating the proximal closure assembly 1900 causes the proximal closure tube portion 1920 to move distally, ultimately imparting a closing motion to the anvil 1810 . This distal movement of proximal closure tube portion 1920 causes cam opening 1926 to cammingly interact with cam surface 2243 of actuator projection 2242, thereby causing shifter key 2240 to rotate locking sleeve 2210 in actuation direction AD. . Such rotation of locking sleeve 2210 disengages locking projections 2214 , 2216 from drive notches 2126 in intermediate firing shaft portion 2120 . When so configured, firing drive system 530 can be actuated to actuate intermediate firing shaft portion 2120 without actuating proximal articulation driver 1310 . Further details regarding the operation of switch drum 2220 and locking sleeve 2210, as well as alternative articulation and firing drive mechanisms that can be used with the various interchangeable surgical tool assemblies described herein, are provided in that disclosure. See 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, the entire contents of which are incorporated herein by reference. be able to.

Referring again to FIGS. 8-13, the switch drum 2220 may further include openings 2228, 2230 having at least a partial periphery, such openings extending from the nozzle portions 1242, 1244 to provide a switch. A circumferential projection/mount 1245 can be received that allows relative rotation, but not translation, between the drum 2220 and the nozzle assembly 1240 . Such nozzle projections 1245 extend through corresponding openings 1923 in proximal closure tube portion 1920 and are positioned on projection seats 1254 of spine assembly 1250 . See FIGS. 8 and 9. FIG. Such a configuration allows a user to rotate spine assembly 1250 about the shaft axis by rotating nozzle assembly 1240 .

As also shown in FIGS. 7 and 12-14, the interchangeable tool assembly 1000 may, for example, transmit power to and/or from the surgical end effector 1500 and/or the surgical end effector 1500. and/or to communicate signals from the surgical end effector back to the microprocessor 560 (FIG. 2) in the handle assembly 500 or robotic system controller. can be done. Further details regarding the slip ring assembly 1230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), each of which is hereby incorporated by reference in its entirety. ) and U.S. patent application Ser. No. 15/019,196, and U.S. patent application Ser. can now be found in US Patent Application Publication No. 2014/0263552). Replaceable surgical tool assembly 1000 also includes at least one switch configured to detect the position of switch drum 2220, as described in more detail in the aforementioned patent application, which is incorporated herein by reference. A sensor can be included.

Referring again to FIG. 2, tool chassis 1210 includes at least one dovetail slot 507 adapted to be received within a corresponding dovetail slot 507 formed within the distal end portion of handle frame 506 of handle assembly 500. , preferably two tapered mounting portions 1212 are formed. Various replaceable surgical tool assemblies employ a latch system 1220 for releasably coupling the replaceable surgical tool assembly 1000 to the handle frame 506 of the handle assembly 500 . As seen in FIG. 7, for example, in at least one form the latch system 1220 includes a locking member or locking yoke 1222 movably coupled to the tool chassis 1210 . In the illustrated embodiment, for example, lock yoke 1222 has a U-shape with two spaced downwardly extending legs 1223 . Each of legs 1223 is formed with a pivot projection (not shown) adapted to be received in a corresponding hole formed in tool chassis 1210 . Such a configuration facilitates pivotal attachment of lock yoke 1222 to tool chassis 1210 . Locking yoke 1222 has two proximally projecting locking projections 1224 configured to releasably engage corresponding locking detents or grooves 509 in the distal end of handle frame 506 of handle assembly 500 . can include Please refer to FIG. In various forms, locking yoke 1222 is biased proximally by a spring or biasing member 1225 . Actuation of the locking yoke 1222 can be accomplished by a latch button 1226 slidably attached to a latch actuator assembly 1221 attached to the tool chassis 1210 . Latch button 1226 can be biased proximally against locking yoke 1222 . Lock yoke 1222 can be moved to an unlocked position by biasing latch button 1226 distally, which further pivots lock yoke 1222 into retention engagement with the distal end of handle frame 506 . out of alignment. When locking yoke 1222 is in “retaining engagement” with the distal end of handle frame 506 , locking projections 1224 are retained within corresponding locking detents or grooves 509 in the distal end of handle frame 506 . placed.

In the illustrated configuration, the locking yoke 1222 includes at least one and preferably two locking hooks 1227 adapted to contact corresponding locking projections 1943 formed on the closure shuttle 1940. When the closure shuttle 1940 is in the unactuated position, the replaceable surgical tool assembly 1000 can be unlocked from the handle assembly 500 by pivoting the locking yoke 1222 distally. When in that position, locking hook 1227 is not in contact with locking projection portion 1943 of closure shuttle 1940 . However, when the closure shuttle 1940 is moved to the actuated position, the locking yoke 1222 is prevented from pivoting to the unlocked position. Stated another way, if the clinician attempts to pivot the locking yoke 1222 to the unlocked position, or if, for example, the locking yoke 1222 is inadvertently bumped in such a way as to pivot distally. Or, if contacted, the locking hook 1227 of the locking yoke 1222 contacts the locking projection portion 1943 of the closure shuttle 1940 to prevent the locking yoke 1222 from moving to the unlocked position.

Referring again to FIG. 6, knife bar 2130 can have a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands that are welded or pinned together, for example, at their proximal ends and/or elsewhere along their lengths. 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 2130 to be flexible enough to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. patent application Ser. . 6, firing shaft support assembly 2300 is configured to provide lateral support to knife bar 2130 as central support member flexes to accommodate articulation of surgical end effector 1500. Used. Further details regarding the operation of the firing shaft support assembly 2300 and alternative knife bar support mechanisms are provided in U.S. patent application Ser. and U.S. Patent Application No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR." can be seen in

As also seen in FIG. 6, a firing member or knife member 2140 is attached to the distal end of knife bar 2130 . In one exemplary form, firing member 2140 includes a body portion 2142 that supports a knife or tissue cutting portion 2144 . Body portion 2142 projects through elongate slot 1604 in elongate channel 1602 and terminates in laterally extending leg members 2146 on each side of body portion 2142 . As firing member 2140 is driven distally through surgical staple/fastener cartridge 1700, foot member 2146 rides within passageway 1622 of elongated channel 1602 underlying surgical staple/fastener cartridge 1700 ( Figure 48). In one configuration, body portion 2142 includes two laterally projecting central tabs 2145 that may ride over a central passageway within surgical staple/fastener cartridge 1700 . See FIG. Tissue cutting portion 2144 is disposed between distally projecting upper nose portions 2143 . As can be further seen in FIG. 6, the firing member 2140 can further include two laterally extending upper tabs, pins, or anvil engagement features 2147 . As firing member 2140 is driven distally, the upper portion of body portion 2142 extends through centrally located anvil slot 1814 with anvil engagement features 2147 formed on opposite sides of anvil slot 1814 correspondingly. Ride on anvil ledge 1816 . In one configuration, the top of anvil body 1812 has an opening 1817 to facilitate assembly of the anvil 1810 and firing member 2140 configuration. When anvil 1810 is assembled over elongated channel 1602 and firing member 2140 is installed, opening 1817 is covered by anvil cap 1819 that is attached to anvil body 1812 by welding or other suitable fastening means.

Returning to FIG. 6, firing member 2140 is configured to operably interconnect with sled assembly 2150 operably supported within body 1702 of surgical staple/fastening element cartridge 1700 . Sled assembly 2150 is slidable within surgical staple/fastening element cartridge body 1702 from a proximal starting position adjacent proximal end 1704 of cartridge body 1702 to an ending position adjacent distal end 1706 of cartridge body 1702 . can be displaced to Cartridge body 1702 operably supports therein a plurality of staple drivers (not shown) aligned in rows on opposite sides of a centrally located slot 1708 . A centrally located slot 1708 allows firing member 2140 to pass through the slot and cut tissue clamped between anvil 1810 and surgical staple/fastener cartridge 1700 . Each driver is associated with a corresponding staple/fastening element pocket 1712 that opens into the upper deck surface 1710 of the cartridge body 1702 . Each staple driver carries one or more surgical staples/fastening elements or fastening elements (not shown). Sled assembly 2150 includes a plurality of angled or wedge-shaped cams 2152 , each cam 2152 corresponding to a particular line of fastening elements or drivers flanking slot 1708 .

Attachment of replaceable surgical tool assembly 1000 to handle assembly 500 will now be described with reference to FIG. To begin the coupling process, the clinician places tool chassis 1210 of interchangeable surgical tool assembly 1000 on the handle so that tapered mounting portion 1212 formed on tool chassis 1210 aligns with dovetail slot 507 of handle frame 506. It can be positioned above or adjacent to the distal end of frame 506 . The clinician then moves surgical tool assembly 1000 along installation axis IA perpendicular to shaft axis _SA1 to align tapered mounting portion 1212 with corresponding dovetail receiving slot 507 in the distal end of handle frame 506. It can be placed in "possible engagement". In doing so, firing shaft mounting projection 2128 of intermediate firing shaft portion 2120 is also disposed within a mounting cradle (not shown) of a longitudinally movable drive member (not shown) internal to handle assembly 500 and closing link 514 is positioned. A portion of the upper mounting pin 516 is positioned within a corresponding hook 1942 of the closure shuttle 1940 . 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.

During a typical surgical procedure, a clinician may introduce surgical end effector 1500 into the surgical site through a trocar or other opening in the patient to access target tissue. In doing so, the clinician typically axially aligns the surgical end effector 1500 along the shaft axis (unarticulated). After passing the surgical end effector 1500 through the trocar port, for example, the clinician may need to articulate the end effector 1500 to advantageously position it adjacent the target tissue. Since this is before closing the anvil on the target tissue, the closure drive system 510 remains inactive. When in this position, actuation of firing drive system 530 imparts articulation to proximal articulation driver 1310 . Once the end effector is in the desired articulated position, stopping the firing drive system 530 allows the articulation lock 1400 to hold the surgical end effector 1500 in the articulated position. The clinician can then activate the closure drive system 510 to close the anvil 1810 onto the target tissue. Such actuation of the closing drive system 510 also allows the shifter assembly 2200 to separate the proximal articulation driver from the intermediate firing shaft portion 2120 . Accordingly, once the target tissue has been captured within surgical end effector 1500, the clinician can again activate firing drive system 530 to advance firing member 2140 axially through surgical staple/fastener cartridge 1700 by The clamped tissue can be cut and staples fired into the cut tissue. Other closure and firing drive mechanisms, actuator mechanisms (both hand-held, manual and automatic, or robotic) may be used to perform surgical procedures without departing from the spirit and scope of the various inventions disclosed herein. It is also possible to control the axial movement of the closure system components, articulation system components, and/or firing system components of tool assembly 1000 .

Referring now to FIG. 1, the surgical system 10 shown therein includes four interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each of which is the same for performing different surgical procedures. It can be effectively used with handle assembly 500 . 16-18, an interchangeable surgical tool assembly 3000 includes a surgical end effector 3500 including a first jaw 3600 and a second jaw 3800. As shown in FIG. In one configuration, first jaw includes elongate channel 3602 configured to operably support surgical staple/fastening element cartridge 3700 therein. Second jaw 3800 includes an anvil 3810 pivotally supported relative to elongated channel 3602 . Interchangeable surgical tool assembly 3000 is an articulation system 3300 that includes an articulation joint 3302 and an articulation lock 3400 that can be configured to releasably retain surgical end effector 3500 in a desired articulation position relative to shaft axis _SA2 . can include Details regarding the construction and operation of articulation lock 3400, as well as details of alternative lock constructions and operations, are described in U.S. patent application Ser. The title of the invention "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" can now be found in US Patent Application Publication No. 2014/0263541. Further details regarding the articulation lock 3400 can be found in U.S. patent application Ser. No. 15/019,196, filed Feb. 9, 2016, entitled " SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT".

As seen in FIG. 17, replaceable surgical tool assembly 3000 includes tool frame assembly 3200 including tool chassis 3210 that operatively supports nozzle assembly 3240 . In one form, the nozzle assembly 3240 is comprised of nozzle portions 3242, 3244 and an actuator wheel portion 3246 configured to be coupled to the assembled nozzle portions 3242, 3244 by snaps, lugs, screws, or the like. . The replaceable surgical tool assembly 3000 includes a proximal closure assembly 3900 operably coupled to a distal closure assembly 4000 used to open and close the anvil 3810 of the surgical end effector 3500, as described in greater detail below. contains. Additionally, replaceable surgical tool assembly 3000 includes a “resilient” spine assembly 3250 that operatively supports proximal closure assembly 3900 and is coupled to surgical end effector 3500 . One exemplary form of spine assembly 3250 is disclosed in U.S. patent application Ser. CLOSING AND FIRRING SYSTEMS". For example, the spine assembly 3250 has an elastic spine having a proximal end portion 3253 and a distal end portion 3280 separated from the proximal end portion 3253 of the elastic spine assembly 3250 by a tensioning mechanism 3282 formed therebetween. can include members. Additionally, a stretch limiting insert 3284 is supported to be retained between distal end 3280 and proximal end 3253 . In different configurations, the elastic spine assembly 3250 can be made from a suitable polymeric material, rubber, etc., for example, having a modulus of elasticity designated as ME ₁ for reference purposes. The stretch limiting insert 3284 may have a modulus of elasticity designated as ME ₂ for reference purposes. In various circumstances, the stretch-limiting insert 3284 also includes a pair of stretch limiters 3285 (only one shown in FIG. 17). The stretch limiter 3285 can have a modulus of elasticity for reference purposes of ME ₃ . In at least one configuration, _ME3 < _ME2 < _ME1 . Further details regarding implementations of at least one of elastic spine assembly 3250 and stretch limiting insert 3284 can be found in US patent application Ser. No. 15/385,911.

In the illustrated configuration, distal end portion 3280 of spine assembly 3250 has openings 3281 to facilitate assembly. A spine cap 3283 can be attached to cover the opening 3281 after the various internal components are assembled. In the assembled form, proximal end portion 3253 of spine assembly 3250 is rotatably supported within tool chassis 3210 . In one configuration, for example, the proximal end of proximal end portion 3253 of spine assembly 3250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 3210 . Such a configuration facilitates rotatable attachment of the spine assembly 3250 to the tool chassis 3210 so that the spine assembly 3250 can be selectively rotated relative to the tool chassis 3210 about shaft axis _SA2 . Specifically, in one configuration, for example, proximal end portion 3253 of spine assembly 3250 is configured to receive a corresponding nozzle projection (not shown), each extending inwardly from each of nozzle portions 3242, 3244. two diametrically opposed raised seats 3254 (only one is visible in FIG. 17). Such a configuration facilitates rotation of spine assembly 3250 about shaft axis SA ₂ by rotating actuator wheel portion 3246 of nozzle assembly 3240 .

Referring now to FIG. 18, the distal end 3280 of the elastic spine assembly 3250 is attached to a distal frame portion 3286 that operably supports the articulation lock 3400 therein. Spine assembly 3250 is configured to (1) slidably support firing member assembly 4110 therein and (2) slidably support proximal obturator tube 3910 extending about spine assembly 3250 . ing. Spine assembly 3250 can also be configured to slidably support proximal articulation driver 3310 . As seen in FIG. 18, distal frame segment 3286 is pivotally coupled with elongated channel 3602 by end effector mounting assembly 3290 . In one configuration, for example, a pivot pin 3288 is formed at the distal end of distal frame portion 3286 . Pivot pin 3288 is adapted to be pivotally received within pivot hole 3292 formed in pivot base 3291 of end effector mounting assembly 3290 . End effector mounting assembly 3290 is attached to proximal end 3610 of elongated channel 3602 by spring pin 3620 or other suitable member received within mounting hole 3611 of proximal end portion 3610 . Pivot pin 3288 defines an axis of articulation _AA2 transverse to shaft axis _SA2 . See FIG. Such a mechanism facilitates pivotal movement (ie, articulation) of surgical end effector 3500 about articulation axis AA ₂ relative to elastic spine assembly 3250 . Distal frame portion 3286 is further configured to support articulation lock 3400 therein. Various articulation lock configurations can be used. At least one aspect of the articulation lock 3400 is described in U.S. Patent Application Serial No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPARING AN ARTICULATION LOCK," the disclosure of which is incorporated herein by reference in its entirety. , are described in further detail in current US Patent Application Publication No. 2014/0263541. Further details regarding the articulation lock can also be found in US patent application Ser.

In the illustrated example, surgical end effector 3500 is selectively articulatable about articulation axis AA ₂ by articulation system 3300 . In one form, articulation system 3300 includes a proximal articulation driver 3310 that operatively interacts with articulation lock 3400 . Articulation lock 3400 includes an articulation frame 3402 adapted to operatively engage drive pin 3293 on pivot base 3291 of end effector mounting assembly 3290 . Additionally, a cross link 3294 can be coupled to the drive pin 3293 and the articulation frame 3402 to assist in articulating the surgical end effector 3500 . As noted above, further details regarding the operation of articulation lock 3400 and articulation frame 3402 can be found in US Patent Application No. 13/803,086, now US Patent Application Publication No. 2014/0263541. Further details regarding the end effector mounting assembly and cross link 3294 are provided in U.S. Patent Application Serial No. 15/019,245, filed February 9, 2016, the disclosure of which is incorporated herein by reference in its entirety. It can be found in the title of the invention "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS". As further described herein, and in other disclosures incorporated herein by reference, axial movement of the proximal articulation driver 3310 engages/disengages the articulation lock 3400, thereby applies articulation to elongated channel 3602, which causes surgical end effector 3500 to articulate relative to spine assembly 3250 about articulation axis _AA2 .

Anvil 3810 in the illustrated example includes anvil body 3812 terminating in anvil attachment portion 3820 . Anvil mounting portion 3820 is movable or pivotable on elongated channel 3602 for selective pivotal movement about fixed anvil pivot axis _PA2 (FIG. 18) that is transverse to shaft axis _SA2 . supported by In the illustrated configuration, an anvil trunnion 3822 extends laterally from each lateral side of anvil mounting portion 3820 into a corresponding trunnion pivot hole 3613 formed in upright wall 3612 of proximal end portion 3610 of elongated channel 3602 . accepted within. Movement of anvil 3810 relative to elongated channel 3602 is effected by axial movement of proximal closure assembly 3900 and distal closure assembly 4000 . In the illustrated configuration, proximal closure assembly 3900 includes a proximal closure tube 3910 having a proximal end 3912 and a distal end 3914 . The proximal end 3912 is rotatably supported within a closure shuttle 3940 that is slidably supported within the tool chassis 3210 to allow axial movement relative to the tool chassis. In one form, closure shuttle 3940 has a pair of proximally projecting hooks 3942 configured to attach to transverse mounting pins 516 attached to closure linkage assembly 514 of handle assembly 500 . Proximal end 3912 is coupled to closure shuttle 3940 for rotation relative to closure shuttle 3940 . For example, U-shaped connector 3944 is inserted into annular slot 3916 of proximal end 3912 and retained within vertical slot 3946 of closure shuttle 3940 . Such a configuration functions to mount the proximal closure assembly 3900 to the closure shuttle 3940 for axial movement therewith, while the proximal closure tube 3910 rotates relative to the closure shuttle 3940 about shaft axis _SA2 . make it possible to As described above with respect to replaceable surgical tool assembly 1000, a closure spring (not shown) extends over proximal end 3912 of proximal closure tube 3910 to force closure shuttle 3940 proximally. PD, which deactivates the closure trigger 512 (FIG. 2) of the handle assembly 500 when the replaceable surgical instrument assembly 3000 is operatively coupled with the handle assembly 500 as described above. It can serve the function of pivoting into position.

As seen in FIG. 18, the distal end 3914 of the proximal closure tube 3910 is attached to the distal closure assembly 4000. As shown in FIG. Distal end 3914 includes upper projection 3917 and lower projection 3918 configured to be movably coupled to an end effector closure sleeve or distal closure tube portion 4030 . Distal obturator tube portion 4030 includes an upper projection 4032 and a lower projection 4034 projecting proximally from its proximal end. As discussed above, upper dual pivot link 4060 pivotally connects upper protrusion 3917 and upper protrusion 4032, and lower dual pivot link 4064 connects lower protrusion 3918 and lower protrusion 4034. are pivotally connected together. Distal advancement of distal closure tube portion 4030 over anvil mounting portion 3820 effects closure or pivotal movement of anvil 3810 toward elongated channel ₃₆₀₂ about fixed anvil pivot axis PA2. In the illustrated configuration, the distal closure tube portion 4030 also includes a positive jaw or anvil opening mechanism 4040 configured to cooperate with a surface or ramp portion of the anvil mounting portion 3820, thus providing distal closure. Anvil 3810 pivots from the closed position to the open position as tube portion 4030 moves proximally back to the starting position. Other embodiments may not use a positive jaw opening mechanism, but may use a spring or jaws to bias the anvil to an open position when the distal obturator tube segment is retracted to its proximal-most starting position. Other biasing mechanisms may be relied upon. Further details regarding the construction and operation of the anvil opening mechanism can be found in U.S. patent application Ser.

In the illustrated configuration, replaceable surgical tool assembly 3000 further includes a firing system generally indicated as 4100 . In various examples, firing system 4100 includes firing member assembly 4110 supported for axial movement within spine assembly 3250 . In the illustrated embodiment, firing member assembly 4110 includes an intermediate firing shaft portion 4120 configured to be attached to a distal cutting portion or knife bar 4130 . A support bushing mechanism 4121 may be used to support intermediate firing shaft portion 4120 within spine assembly 3250 . Firing member assembly 4110 may also be referred to herein as a "second shaft" and/or a "second shaft assembly." As can be seen in FIG. 18, intermediate firing shaft portion 4120 can include longitudinal slot 4124 at distal end 4122 that can be configured to receive proximal end 4132 of knife bar 4130 . The longitudinal slot 4124 and the proximal end 4132 of the knife bar 4130 can be sized and configured to allow relative movement therebetween and can include a slip joint 4134 . As noted above, the slip joint 4134 allows movement of the intermediate firing shaft portion 4120 of the firing member assembly 4110 to articulate the end effector 3500 without moving the knife bar 4130, or at least substantially without moving it. do. As noted above, in the illustrated configuration, the proximal end 4127 of the intermediate firing shaft portion 4120 includes a distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. A firing shaft mounting projection 4128 is formed that is configured to be positioned within a distal mounting cradle (not shown). Such a configuration facilitates axial movement of intermediate firing shaft portion 4120 during actuation of firing drive system 530 . Other mounting configurations for coupling intermediate firing shaft portion 4120 to other firing drive mechanisms (eg, manual actuation, robotics, etc.) can also be used.

In addition to the above, the replaceable tool assembly 3000 can be configured to selectively and releasably couple the proximal articulation driver 3310 to the firing member assembly 4110 in a manner as described above. Shifter assembly 4200 can include In one form, the shifter assembly 4200 includes a locking collar or locking sleeve 4210 disposed about the intermediate firing shaft portion 4120 of the firing member assembly 4110, the locking sleeve 4210 connecting the proximal articulation driver to the locking sleeve 4210. Rotatable between an engaged position in which the 3310 is coupled to the firing member assembly 4110 and a disengaged position in which the proximal articulation driver 3310 is not operatively coupled with the firing member assembly 4110 . As noted above, intermediate firing shaft portion 4120 of firing member assembly 4110 is formed with drive notch 4126 . Locking sleeve 4210 includes a cylindrical or at least approximately cylindrical body including a longitudinal opening 4212 configured to receive intermediate firing shaft portion 4120 therethrough. As discussed in more detail above, locking sleeve 4210 is received to engage within a corresponding portion of drive notch 4126 of intermediate firing shaft portion 4120 when locking sleeve 4210 is in one position; diametrically opposed, inwardly directed locking projections 4214, 4216 can be included. Locking sleeve 4210 further includes locking member 4218 sized to be movably received within notch 3319 in the proximal end of proximal articulation driver 3310 . When locking sleeve 4210 is in its engaged position, locking projections 4214, 4216 are positioned within drive notches 4126 of intermediate firing shaft portion 4120 to provide a distal pushing force and/or a proximal pulling force. can be transmitted from firing member assembly 4110 to locking sleeve 4210 . Such axial pushing or pulling motion is then transmitted from locking sleeve 4210 to proximal articulation driver 3310 , thereby articulating surgical end effector 3500 .

As mentioned above, in the illustrated example, the relative movement of the locking sleeve 4210 between the engaged and disengaged positions is controlled by the shifter assembly 4200 interconnected with the proximal closure tube 3910 of the proximal closure assembly 3900 . can be controlled by Shifter assembly 4200 further includes a shifter key 4240 configured to be slidably received within a keyway (similar to keyway 2217 illustrated in FIG. 8) formed in the outer periphery of lock sleeve 4210. there is Such a configuration allows shifter key 4240 to move axially relative to locking sleeve 4210 . The operation of shifter assembly 4200 may be the same as that of shifter assembly 2200, which was described in more detail above and will not be repeated again for the sake of brevity. Further details, alternative configurations, and drive configurations that may be used are found in U.S. patent application Ser. No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, as well as other disclosures incorporated herein.

As noted above, the replaceable tool assembly 3000 may, for example, transmit power to and/or from the surgical end effector 3500 and/or to the surgical end effector 3500 and/or surgical tools. A slip ring assembly 3230 can be included that can be configured to communicate signals from the end effector 3500 for use back to the microprocessor 560 in the handle assembly 500 or robotic system controller. Further details regarding the slip ring assembly 3230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), each of which is hereby incorporated by reference in its entirety. ) and U.S. patent application Ser. No. 15/019,196, and U.S. patent application Ser. can now be found in US Patent Application Publication No. 2014/0263552).

The illustrated replaceable surgical tool assembly 3000 also employs a latch system 3220 for detachably coupling the replaceable surgical tool assembly 3000 to handle frame 506 of handle assembly 500, for example. Latch system 3220 may be the same as latch system 1220 described in detail above. Knife bar 4130 can include a laminated beam structure that includes at least two beam layers. Such beam layers may include, for example, stainless steel bands that are welded or pinned together, for example, at their proximal ends and/or elsewhere along their lengths. 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 4130 to be flexible enough to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. patent application Ser. . 18, firing shaft support assembly 4300 is configured to provide lateral support to knife bar 4130 as central support member flexes to accommodate articulation of surgical end effector 3500. Used. Further details regarding the operation of the firing shaft support assembly 4300 and alternative knife bar support mechanisms are provided in U.S. patent application Ser. and U.S. Patent Application No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR." can be seen in

As also seen in FIG. 18, a firing member or knife member 4140 is attached to the distal end of knife bar 4130 . Firing member 4140 is configured to operably interconnect with sled assembly 4150 operably supported within body 3702 of surgical staple/fastener cartridge 3700 . Sled assembly 4150 is slidable within surgical staple/fastening element cartridge body 3702 from a proximal starting position adjacent proximal end 3704 of cartridge body 3702 to an ending position adjacent distal end 3706 of cartridge body 3702. can be displaced to Cartridge body 3702 operatively supports therein a plurality of staple drivers (not shown) aligned with opposite rows of centrally located slots 3708 . A centrally located slot 3708 allows firing member 4140 to pass through the slot and cut tissue clamped between anvil 3810 and staple cartridge 3700 . Associated with the driver are corresponding staple pockets 3712 that open into the deck surface 3710 of the cartridge body 3702 . Each staple driver carries one or more surgical staples/fastening elements or fastening elements (not shown). Sled assembly 4150 includes a plurality of angled or wedge-shaped cams 4152 , each cam 4152 corresponding to a particular line of fastening elements or drivers flanking slot 3708 .

In one exemplary form, firing member 4140 includes a body portion 4142 that supports a knife or tissue cutting portion 4144 . See FIG. Body portion 4142 projects through elongate slot 3604 in elongate channel 3602 and terminates in laterally extending leg members 4146 on each side of body portion 4142 . As firing member 4140 is driven distally through surgical staple/fastener cartridge 3700 , foot member 4146 rides within passageway 3622 of elongated channel 3602 underlying surgical staple/fastener cartridge 3700 . Tissue cutting portion 4144 is disposed between distally projecting upper nose portions 4143 . As can be further seen in FIG. 18, the firing member 4140 can further include two laterally extending upper tabs, pins, or anvil engagement features 4147 . As firing member 4140 is driven distally, the top of body portion 4142 extends through centrally located anvil slot 3814 with anvil engagement features 4147 formed on opposite sides of anvil slot 3814 correspondingly. Located on ledge 3816 . Further details regarding firing member 4140, sled assembly 4150 and various alternatives thereof, as well as examples of their operation, are set forth in greater detail below and also in U.S. patent application Ser. No. 15/385,911; can also be found in the name of "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATED CLOSING AND FIRRING SYSTEMS". Interchangeable surgical tool assembly 3000 can be attached to handle assembly 500 in the manner described above with respect to interchangeable surgical tool assembly 1000 .

Referring again to FIG. 1, as mentioned above, the surgical system 10 shown therein includes four interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each of which is a different The same handle assembly 500 can be effectively used to perform surgical procedures. 19-21, an interchangeable surgical instrument assembly 5000 includes a surgical end effector 5500 including a first jaw 5600 and a second jaw 5800. As shown in FIG. In one configuration, the first jaw includes an elongated channel 5602 configured to operably support surgical staple/fastening element cartridge 5700 therein. Second jaw 5800 includes anvil 5810 movably supported relative to elongated channel 5602 . Interchangeable surgical instrument assembly 5000 includes articulation joint 5302 and articulation lock 5400 that can be configured to releasably retain surgical end effector 5500 in a desired articulation position relative to shaft axis _SA3 . can include Details regarding the construction and operation of articulation lock 5400, as well as details of alternative locking mechanisms and operations, are described in U.S. patent application Ser. "SHAFT ASSEMBLY COMPRISING A LOCK OUT". Alternative articulation lock configurations are described in U.S. Patent Application No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application Publication No. 2016/2016. See also U.S. patent application Ser. No. 15/019,196, filed Jan. 9, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," the entire disclosure of each of such references herein. which is incorporated by reference.

As further seen in FIG. 20 , replaceable surgical tool assembly 5000 includes tool frame assembly 5200 including tool chassis 5210 that operably supports nozzle assembly 5240 . In one form, the nozzle assembly 5240 is comprised of nozzle portions 5242, 5244 and an actuator wheel portion 5246 configured to be coupled to the assembled nozzle portions 5242, 5244 by snaps, lugs, screws, or the like. . The replaceable surgical tool assembly 5000 includes a proximal closure assembly 5900 operably coupled to a distal closure assembly 6000 used to open and close the anvil 5810 of the surgical end effector 5500, as described in greater detail below. contains. Additionally, replaceable surgical tool assembly 5000 includes a spine assembly 5250 that operatively supports proximal closure assembly 5900 and is coupled to surgical end effector 5500 . In the illustrated configuration, spine assembly 5250 includes distal end portion 5280 having opening 5281 for ease of assembly. A spine cap 5283 can also be attached to cover the opening 5281 after the various internal components have been assembled. In the assembled form, proximal end portion 5253 of spine assembly 5250 is rotatably supported within tool chassis 5210 . In one configuration, for example, the proximal end of proximal end portion 5253 of spine assembly 5250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 5210 . Such a configuration facilitates rotatable attachment of the spine assembly 5250 to the tool chassis 5210 so that the spine assembly 5250 can be selectively rotated relative to the tool chassis 5210 about shaft axis _SA3 . Specifically, in one configuration, for example, proximal end portions 5253 of spine assembly 5250 are each configured to receive corresponding nozzle projections (not shown) extending inwardly from each of nozzle portions 5242, 5244. It also includes two diametrically opposed raised seats 5254 (only one visible in FIG. 20). Such a configuration facilitates rotation of spine assembly 5250 about shaft axis _SA3 by rotating actuator wheel portion 5246 of nozzle assembly 5240 .

Referring now to FIG. 21, the distal end 5280 of the spine assembly 5250 is attached to a distal frame portion 5286 that operably supports articulation lock 5400 therein. The spine assembly 5250 is configured to (1) slidably support the firing member assembly 6110 therein and (2) slidably support the proximal obturator tube 5910 extending around the spine assembly 5250. It is Spine assembly 5250 can also be configured to slidably support first articulation driver 5310 and second articulation driver 5320 . As seen in FIG. 21, distal frame segment 5286 is pivotally coupled to proximal end 5610 of elongated channel 5602 . In one configuration, for example, a pivot pin 5288 is formed at the distal end of distal frame portion 5286 . Pivot pin 5288 is adapted to be pivotally received within pivot hole 5611 formed in proximal end portion 5610 of elongated channel 5602 . Pivot pin 5288 defines an axis of articulation _AA3 transverse to shaft axis _SA3 . Please refer to FIG. Such a mechanism facilitates pivotal movement (ie, articulation) of surgical end effector 5500 about articulation axis AA ₃ relative to spine assembly 5250 . Distal frame portion 5286 is further configured to support articulation lock 5400 therein.

In the illustrated configuration, the distal end 5314 of the first articulation driver 5310 is adapted to receive therein a first articulation pin 5618 formed in the proximal end portion 5610 of the elongated channel 5602 . A loop 5316 is formed. Similarly, the distal end 5324 of the second articulation driver 5320 has a loop 5326 adapted to receive therein a second articulation pin 5619 formed in the proximal end portion 5610 of the elongated channel 5602 . have. In one configuration, for example, the first articulation driver 5310 further includes a proximal tooth rack 5315 that meshes with an idler gear 5330 rotatably supported within the spine assembly 5250 . Similarly, second articulation driver 5320 further includes a proximal tooth rack 5325 that meshes with idler gear 5330 . Thus, in such a configuration, movement of the first articulation driver 5310 in the distal direction DD results in movement of the second articulation driver 5320 in the proximal direction PD. Movement of the first articulation driver 5310 in the proximal direction PD results in movement of the second articulation driver 5320 in the distal direction DD. Such motion of the first articulation driver 5310 and the second articulation driver 5320 thus pivots the surgical end effector about the articulation axis AA ₃ by simultaneously imparting pushing and pulling motions to the surgical end effector 5500 . to articulate as

Anvil 5810 in the illustrated example includes anvil body 5812 terminating in anvil attachment portion 5820 . Anvil mounting portion 5820 is movably supported on elongated channel 5602 for selective pivoting and vertical movement relative to the elongated channel. In the illustrated configuration, an anvil trunnion 5822 extends laterally from each lateral side of anvil mounting portion 5820 to a corresponding “open-ended” vertical wall 5612 formed in proximal end portion 5610 of elongated channel 5602 . Received within cradle 5613 . Movement of anvil 5810 relative to elongated channel 5602 is effected by axial movement of proximal closure assembly 5900 and distal closure assembly 6000 . In the illustrated configuration, proximal closure assembly 5900 includes a proximal closure tube 5910 having a proximal end 5912 and a distal end 5914 . The proximal end 5912 is rotatably supported within a closure shuttle 5940 that is slidably supported within the tool chassis 5210 to allow axial movement relative to the tool chassis. In one form, closure shuttle 5940 includes a pair of proximally projecting hooks 5942 configured to attach to transverse mounting pins 516 attached to closure linkage assembly 514 of handle assembly 500 . The proximal end 5912 of the proximal closure tube 5910 is coupled to the closure shuttle 5940 for relative rotation therewith. For example, U-shaped connector 5944 is inserted into annular slot 5916 of proximal end 5912 and retained within vertical slot 5946 of closure shuttle 5940 . Such a configuration functions to mount the proximal closure assembly 5900 to the closure shuttle 5940 for axial movement therewith, while the proximal closure tube 5910 rotates relative to the closure shuttle 5940 about shaft axis _SA3 . make it possible to As described above with respect to replaceable surgical tool assembly 1000, a closure spring (not shown) extends over proximal end 5912 of proximal closure tube 5910 to force closure shuttle 5940 proximally. PD, which deactivates the closure trigger 512 (FIG. 2) of the handle assembly 500 when the replaceable surgical tool assembly 5000 is operatively coupled with the handle assembly 500 as described above. It can serve the function of pivoting into position.

21, the distal end 5914 of the proximal closure tube 5910 is attached to the distal closure assembly 6000. As seen in FIG. Distal end 5914 includes upper projection 5917 and lower projection 7918 configured to be movably coupled to an end effector closure sleeve or distal closure tube portion 6030 . Distal obturator tube portion 6030 includes an upper projection 6032 and a lower projection 6034 projecting proximally from its proximal end. Upper dual pivot link 6060 pivotally connects upper protrusion 5917 and upper protrusion 6032, and lower dual pivot link 6064 connects lower protrusion 5918 and lower protrusion in a manner as described above. 6034 are pivotally connected to each other. Distal closure tube portion 6030 includes an internal camming surface 6036 configured for camming engagement with anvil camming surface 5821 of anvil mounting portion 5820 . Distal advancement of distal closure tube portion 6030 over anvil mounting portion 5820 effects closure or pivotal movement of anvil 5810 toward elongated channel 5602 . In the illustrated configuration, upstanding anvil tabs 5827 are formed on anvil attachment portion 5820 and are configured to contact two positive jaw opening tabs 6038 extending inwardly within distal closure tube portion 6030 . Each positive jaw opening tab 6038 engages a corresponding one of the anvil tabs 5827 to pivot the anvil 5810 to the open position as the distal obturator tube portion 6030 is moved axially in the proximal direction PD. is configured as

In the illustrated configuration, the replaceable surgical tool assembly 5000 further includes a firing system generally indicated as 6100 . In various examples, firing system 6100 includes firing member assembly 6110 supported for axial movement within spine assembly 5250 . In the illustrated embodiment, firing member assembly 6110 includes an intermediate firing shaft portion 6120 configured to be attached to a distal cutting portion or knife bar 6130 . Firing member assembly 6110 may also be referred to herein as a "second shaft" and/or a "second shaft assembly." As can be seen in FIG. 21, the intermediate firing shaft portion 6120 can include a longitudinal slot 6124 at its distal end 6122 that can be configured to receive the proximal end 6132 of the knife bar 6130 . The longitudinal slot 6124 and the proximal end 6132 of the knife bar 6130 can be sized and configured to allow relative movement therebetween and can form a slip joint 6134 . As noted above, the slip joint 6134 allows movement of the intermediate firing shaft portion 6120 of the firing member assembly 6110 to articulate the end effector 5500 without moving the knife bar 6130, or at least substantially without moving it. do. As noted above, in the illustrated configuration, the proximal end 6127 of the intermediate firing shaft portion 6120 includes a distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. A firing shaft mounting projection 6128 is formed that is configured to be positioned within a distal mounting cradle (not shown). Such a configuration facilitates axial movement of intermediate firing shaft portion 6120 during actuation of firing drive system 530 . Other mounting configurations for coupling the intermediate firing shaft portion to other firing drive mechanisms (eg, manual actuation, robotics, etc.) may also be used.

Further to the above, replaceable surgical tool assembly 5000 can be configured to selectively and releasably couple first articulation driver 5310 to firing member assembly 6110 in a manner as described above. A shifter assembly 6200 may be included. In one form, the shifter assembly 6200 includes a locking collar or locking sleeve 6210 disposed about the intermediate firing shaft portion 6120 of the firing member assembly 6110, wherein the locking sleeve 6210 undergoes the first articulation. Rotatable between an engaged position in which the driver 5310 is coupled to the firing member assembly 6110 and a disengaged position in which the first articulation driver 5310 is not operatively coupled with the firing member assembly 6110 . As mentioned above, intermediate firing shaft portion 6120 of firing member assembly 6110 is formed with drive notch 6126 . Locking sleeve 6210 includes a cylindrical or at least approximately cylindrical body including a longitudinal opening configured to receive intermediate firing shaft portion 6120 therethrough. As discussed in more detail above, locking sleeve 6210 is received to engage within a corresponding portion of drive notch 6126 of intermediate firing shaft portion 6120 when locking sleeve 6210 is in one position. . Locking projections 6214, 6216 may be included. Locking sleeve 6210 further includes locking member 6218 sized to be movably received within notch 5319 in the proximal end of first articulation driver 5310 . When locking sleeve 6210 is in its engaged position, locking projections 6214, 6216 are positioned within drive notches 6126 of intermediate firing shaft portion 6120 to provide a distal pushing force and/or a proximal pulling force. can be transmitted from firing member assembly 6110 to locking sleeve 6210 . Such axial pushing or pulling motion is then transmitted from locking sleeve 6210 to first articulation driver 5310 . Axial movement of first articulation driver 5310 causes opposite axial movement of second articulation driver 5320 , thereby articulating surgical end effector 5500 .

As mentioned above, in the illustrated example, the relative movement of the locking sleeve 6210 between its engaged and disengaged positions is controlled by the shifter assembly interconnected with the proximal closure tube 5910 of the proximal closure assembly 5900. 6200 can be controlled. Shifter assembly 6200 further includes a shifter key 6240 configured to be slidably received within a keyway (similar to keyway 2217 shown in FIG. 8) formed in the outer periphery of lock sleeve 6210. . Such a configuration allows shifter key 6240 to move axially relative to locking sleeve 6210 . The operation of shifter assembly 6200 may be the same as that of shifter assembly 2200, which was described in more detail above and will not be repeated again for the sake of brevity. Further details, alternative configurations, and drive configurations that may be used are found in U.S. patent application Ser. No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, as well as other disclosures incorporated herein.

As noted above, the replaceable tool assembly 5000 may, for example, transmit power to and/or from the surgical end effector 5500 and/or to the surgical end effector 5500 and/or the surgical end effector. A slip ring assembly 5230 can be included that can be configured to communicate signals from the end effector back to the microprocessor 560 in the handle assembly 500 or robotic system controller. Further details regarding the slip ring assembly 5230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), each of which is hereby incorporated by reference in its entirety. ), and U.S. patent application Ser. No. 15/019,196, and U.S. patent application Ser. (now US Patent Application Publication No. 2014/0263552).

The illustrated replaceable surgical tool assembly 5000 also employs a latch system 5220 for detachably coupling the replaceable surgical tool assembly 5000 to handle frame 506 of handle assembly 500, for example. Latch system 5220 may be the same as latch system 1220 described in detail above. Knife bar 6130 can include a laminated beam structure that includes at least two beam layers. Such beam layers may include, for example, stainless steel bands that are welded or pinned together, for example, at their proximal ends and/or elsewhere along their lengths. 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 6130 to be flexible enough to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. patent application Ser. . 21, the firing shaft pointing assembly 6300 is configured to provide lateral support to the knife bar 6130 as the central support member flexes to accommodate the articulation of the surgical end effector 5500. Used. Further details regarding the operation of the firing shaft support assembly 6300 and alternative knife bar support mechanisms are provided in U.S. patent application Ser. and U.S. Patent Application No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR." can be seen in

A firing member or knife member 6140 is attached to the distal end of the knife bar 6130, also seen in FIGS. Firing member 6140 is configured to operably interconnect with sled assembly 6150 operably supported within body 5702 of surgical staple/fastener cartridge 5700 . Sled assembly 6150 is slidable within surgical staple/fastener cartridge body 5702 from a proximal starting position adjacent proximal end 5704 of cartridge body 5702 to an ending position adjacent distal end 5706 of cartridge body 5702. can be displaced to Cartridge body 5702 operatively supports therein a plurality of staple drivers (not shown) aligned with opposite rows of centrally located slots 5708 . A centrally located slot 5708 allows the firing member 6140 to pass through the slot and cut tissue clamped between the anvil 5810 and staple cartridge 5700 . Associated with the drivers are corresponding staple pockets that open into the upper deck surface of the cartridge body 5702 . Each staple driver carries one or more surgical staples/fastening elements or fastening elements (not shown). The sled assembly includes a plurality of angled or wedge-shaped cams 6152 , each corresponding to a particular line of fastening elements or drivers flanking slot 5708 .

In one exemplary form, firing member 6140 includes a body portion 6142 that supports a knife or tissue cutting portion 6144 . See FIG. Body portion 6142 projects through elongate slot 5604 in elongate channel 5602 and terminates in laterally extending leg members 6146 on each side of body portion 6142 . As firing member 6140 is driven distally through surgical staple/fastener cartridge 5700 , foot member 6146 resides within passageway 5622 of elongated channel 5602 underlying surgical staple/fastener cartridge 5700 . . The tissue cutting portion 6144 is positioned between distally projecting upper nose portions 6143 . 21 and 50, the firing member 6140 can further include two laterally extending upper tabs, pins, or anvil engagement features 6147. As shown in FIG. As firing member 6140 is driven distally, the upper portion of body portion 6142 extends through centrally located anvil slot 5814 with anvil engagement features 6147 formed on opposite sides of anvil slot 5814 correspondingly. Located on ledge 5816 . Further details regarding firing member 6140, sled assembly 6150, and various alternatives thereof, as well as examples of their operation, are discussed in greater detail below and also in U.S. patent application Ser. No. 15/385,911; It can also be found in the title of the invention "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRRING SYSTEMS". Interchangeable surgical tool assembly 5000 can be operatively coupled with handle assembly 500 in the same manner as described above with respect to interchangeable surgical tool assembly 1000 .

Referring again to FIG. 1, as mentioned above, the surgical system 10 shown therein includes four interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each of which is a different The same handle assembly 500 can be effectively used to perform surgical procedures. 22-24, an interchangeable surgical instrument assembly 7000 includes a surgical end effector 7500 that includes a first jaw 7600 and a second jaw 7800. As shown in FIG. In one configuration, the first jaw includes an elongated channel 7602 configured to operably support a surgical staple/fastening element cartridge 7700 therein. Second jaw 7800 includes an anvil 7810 movably supported relative to elongated channel 7602 . Interchangeable surgical instrument assembly 7000 includes articulation joint 7302 and articulation lock 7400 that can be configured to releasably retain surgical end effector 7500 in a desired articulation position relative to shaft axis SA _4. Articulation system 7300 can further include Details regarding the construction and operation of articulation lock 7400, as well as details of alternative locking mechanisms and operations, are described in U.S. patent application Ser. The invention title "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" can now be found in US Patent Application Publication No. 2014/0263541. Further details regarding articulation lock 7400 and/or alternative articulation locking mechanisms can be found in U.S. Patent Application Serial No. 15/019,196, 2016, the entire disclosure of which is incorporated herein by reference. It can also be seen in the title of the invention "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT" filed on May 9.

As seen in FIG. 24, replaceable surgical tool assembly 7000 includes tool frame assembly 7200 that includes tool chassis 7210 that operatively supports nozzle assembly 7240 . In one form, the nozzle assembly 7240 is comprised of nozzle portions 7242, 7244 and an actuator wheel portion 7246 configured to be coupled to the assembled nozzle portions 7242, 7244 by snaps, lugs, screws, or the like. . The replaceable surgical tool assembly 7000 includes a proximal closure assembly 7900 operably coupled to a distal closure assembly 8000 used to open and close the anvil 7810 of the surgical end effector 7500, as described in greater detail below. contains. Additionally, replaceable surgical tool assembly 7000 includes a spine assembly 7250 that operatively supports proximal closure assembly 7900 and is coupled to surgical end effector 3500 . In the illustrated configuration, the spine assembly 7250 has a distal end portion 7280 with an opening 7281 therein for ease of assembly. A spine cap 7283 can also be attached to cover the opening 7281 after the various internal components have been assembled. In the assembled form, proximal end portion 7253 of spine assembly 7250 is rotatably supported within tool chassis 7210 . In one configuration, for example, the proximal end of proximal end portion 7253 of spine assembly 7250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 7210 . Such a configuration facilitates rotatable attachment of the spine assembly 7250 to the tool chassis 7210 so that the spine assembly 7250 can be selectively rotated relative to the tool chassis 7210 about shaft axis _SA4 . Specifically, in one configuration, for example, proximal end portions 7253 of spine assembly 7250 are each configured to receive corresponding nozzle projections (not shown) extending inwardly from each of nozzle portions 7242, 7244. It also includes two diametrically opposed raised seats 7254 (only one visible in FIG. 23). Such a configuration facilitates rotation of spine assembly 7250 about shaft axis SA ₄ by rotating actuator wheel portion 7246 of nozzle assembly 7240 .

Referring now to FIG. 24, the distal end 7280 of spine assembly 7250 is attached to a distal frame portion 7286 that operably supports articulation lock 7400 therein. The spine assembly 7250 is configured to (1) slidably support the firing member assembly 8110 therein and (2) slidably support the proximal obturator tube 7910 extending around the spine assembly 7250. It is Spine assembly 7250 can also be configured to slidably support proximal articulation driver 7310 . As seen in FIG. 24, distal frame segment 7286 is pivotally coupled with elongated channel 7602 by end effector mounting assembly 7290 . In one configuration, for example, a pivot pin 7288 is formed at the distal end of distal frame portion 7286 . Pivot pin 7288 is adapted to be pivotally received within pivot hole 7292 formed in pivot base 7291 of end effector mounting assembly 7290 . End effector mounting assembly 7290 is attached to proximal end portion 7610 of elongated channel 7602 by spring pin 7620 or other suitable member received within mounting hole 7611 of proximal end portion 7610 . Pivot pin 7288 defines an axis of articulation _AA4 transverse to shaft axis _SA4 . Please refer to FIG. Such a mechanism facilitates pivotal movement (ie, articulation) of surgical end effector 7500 about articulation axis AA ₄ relative to spine assembly 7250 . Distal frame portion 7286 is further configured to support articulation lock 7400 therein. Various articulation lock configurations can be used. At least one form of articulation lock 7400 is disclosed in U.S. patent application Ser. , are described in further detail in current US Patent Application Publication No. 2014/0263541. Further details regarding the articulation lock can also be found in US patent application Ser.

In the illustrated example, surgical end effector 7500 is selectively articulatable about articulation axis AA ₄ by articulation system 7300 . In one form, articulation system 7300 includes a proximal articulation driver 7310 that operably interconnects with articulation lock 7400 . Articulation lock 7400 has an articulation frame 7402 adapted to operatively engage drive pin 7293 on pivot base 7291 of end effector mounting assembly 7290 . Additionally, a cross link 7294 can be coupled to the drive pin 7293 and the articulation frame 7402 to assist in articulating the surgical end effector 7500 . As noted above, further details regarding the operation of articulation lock 7400 and articulation frame 7402 can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541). . Further details regarding the end effector mounting assembly and cross link 7294 are provided in U.S. patent application Ser. It can be found in the title of the invention "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS". As further described herein, and in other disclosures incorporated herein by reference, axial movement of the proximal articulation driver 7310 engages/disengages the articulation lock 7400, thereby applies articulation to elongated channel 7602, which causes surgical end effector 7500 to articulate relative to spine assembly 7250 about articulation axis _AA4 .

The anvil 7810 in the illustrated example includes an anvil body 7812 terminating in an anvil attachment portion 7820 . Anvil mounting portion 7820 is movably supported on elongated channel 7602 for selective pivotal and axial movement relative to the elongated channel. In the illustrated configuration, an anvil trunnion 7822 extends laterally from each lateral side of anvil mounting portion 7820 to a corresponding "kidney-shaped" opening formed in upright wall 7612 of proximal end portion 7610 of elongated channel 7602 . Received in portion 7613 . Movement of anvil 7810 relative to elongated channel 7602 is effected by axial movement of proximal closure assembly 7900 and distal closure assembly 8000 . In the illustrated configuration, the proximal closure assembly 7900 includes a proximal closure tube 7910 having a proximal end 7912 and a distal end 7914 . The proximal end 7912 is rotatably supported within a closure shuttle 7940 that is slidably supported within the tool chassis 7210 to allow axial movement relative to the tool chassis. In one form, closure shuttle 7940 includes a pair of proximally projecting hooks 7942 configured to attach to transverse mounting pins 516 attached to closure linkage assembly 514 of handle assembly 500 . A proximal end 7912 of the proximal closure tube 7910 is coupled to the closure shuttle 7940 for relative rotation therewith. For example, U-shaped connector 7944 is inserted into annular slot 7916 of proximal end 7912 of proximal closure tube 7910 and retained within vertical slot 7946 of closure shuttle 7940 . Such a configuration functions to mount the proximal closure assembly 7900 to the closure shuttle 7940 for axial movement therewith, while the proximal closure tube 7910 is axially displaced relative to the closure shuttle 7940 about shaft axis SA ₄ . allow it to rotate. As described above with respect to replaceable surgical tool assembly 1000, a closure spring (not shown) extends over proximal end 7912 of proximal closure tube 7910 to force closure shuttle 7940 proximally. The PD is biased, which engages the closure trigger 512 (FIG. 2) of handle assembly 500 when replaceable surgical tool assembly 7000 is operatively coupled with handle assembly 500 in the manner described above. It can serve the function of pivoting to a non-actuated position.

24, the distal end 7914 of the proximal closure tube 3910 is attached to the distal closure assembly 8000. As seen in FIG. Distal end 7914 includes upper and lower protrusions 7917 and 7918 configured to movably couple to an end effector closure sleeve or distal closure tube portion 8030 . Distal obturator tube portion 8030 includes upper projection 8032 and lower projection 8034 projecting proximally from its proximal end. Upper dual pivot link 8060 pivotally connects upper protrusion 7917 and upper protrusion 8032, and lower dual pivot link 8064 connects lower protrusion 7918 and lower protrusion 8034 in the manner described above. are pivotally connected together. Distal advancement of distal closure tube portion 8030 over anvil mounting portion 7820 effects closure or pivotal movement of anvil 7810 toward elongated channel 7602 . In the illustrated configuration, an upstanding anvil tab 7824 is formed in the anvil mounting portion 7820 and extends into the horseshoe opening 8038 . Opening 8038 defines opening tab 8039 configured to operatively interconnect with anvil tab 7824 upon distal retraction of the distal obturator tube. Such interaction of opening tab 8039 and anvil tab 7824 imparts an opening motion to anvil 7810, thereby moving anvil 7810 to the open position.

In the illustrated configuration, the replaceable surgical tool assembly 7000 further includes a firing system generally indicated as 8100 . In various examples, firing system 8100 includes firing member assembly 8110 supported for axial movement within spine assembly 7250 . In the illustrated embodiment, firing member assembly 8110 includes an intermediate firing shaft portion 8120 configured to be attached to a distal cutting portion or knife bar 8130 . Firing member assembly 8110 may also be referred to herein as a "second shaft" and/or a "second shaft assembly." As can be seen in FIG. 24, the intermediate firing shaft portion 8120 can include a longitudinal slot 8124 at its distal end 8122 that can be configured to receive the proximal end 8132 of the knife bar 8130 . The longitudinal slot 8124 and the proximal end 8132 of the knife bar 8130 can be sized and configured to allow relative movement therebetween and can form a slip joint 8134 . As noted above, the slip joint 8134 allows movement of the intermediate firing shaft portion 8120 of the firing member assembly 8110 to articulate the end effector 7500 without moving the knife bar 8130, or at least substantially without moving it. do. As noted above, in the illustrated configuration, the proximal end 8127 of the intermediate firing shaft portion 8120 includes a distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. A firing shaft mounting projection 8128 is formed that is configured to be positioned within a distal mounting cradle (not shown). Such a configuration facilitates axial movement of intermediate firing shaft portion 8120 during actuation of firing drive system 530 . Other mounting configurations for coupling the intermediate firing shaft portion to other firing drive mechanisms (eg, manual actuation, robotics, etc.) can also be used.

Further to the above, the replaceable surgical tool assembly 7000 can be configured to selectively and releasably couple the proximal articulation driver 7310 to the firing member assembly 8110 in a manner as described above. Assembly 8200 can be included. In one form, the shifter assembly 8200 includes a locking collar, or locking sleeve 8210, disposed about the intermediate firing shaft portion 8120 of the firing member assembly 8110, the locking sleeve 8210 connecting the proximal articulation driver to the locking sleeve 8210. Rotatable between an engaged position in which the 7310 is coupled to the firing member assembly 8110 and a disengaged position in which the proximal articulation driver 7310 is not operatively coupled with the firing member assembly 8110 . As mentioned above, intermediate firing shaft portion 8120 of firing member assembly 8110 is formed with drive notch 8126 . Locking sleeve 8210 includes a cylindrical or at least approximately cylindrical body including a longitudinal opening configured to receive intermediate firing shaft portion 8120 therethrough. As discussed in more detail above, locking sleeve 8210 is received to engage within a corresponding portion of drive notch 8126 in intermediate firing shaft portion 8120 when locking sleeve 8210 is in one position. , is not received within the drive notch 8126 when in another position, thereby permitting relative axial movement between the locking sleeve 8210 and the intermediate firing shaft 8120. Orientation locking projections 8214, 8216 may be included. Locking sleeve 8210 further includes locking member 8218 sized to be movably received within notch 7319 in the proximal end of proximal articulation driver 7310 . When locking sleeve 8210 is in its engaged position, locking projections 8214, 8216 are positioned within drive notches 7126 of intermediate firing shaft portion 8120 to provide a distal pushing force and/or a proximal pulling force. can be transmitted from firing member assembly 8110 to locking sleeve 8210 . Such axial pushing or pulling motion is then transmitted from locking sleeve 8210 to proximal articulation driver 7310 , thereby articulating surgical end effector 7500 .

As noted above, in the illustrated example, relative movement of the locking sleeve 8210 between its engaged and disengaged positions is controlled by the shifter assembly interconnected with the proximal closure tube 7910 of the proximal closure assembly 7900. 8200 can be controlled. Shifter assembly 8200 further includes a shifter key 8240 configured to be slidably received within a keyway (similar to keyway 2217 illustrated in FIG. 8) formed in the outer periphery of lock sleeve 8210. there is Such a configuration allows shifter key 8240 to move axially relative to locking sleeve 8210 . The operation of shifter assembly 8200 may be identical to that of shifter assembly 2200, which is described in more detail above and will not be repeated again for the sake of brevity. Further details, alternative configurations and drive configurations that may be used are provided in U.S. patent application Ser. No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, as well as other disclosures incorporated herein.

As mentioned above, the replaceable tool assembly 7000 may, for example, transmit power to and/or from the surgical end effector 7500 and/or to the surgical end effector 7500 and/or the surgical end effector. A slip ring assembly 7230 can be included that can be configured to communicate signals from the end effector back to the microprocessor 560 in the handle assembly 500 or robotic system controller. Further details regarding the slip ring assembly 7230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), each of which is hereby incorporated by reference in its entirety. ), and U.S. patent application Ser. No. 15/019,196, and U.S. patent application Ser. (now US Patent Application Publication No. 2014/0263552).

The illustrated replaceable surgical tool assembly 7000 also employs a latch system 7220 for detachably coupling the replaceable surgical tool assembly 7000 to handle frame 506 of handle assembly 500, for example. Latch system 7220 may be the same as latch system 1220 detailed above. Knife bar 8130 can include a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands that are welded or pinned together, for example, at their proximal ends and/or elsewhere along their lengths. 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 8130 to be flexible enough to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. patent application Ser. . 24, the firing shaft support assembly 8300 is configured to provide lateral support to the knife bar 8130 as the firing shaft support assembly flexes to accommodate the articulation of the surgical end effector 7500. used for Further details regarding the operation of the firing shaft support assembly 8300 and alternative knife bar support mechanisms are provided in U.S. patent application Ser. and U.S. Patent Application No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR." can be seen in

As also seen in FIG. 24, a firing member or knife member 8140 is attached to the distal end of knife bar 8130 . Firing member 8140 is configured to operably interconnect with sled assembly 8150 operably supported within body 7702 of surgical staple/fastener cartridge 7700 . See FIG. Sled assembly 8150 is slidable within surgical staple/fastening element cartridge body 7702 from a proximal starting position adjacent proximal end 7704 of cartridge body 7702 to an ending position adjacent distal end 7706 of cartridge body 7702. can be displaced to Cartridge body 7702 operatively supports therein a plurality of staple drivers (not shown) aligned with opposite rows of centrally located slots 7708 . A centrally located slot 7708 allows the firing member 8140 to pass through the slot and cut tissue clamped between the anvil 7810 and the staple cartridge 7700 . Associated with the drivers are corresponding staple pockets that open into the upper deck surface of the cartridge body 7702 . Each staple driver carries one or more surgical staples/fastening elements or fastening elements (not shown). The sled assembly includes a plurality of angled or wedge-shaped cams, each corresponding to a particular line of fastening elements or drivers flanking slot 7708 .

In one exemplary form, firing member 8140 includes a body portion 8142 that supports a knife or tissue cutting portion 8144 . See FIG. Body portion 8142 projects through elongate slot 7604 in elongate channel 7602 and terminates in laterally extending leg members 8146 on each side of body portion 8142 . As firing member 8140 is driven distally through surgical staple/fastener cartridge 7700 , foot member 8146 resides within passageway 7622 of elongated channel 7602 underlying staple cartridge 7700 . A tissue cutting portion 8144 is disposed between distally projecting upper nose portions 8143 . As can be further seen in FIG. 24, the firing member 8140 can further include two laterally extending upper tabs, pins, or anvil engagement features 8147 . As firing member 8140 is driven distally, the top of body portion 8142 extends through centrally located anvil slot 7814 with anvil engagement features 8147 formed on opposite sides of anvil slot 7814 correspondingly. Climb onto ledge 7816 . Further details regarding firing member 8140, sled assembly 8150, and various alternatives thereof, as well as examples of their operation, are set forth in greater detail below and also in U.S. patent application Ser. No. 15/385,911; It can also be found in the title of the invention "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRRING SYSTEMS". Interchangeable surgical tool assembly 7000 can be operatively coupled with handle assembly 500 in the same manner as described above with respect to interchangeable surgical tool assembly 1000 .

As can be appreciated from the above description, the interchangeable surgical tool assemblies described herein can be actuated by the same handle assembly, robotic system, or other automated actuation system. All of the replaceable surgical tool assemblies described above include surgical cutting and fastening instruments having somewhat similar closure and firing elements. However, the closure and firing systems and elements of each of these tool assemblies have differences that may appear somewhat trivial at first glance, but as discussed further below, such differences are Significant improvements in tool material composition, design, construction, manufacture, and use can result. Interchangeable surgical tool assembly 1000 is similar to other replaceable surgical tool assemblies 3000, It has subtle design differences that can provide significant improvements in overall functionality, reliability and cost of the tool assembly when compared to the 5000 and 7000. Further, the inventors have found that in some cases there are synergies between the specific component configurations used in the tool assembly 1000 that can further improve the overall efficiency and functionality of the tool assembly 1000. I found To better appreciate these differences and improvements, the specific elements and systems of each of the tool assemblies 1000, 3000, 5000, 7000 are further described and compared to each other below.

For example, each of the replaceable surgical tool assemblies 1000, 3000, 5000, 7000, upon actuation of the firing drive system, the jaws are sufficient to target tissue so that the firing members can adequately treat the clamped tissue. It must be possible to apply a sufficient closing force to clamp. For example, in the illustrated assembly, each closure system element includes an anvil and an anvil such that the firing member can properly cut the clamped tissue and eject a line of staples or fastening elements on either side of the tissue cutting line. A surgical staple/fastening element cartridge must be able to be clamped onto the target tissue. Large closing and firing forces are often required, depending on the thickness and composition of the target tissue. Accordingly, the closing and firing drive systems, such as handle assembly housings, robot housings, etc., provide sufficient such forces (e.g., , by use of a motor or manually generated motion). Such procedures further require that the elements within the replaceable shaft assembly be robust enough to match the amount of force transmitted through the elements. Heretofore, due to the magnitude of these forces, the elements of the closure system as well as the elements of the firing system are formed of metal or other suitable material of relatively large cross-sectional thickness and greatly reinforced construction. In many cases it was decided that

Tissue loads acting during the clamping process typically generate a large "moment" about the anvil pivot axis PA. The elements of the closure system should be designed to counteract these moments. In various situations, for example, opposing moments about the anvil pivot axis PA are required. To maximize the efficiency of the system (eg, minimize the amount of applied force), the largest practical moment arm is desired. However, as discussed further below, attempting to establish a large reverse moment comes with tradeoffs with other design variables. For example, in a closure system where the firing system and closure system are separate and distinct, there is a balance between the distance from the articulation joint to the first staple and the length of the moment arm of the closure system. be. The greater the moment arm of the closure system, the more efficiently the closure system handles clamping loads and tissue compression. However, the distance between the articulation joint and the initial staples can greatly affect the access of the surgical end effector when the surgical end effector is positioned within the confined space within the laparoscopic environment.

25-32 show exemplary moment arms of surgical end effectors 1500, 3500, 5500, 7500, respectively. 25, anvil trunnions 1822 extend laterally from each side of anvil mounting portion 1820 and are formed in upstanding walls 1612 at proximal end 1610 of elongated channel 1602, as described above. Received within corresponding trunnion cradles 1614 . Anvil trunnions 1822 are pivotally retained within their corresponding trunnion cradles 1614 by channel caps or anvil retainers 1630 . Channel cap 1630 has a pair of mounting projections 1636 configured to be retained and received within corresponding projection grooves or notches 1616 formed in upstanding wall 1612 of proximal end portion 1610 of elongated channel 1602 . contains. Such a configuration constrains anvil 1810 to pivot only about pivot axis _PA1 (see FIG. 3). In such a configuration, the anvil mounting portion 1820 does not move axially or vertically. As distal obturator tube segment 2030 is advanced in distal direction DD under horizontal closure force F _H1 (FIG. 26), the pressure between inner cam surface 2036 of distal obturator tube segment 2030 and anvil cam surface 1821 of anvil mounting portion 1820 is increased. , exerts a closing force F _C1 on the anvil cam surface 1821 . Closing force F _C1 consists of the force resulting from horizontal closing force F _H1 and vertical closing force F _V1 and is essentially “perpendicular” or perpendicular to camming surface 1821 of anvil mounting portion 1820 . Please refer to FIG. M _A1 is the anvil attachment when the inner cam surface 2036 of the distal obturator tube portion 2030 and the anvil 1810 are pivoted from the anvil pivot axis PA ₁ (coincident with the center of the anvil trunnion 1822) to the fully closed position. The closing moment arm up to the point of contact of portion 1820 with anvil cam surface 1821 is represented. In one example, the closing moment arm M _A1 can be approximately 0.415 inches, for example. M _A1 ×F _C1 = Closing moment C _M1 applied to anvil attachment portion 1820 .

A proximal end portion 1818 of the anvil body 1812 includes a ridge on each side of the anvil body 1812 such that each side of the tissue cutting line is securely fastened by staples or fastening elements extending from the proximal end to the distal end of the tissue cutting line. Two tissue locking formations or tissue locating elements 1830 are formed extending downwardly from (only one tissue locking formation 1830 is visible in FIGS. 25 and 26). When anvil 1810 is opened to receive target tissue between the lower surface of the anvil and the deck surface of the cartridge, downwardly extending tissue locking portion 1830 ensures that the target tissue is in the proximal position within surgical staple/fastener cartridge 1700 . It functions to prevent proximal extension beyond the posterior staple/fastening element. If the tissue extends proximally beyond the most proximal staple/fastening element, that portion of the tissue may be cut or unfastened by the firing member during the firing process, with serious consequences. It could be. A downwardly extending tissue stop 1830 can prevent that from occurring. In the embodiment shown in FIG. 26, for example, proximal-most staple/fastening element pocket 1720 is shown in phantom with respect to tissue anchor 1830 . As can be seen in this view, tissue anchor 1830 has downwardly extending portion 1832 and chamfered portion 1834 . Contacting the target tissue with portions 1832, 1834 causes the target tissue to proximally extend beyond the proximal-most staple/fastener supported within the proximal-most staple/fastener pocket 1720 of the staple/fastener cartridge body 1702. prevent it from extending in any direction.

Returning again to FIG. 25, when the anvil 1810 is pivoted closed over the target tissue (not shown) disposed between the underside or tissue contacting surface 1813 of the anvil body 1812, the tissue exerts a tissue force T _{F1 .} is applied to the lower surface 1813 of the anvil body 1812, thereby exerting a tissue counter-moment C _T1 on the anvil 1810, which must be overcome by the closure moment C _M1 established by the elements of the closure system. The example shown in FIG. 25 shows a tissue force T _F1 evenly distributed on the anvil 1810 and a tissue moment arm M _T1 established by the clamped tissue (the clamped tissue is shown in FIG. 25 for clarity). is not shown). As can be seen from this figure, in this example the tissue moment arm M _T1 is significantly longer than the closing moment arm M _A1 (ie, M _T1 >M _A1 ).

27 and 28, as discussed above, anvil trunnions 3822 of anvil 3810 of replaceable surgical tool assembly 3000 extend laterally from each side of anvil mounting portion 3820 to form elongated channels. 3602 are received in corresponding trunnion holes 3613 formed in the upstanding wall 3612 of the proximal end portion 3610 of 3602 . Such a configuration constrains anvil 3810 to pivot only about pivot axis _PA2 (see FIG. 18). In such a configuration, the anvil mounting portion 3820 does not move axially or vertically. As distal obturator tube segment 4030 is advanced in distal direction DD under horizontal closure force F _H2 (FIG. 28), the pressure between inner cam surface 4036 of distal obturator tube segment 4030 and anvil cam surface 3821 of anvil mounting portion 3820 increases. , exerts a closing force F _C2 on the anvil cam surface 3821 . Closing force F _C2 consists of the force resulting from horizontal closing force F _H2 and vertical closing force F _V2 and is essentially “perpendicular” or perpendicular to anvil cam surface 3821 of anvil mounting portion 3820 . Please refer to FIG. M _A2 is the anvil cam of anvil mounting portion 3820 when inner camming surface 4036 of distal obturator tube 4030 and anvil 3810 are pivoted from anvil pivot axis PA ₂ (center of anvil trunnion 3822) to the fully closed position. Represents the closing moment arm up to the point of contact with surface 3821 . In one example, the closing moment arm M _A2 can be approximately 0.539 inches, for example. M _A2 ×F _C2 = Closing moment C _M2 applied to anvil attachment portion 3820 .

27 and 28, anvil body 3812 is formed with two tissue locking formations or tissue locating elements 3830 extending downwardly from each side of anvil body 3812 (FIGS. 27 and 28). Only one tissue locking formation 3830 is visible in FIG. 28). When the anvil 3810 is opened to receive target tissue between the lower surface of the anvil and the deck surface of the cartridge, the downwardly extending tissue locking formation 3830 ensures that the target tissue is within the surgical staple/fastener/fastener cartridge. It functions to prevent proximal extension beyond the most proximal staple/fastening element in 3700 . 28, for example, proximal-most staple pocket 3720 is shown in phantom with respect to tissue locking formation 3830. In the embodiment shown in FIG. As can be seen in this view, tissue locking formation 3830 has downwardly extending portion 3832 and chamfered portion 3834 . Contact of portions 3832, 3834 with the target tissue causes the target tissue to proximally extend beyond the proximal-most staple/fastener supported within proximal-most staple/fastener pocket 3720 of staple/fastener cartridge body 3702. prevent it from extending in any direction.

Returning again to FIG. 27, when the anvil 3810 is pivoted closed over the target tissue (not shown) disposed between the underside or tissue contacting surface 3813 of the anvil body 3812, the tissue exerts a tissue force _TF2. is applied to the lower surface 3813 of the anvil body 3812, thereby exerting a tissue counter-moment C _T2 on the anvil 3810 that must be overcome by the closure moment C _M2 established by each element of the closure system. The example shown in FIG. 27 shows a tissue force T _F2 evenly distributed on the anvil 3810 and a tissue moment arm M _T2 established by the clamped tissue (clamped tissue is shown in FIG. 27 for clarity). is not shown). As can be seen from this figure, tissue moment arm M _T2 is significantly longer than closure moment arm M _A2 in this example (ie, M _T2 >M _A2 ).

29 and 30, as discussed above, anvil trunnions 5822 of anvil 5810 of replaceable surgical tool assembly 5000 extend laterally from each side of anvil mounting portion 5820 to form elongated channels. It is received within a corresponding “open ended” vertical cradle 5613 formed in an upright wall 5612 of the proximal end portion 5610 of 5602 . In this configuration, the anvil trunnions 5822 are free to pivot within their respective cradles 5613 as the distal closure tube portion 6030 cams into contact with the anvil camming surface 5821 of the anvil mounting portion 5820 . In such a configuration, the anvil 5810 does not move axially, but the anvil trunnions 5822 are free to move vertically (arrow V) within their respective cradles 5613 . As distal closure tube portion 6030 is advanced in distal direction DD under horizontal closure force F _H3 ( FIG. 30 ), the pressure between inner camming surface 6036 of distal closure tube portion 6030 and anvil camming surface 5821 of anvil mounting portion 5820 is increased. , exerts a closing force F _C3 on the anvil cam surface 5821 . Closing force F _C3 consists of the force resulting from horizontal closing force F _H3 and vertical closing force F _V3 and is essentially “perpendicular” or perpendicular to anvil cam surface 5821 of anvil mounting portion 5820 . See FIG. M _A3 is from anvil pivot axis PA ₃ (coincident with the center of anvil trunnion 5822) to inner camming surface 6036 of distal closure tube 6030 and anvil attachment portion 5820 when anvil 5810 is pivoted to the closed position. to the point of contact with anvil cam surface 5821 of . In one example, closing moment arm M _A3 can be, for example, about 0.502 inches. M _A3 ×F _C3 = Closing moment C _M3 applied to anvil attachment portion 5820

29 and 30, anvil body 5812 is formed with two tissue locking formations or tissue locating elements 5830 extending downwardly from each side of anvil body 5812 (FIGS. 29 and 29). Only one tissue locking formation 5830 is visible in FIG. 30). When anvil 5810 is opened to receive target tissue between the lower surface of the anvil and the cartridge deck surface, downwardly extending tissue locking formations 5830 ensure that the target tissue is in the proximal position within surgical staple/fastener cartridge 5700 . It functions to prevent proximal extension beyond the posterior staple/fastening element. In the embodiment shown in FIG. 29, for example, proximal-most staple/fastening element pocket 5720 is shown in phantom with respect to tissue locking formation 5830. In the embodiment shown in FIG. As can be seen in this view, tissue locking formation 5830 has downwardly extending portion 5832 and chamfered portion 5834 . Contact of portions 5832, 5834 with the target tissue causes the target tissue to proximally extend past the proximal-most staple/fastener supported within proximal-most staple/fastener pocket 5720 of staple/fastener cartridge body 5702. prevent it from extending in any direction.

Returning again to FIG. 29, when anvil 5810 is pivoted closed over target tissue (not shown) disposed between anvil body 5812 and lower surface 5813, the tissue exerts tissue force T _F3 on anvil body 5812. In addition to the underside or tissue contacting surface 5813 of the anvil 5810, it also exerts a tissue counter moment C _T3 which must be overcome by a closing moment C _M3 established by the elements of the closure system. The example shown in FIG. 29 shows a tissue force T _F3 evenly distributed on the anvil 5810 and a tissue moment arm M _T3 established by the clamped tissue (the clamped tissue is shown in FIG. 29 for clarity). is not shown). As can be seen from this figure, tissue moment arm M _T3 is significantly longer than closure moment arm M _A3 in this example (ie, M _T3 >M _A3 ).

31 and 32, as discussed above, anvil trunnions 7822 of anvil 7810 of replaceable surgical tool assembly 7000 extend laterally from each side of anvil mounting portion 7820 to form elongated channels. It is received within a corresponding “kidney-shaped” opening 7613 formed in an upright wall 7612 of the proximal end portion 7610 of 7602 . When the anvil 7810 is in the "fully" open position, the anvil trunnion 7822 can generally be located at the bottom 7613B of the kidney-shaped slot 7613. Anvil 7810 can be moved to a closed position by distally advancing distal closure tube portion 8030 in distal direction DD, thereby causing inner camming surface of distal end 8035 of distal closure tube portion 8030 to move. 8036 rides on anvil cam surface 7821 formed on anvil mount 7820 of anvil 7810 . As the internal camming surface 8036 of the distal end 8035 of the distal closure tube portion 8030 is advanced distally along the anvil camming surface 7821 of the anvil mounting portion 7820 under a horizontal closing force F _H4 (FIG. 32), Distal obturator tube portion 8030 pivots body portion 7812 of anvil 7810 relative to surgical staple/fastening element cartridge 7700 as anvil trunnion 7822 moves upwardly and distally within kidney-shaped slot 7613 and pivots. move in the direction When the distal obturator tube portion 8030 reaches the end of its closing stroke, the distal end 8035 of the distal obturator tube portion 8030 abuts/contacts the abrupt anvil ledge 7823 and pushes against the lower surface or tissue of the body portion 7812 . Formed pockets (not shown) in contact surface 7813 function to position anvil 7810 in proper alignment with staples/fastening elements in staple/fastening element cartridge 7700 . Anvil ledge 7823 is defined between anvil cam surface 7821 of anvil mounting portion 7820 and anvil body portion 7812 . Stated another way, in this configuration the anvil cam surface 7821 does not extend to the outermost surface 7817 of the anvil body 7812 . When in that position, the anvil trunnion 7822 is located at the top 7613T of the kidney-shaped slot 7613. M _A4 represents the moment arm from the anvil pivot axis PA ₄ (coincident with the center of the anvil trunnion 7822) when the trunnion 7822 is located at the top 7613T of the kidney-shaped slot 7613 as shown. In one example, moment arm M _A4 can be, for example, about 0.184 inches. M _A4 ×F _H4 = Closing moment C _M4 applied to anvil attachment portion 7820 .

31 and 32, anvil body 7812 is formed with two tissue locking or tissue locating formations 7830 extending downwardly from each side of anvil body 7812 (FIGS. 31 and 32). Only one tissue locking formation 7830 is visible in FIG. 32). When the anvil 7810 is opened to receive target tissue between the lower surface of the anvil and the surface of the cartridge deck, the downwardly extending tissue locking formation 7830 allows the target tissue to remain within the surgical staple/fastener cartridge 7700. It functions to prevent proximal extension beyond the posterior staple/fastening element. 31, for example, the proximal-most staple/fastening element pocket 7720 is shown in phantom with respect to the tissue locking formation 7830. In the embodiment shown in FIG. As can be seen in this view, tissue locking formation 7830 has downwardly extending portion 7832 and chamfered portion 7834 . Contact of portions 7832, 7834 with the target tissue causes the target tissue to proximally past the most proximal staple/fastener supported within the most proximal staple/fastener pocket 7720 of staple/fastener cartridge body 7702. prevent it from extending in any direction.

Returning again to FIG. 31, when the anvil 7810 is pivoted closed over the target tissue (not shown) disposed between the underside or tissue contacting surface 7813 of the anvil body portion 7812, the tissue exerts a tissue force T. _F4 is applied to the lower surface 7813 of the anvil body 7812, thereby exerting a tissue counter moment C _T4 on the anvil 7810 that must be overcome by the closure moment C _M4 established by the elements of the closure system. The example shown in FIG. 31 shows a tissue force T _F4 evenly distributed on the anvil 7810 and a tissue moment arm M _T4 established by the clamped tissue (the clamped tissue is shown in FIG. 31 for clarity). is not shown). As can be seen from this figure, tissue moment arm M _T4 is significantly longer than closure moment arm M _A4 in this example (ie, M _T4 >M _A4 ).

The illustrated exemplary replaceable surgical tool assemblies 1000, 3000, 5000, 7000 include surgical stapling apparatus with "separate and separate" closure and firing systems. That is, the closure system used to close the jaws and the firing system used to drive the firing members through the surgical staple/fastening element cartridge to cut and fasten tissue can be operated separately. is. These separate and distinct closing and firing systems are distinct from surgical stapling instruments where actuation of the firing system requires advancement of the firing member to move the jaws from the open position to the closed position. can do. However, as will be described in greater detail below, some of the firing members of the replaceable surgical tool assemblies disclosed herein are configured such that the firing member is fired (i.e., distally through the surgical end effector). A further closing motion can also be applied to the anvil as it advances toward it). As can be seen by referring to FIGS. 25-32, in the illustrated example, M _A2 >M _A3 >M _A1 >M _A4 . Figures 25, 27, 29 and 31 also show the resistance forces established by the tissue during the closure process. _TF represents the force generated by tissue as it is clamped between the anvil and staple cartridge. These forces establish a "reverse" moment C _T applied to the anvil around the point/region of camming contact of the distal obturator tube portion with the anvil camming surface of the anvil mounting portion. In these illustrated examples, the tissue moment arm of each surgical instrument (tool assembly) is generally greater than the closing moment arm of that instrument. The anvil is sufficiently closed against the tissue due to the difference between the typical tissue moment arm acting in clamping tissue between the anvil and the surgical staple/fastening element cartridge and the closing moment arm of the instrument. It will be appreciated that sufficient closing force must be applied to the anvil by the distal obturator tube portion. Therefore, the distal obturator tube portion must be strong and robust enough to handle the large stresses that occur therein during the closure process. To establish a stress state within the distal obturator section that more closely resembles a "hoop stress" state instead of a "ring stress" state, the sidewalls of the distal obturator section are thickened to increase the thickness of the corresponding elongated channel sidewalls and It can be brought into contact with the anvil mounting portion. Such a configuration can also increase the strength of the overall hoop-like structure of the tube. Maximizing the thickness of the anvil side of the distal obturator tube segment increases the strength of the tube segment (hoop) while providing a large bearing or camming surface for camming the anvil downward toward the cartridge. Space can be secured. U.S. patent application Ser. No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATORABLE CLOSING AND FIRRING SYSTEMS," can be used in various interchangeable surgical tool assemblies disclosed herein. Several distal obturator tube segment configurations are disclosed.

The above considerations and comparisons suggest that designing a closure system with a large closing moment arm will lead to increased efficiency of each element of the closure system, reducing the closure force required to achieve complete anvil closure to tissue. It can be shown that the size can be reduced. However, as noted above, trying to maximize the closing moment arm can involve tradeoffs with other design variables. For example, another desirable attribute relates to "jaw opening". "Jaw opening" is measured along a line perpendicular to the center of the distal-most staple or fastening element center to the corresponding distal-most staple-forming pocket on the lower or tissue-contacting surface of the anvil body portion. It can refer to the distance _JA . 33 shows jaw opening J _A1 of surgical end effector 1500. FIG. In the example shown, the distal-most staple/fastener pocket 1730 houses therein the distal-most staple or fastening element (not shown). Each of the distal-most staples or fastening elements corresponds to a distal-most staple/fastening element forming pocket 1815 (shown in phantom in FIG. 33) formed in the lower surface or tissue contacting surface 1813 of the anvil body 1812. ing. The distance J _A1 between the distal-most staple/fastener pocket 1730 and the corresponding distal-most staple/fastener forming pocket 1815 is the “jaw opening” of surgical end effector 1500 . In at least one embodiment, J _A1 is approximately 1.207 inches, for example. 34 shows jaw opening J _A2 of surgical end effector 3500. FIG. In the illustrated example, the distal-most staple/fastener pocket 3730 houses therein the distal-most staple or fastening element (not shown). Each distal-most staple or fastening element corresponds to a distal-most staple/fastening element forming pocket 3815 formed in the lower surface or tissue contacting surface 3813 of anvil body 3812 . The distance J _A2 between the distal-most staple/fastener pocket 3730 and the corresponding distal-most staple/fastener forming pocket 3815 is the “jaw opening” of surgical end effector 3500 . In at least one embodiment, J _A2 is about 0.781 inches, for example. 35 shows jaw opening J _A3 of surgical end effector 5500. FIG. In the example shown, the distal-most staple/fastening element pocket 5730 houses the distal-most staple/fastening element (not shown) therein. Each of the distal-most staple/fastening elements corresponds to a distal-most staple/fastening element forming pocket 5815 formed in the lower surface or tissue contacting surface 5813 of anvil body 5812 . The distance J _A3 between the distal-most staple/fastener pocket 5730 and the corresponding distal-most staple/fastener forming pocket 5815 is the “jaw opening” of surgical end effector 5500 . In at least one embodiment, for example, J _A3 is about 0.793 inches. 36 shows jaw opening J _A4 of surgical end effector 7500. FIG. In the example shown, the distal-most staple/fastener pocket 7730 houses the distal-most staple or fastening element (not shown) therein. Each distal-most staple or fastening element corresponds to a distal-most staple/fastening element forming pocket 7815 formed in the underside or tissue contacting surface 7813 of the anvil body 7812 . The distance J _A4 between the distal-most staple/fastener pocket 7730 and the corresponding distal-most staple/fastener forming pocket 7815 is the “jaw opening” of surgical end effector 7500 . In at least one embodiment, for example, J _A4 is about 0.717 inches. Therefore, in these examples, J _A1 >J _A3 >J _A2 >J _A4 . Therefore, by comparison, surgical end effector 1500 has the largest jaw opening.

Surgical end effector designs that employ separate and distinct closure and firing systems that employ an axially movable closure ring or distal closure tube portion, such as the examples discussed above, require an anvil or jaw pivot. The interrelationship between the axis of motion P _A and the distal end of the distal obturator portion, as well as the sturdiness of the anvil mounting portion, determines the jaw opening size achievable in each particular end effector design. obtain. These interrelationships can be better understood with reference to FIG. 37, for example. FIG. 37 shows a surgical end effector 1500R using an anvil 1810R with anvil attachment portion 1820R shown in solid lines. Anvil mounting portion 1820R includes an anvil trunnion 1822R that defines a reference pivot axis _PAR about which anvil mounting portion 1820R can pivot relative to elongate channel 1602R. Surgical end effector 1500R also employs a distal obturator tube portion 2030R having a distal end 2035R configured for camming contact with anvil mounting portion 1820R in the various manners described above. Surgical staple/fastening element cartridge 1700R is supported within elongated channel 1602R and has a cartridge deck surface or tissue contacting surface 1710R. FIG. 37 shows the distance D _P between the reference pivot axis P _AR and the distal end 2035R of the distal obturator tube portion 2030R. FIG. 37 shows the anvil 1810R in solid lines. Anvil body 1812R is in its maximum open position when distal closure tube portion 2030R is in its most proximal starting position relative to anvil mounting portion 1820R. The maximum aperture angle APA _R for that configuration is, for example, about 10°. This opening angle APA _R is typical of many end effector configurations. In another end effector configuration, the opening angle is 12.25°. In one configuration, D _P may be about 0.200 inches, for example. To achieve a larger opening _angle APA _R1 of, for example, 22°, if there is no change in the relationship between the distal end 2035R of the distal obturator tube portion 2030R and the reference pivot axis P _AR cross-sectional width _MW must be made unnecessarily small. Anvil _1810R1 is shown in phantom. As can be seen from this figure, a steep shelf must be formed between anvil body _1812R1 and anvil mounting portion _1820R1 to reduce its cross-sectional width. Opening angle APA _R1 is measured from lower surface 1813R ₁ of anvil body 1812R ₁ and deck surface 1710R of surgical staple/fastening element cartridge 1700R. Such reduced robustness of the anvil mounting portion of the anvil leads to reduced reliability of the anvil, which is less desirable than anvils having anvil mounting portions with larger cross-sectional profiles.

38 and 39, increasing the jaw opening (or opening angle) as the pivot point or pivot axis PA approaches the distal end of the starting or proximal position of the distal closed tube portion. can be realized more easily. 38 shows a surgical end effector 1500' substantially similar to surgical end effector 1500 except for the location of pivot axis PA' relative to distal end 2035 of distal obturator tube portion 2030. FIG. As can be seen from this figure, the distance between the pivot axis PA' and the distal end 2035 of the distal obturator tube portion 2030 when the distal obturator tube portion 2030 is in its proximal-most starting position is DP' and the aperture angle is APA. Stated another way, when the distal obturator tube portion 2030 is in its starting position corresponding to the fully open position of the anvil 1810, its distal end 2035 lies on a reference plane RF perpendicular to said shaft axis SA. The distance between the pivot axis PA' and the reference plane RF' measured along a line perpendicular to the reference plane RF' and passing through the pivot axis PA' is DP'. In at least one configuration, DP' can be about 0.200 inches and the aperture angle APA can be about 10 degrees.

FIG. 38 shows the opening angle APA of surgical end effector 1500′ with distance DP′ between reference pivot axis PA′ and distal end 2035 of distal obturator tube portion 2030. FIG. Referring now to FIG. 39, as can be seen in this figure, the pivot axis PA and the distal end of the distal obturator tube portion 2030 when the distal obturator tube portion 2030 is in its proximal-most origin position. The distance DP between the reference plane RF on which 2035 is located is less than the distance DP' and the aperture angle _APA1 is greater than APA. For example, in at least one embodiment, distance DP is approximately 0.090 inches and aperture angle APA ₁ is approximately 22°. Therefore, by bringing the pivot axis PA closer to the distal end of the distal obturator tube portion when the distal obturator tube portion is in its proximal-most starting position, the jaws can be adjusted without having to reduce the cross-sectional width of the anvil attachment location. The opening can be greatly enlarged. This may represent a significant improvement compared to other surgical end effector configurations. In various circumstances, the center of the anvil trunnion 1822 is 0.010 to 0.060 inches from the distal end 2035 of the distal obturator portion 2030 when the distal obturator portion is in the origin (proximal-most) position. can be ideally placed between The maximum distance for large jaw opening applications can be, for example, 0.090 inches. As also seen in FIG. 39, when the anvil 1810 is in its fully open position as shown, the downwardly extending portion 1832 of the tissue anchor 1830 rests generally on the deck surface 1710 of the staple cartridge. Additionally, proximal movement of the target tissue during the clamping action is prevented.

40 and 41 illustrate a tissue locking or tissue positioning mechanism 1830 for use with one form of surgical end effector 1500. As shown in FIG. As noted above, tissue anchor 1830 includes downwardly extending portion 1832 and chamfered portion 1834 . Downwardly extending portion 1832 includes distal edge 1833 terminating at distal corner 1835 . FIG. 40 shows anvil 1810 in its fully open position. The lower surface 1813 of the anvil body 1812 is located at the opening angle _APA1 . In at least one configuration, the aperture angle APA ₁ is greater than twelve and twenty-five degrees (12.25°) and may be on the order of eighteen degrees (18°). Surgical end effector 1500 can further have a proximal opening P _APP1 , which can be, for example, about 0.254 inches in at least one configuration when in its fully open position. The proximal opening defines how much tissue can be placed between the proximal portions of the jaws (anvil and cartridge). A large proximal opening may be most effective, for example, when cutting and fastening lung tissue that may be partially bulging as it is introduced between the anvil and cartridge. The proximal opening can be measured from the center of the proximal-most fastening element pocket or pocket pair directly perpendicular to the lower surface or tissue contacting surface of the anvil body.

When the anvil 1810 is in the fully open position as shown in FIG. 40, the distal corners 1835 do not extend above the cartridge deck surface 1710 so that the tissue is proximally within the most proximal staple pocket 1720. Proximal movement of the staple is prevented. In at least one embodiment, upstanding channel locking portions 1619 extend upwardly from sidewalls of elongated channel 1602 to mate with respective corresponding tissue locking portions 1830, thereby providing tissue locking portions 1830 and channel locking portions. Proximal penetration of tissue between locking portion 1619 can be further prevented. FIG. 41 shows anvil 1810 in a fully closed position. When in that position, distal edge 1833 of tissue locking portion 1830 generally aligns or coincides with the position of the most proximal staple/fastening element within staple/fastening element cartridge 1700 . The distance from the axis of articulation AA ₁ to the most proximal staple/fastening element is identified as T _SD1 . In one configuration, T _SD1 is, for example, approximately 1.044 inches. When anvil 1810 is fully closed, tissue locking portion 1830 is sized and shaped relative to proximal end portion 1610 of elongate channel 1602 to facilitate easy insertion through a correspondingly sized standard trocar. can be In at least one example, tissue locking portion 1830 of anvil 1810 is sized and shaped for elongate channel 1602 such that surgical end effector 1500 can be inserted through a conventional 12 mm trocar.

42 and 43 illustrate a tissue locking mechanism 3830 for use with one form of surgical end effector 3500. As shown in FIG. As noted above, tissue anchor 3830 includes downwardly extending portion 3832 and chamfered portion 3834 . Downwardly extending portion 3832 includes a distal edge 3833 that terminates at distal corner 3835 . FIG. 42 shows anvil 3810 in the fully open position. The lower surface 3813 of the anvil body 3812 is located at the opening angle _APA2 . In at least one configuration, the aperture angle APA ₂ is about 13.5 degrees (13.5°). Surgical end effector 3500 can further have a proximal opening P _APP2 , which can be, for example, about 0.242 inches in at least one configuration when in its fully open position. When the anvil 3810 is in the fully open position as shown in FIG. 42, the distal corners 3835 do not extend above the deck surface 3710 of the cartridge so that tissue is proximally within the most proximal staple/fastener pocket 3720. Proximal movement of the staple/fastening element is prevented. FIG. 43 shows anvil 3810 in a fully closed position. When in that position, distal edge 3833 of tissue locking portion 3830 is generally aligned or coincident with the position of the most proximal staple/fastening element within staple/fastening element cartridge 3700 . The distance from the axis of articulation AA ₂ to the most proximal staple/fastening element is identified as T _SD2 . In one configuration, T _SD2 is, for example, approximately 1.318 inches.

44 and 45 illustrate a tissue locking mechanism 5830 for use with one form of surgical end effector 5500. As shown in FIG. As noted above, tissue locking portion 5830 includes downwardly extending portion 5832 and chamfered portion 5834 . Downwardly extending portion 5832 includes a distal edge 5833 that terminates at distal corner 5835 . FIG. 44 shows anvil 5810 in its fully open position. The lower surface 5813 of the anvil body 5812 is located at the opening angle _APA3 . In at least one configuration, the aperture angle APA ₃ is approximately eight degrees (8°). Surgical end effector 5500 can further have a proximal opening P _APP3 , which can be, for example, about 0.226 inches in at least one configuration when in its fully open position. When the anvil 5810 is in the fully open position as shown in FIG. 44, the distal corner 3835 extends slightly above the deck surface 5710 of the cartridge. FIG. 45 shows anvil 5810 in a fully closed position. When in that position, distal edge 5833 of tissue locking portion 5830 is generally aligned or coincident with the position of the most proximal staple/fastening element within staple/fastening element cartridge 5700 . The distance from the articulation axis AA ₃ to the most proximal staple/fastening element is identified as T _SD3 . In one configuration, T _SD3 is, for example, approximately 1.664 inches.

FIGS. 46 and 47 show a tissue locking mechanism 7830 for use with one form of surgical end effector 7500. FIG. As noted above, tissue anchor 7830 includes downwardly extending portion 7832 and chamfered portion 7834 . A downwardly extending portion 7832 includes a distal edge 7833 that terminates at a distal corner 7835 . FIG. 46 shows anvil 7810 in its fully open position. The lower surface 7813 of the anvil body portion 7812 is located at the opening angle _APA4 . In at least one configuration, the aperture angle APA ₄ is approximately ten degrees (10°). Surgical end effector 7500 can further have a proximal opening P _APP4 , which can be, for example, about 0.188 inches in at least one configuration when in its fully open position. When the anvil 7810 is in the fully open position as shown in FIG. 46, the distal corners 7835 extend slightly below the deck surface 7710 of the cartridge, thereby allowing tissue to enter the proximal-most staple pocket 7720. Proximal movement of the most proximal staple/fastening element is prevented. FIG. 47 shows anvil 7810 in the fully closed position. When in that position, distal edge 7833 of tissue locking portion 7830 is generally aligned or coincident with the position of the most proximal staple/fastening element within staple/fastening element cartridge 7700 . The distance from the articulation axis AA ₄ to the most proximal staple/fastening element is identified as T _SD4 . In one configuration, T _SD4 is approximately 1.686 inches, for example.

In various circumstances, the relationship of the firing member to the articulation axis AA, as well as to the jaw pivot axis PA about which the anvil pivots, can be affected by the length of the articulation joint mechanism. Of course, longer articulation joint mechanisms can adversely affect the maneuverability of the end effector in tight spaces and limit the amount of jaw opening that can ultimately be obtained by the end effector. FIG. 48 shows surgical end effector 1500 in a fully open position. That is, anvil 1810 has been pivoted to its fully open position and firing member 2140 is in its home or starting position. The distance between the distal end of each of the anvil engagement features 2147 and the articulation axis AA ₁ is represented by AJD ₁ . In at least one example, AJD ₁ is approximately 0.517 inches. 49 by way of comparison, the distance AJD ₂ between the distal end of each of the anvil engagement features 4147 and the articulation axis AA ₂ is approximately 0.744 inches in at least one example. Referring to FIG. 50, the distance AJD ₃ between the distal end of each of the anvil engagement features 6147 and the articulation axis AA ₃ is approximately 1.045 inches in at least one example. Referring to FIG. 51, the distance AJD ₄ between the distal end of each of the anvil engagement features 8147 and the articulation axis AA ₄ is approximately 1.096 inches in at least one example. Thus, as can be seen from this comparison, the articulation joint mechanism of surgical end effector 1500 (as measured by distances _AJD1 , _AJD2 , _AJD3 , _AJD4 ) is more compact than surgical end effectors 3500, 5500 and 7500. and therefore easier to manipulate in at least some surgical applications.

Another factor that can affect the length of the joint mechanism relates to the position of the firing member relative to the anvil pivot axis PA about which the anvil pivots. For example, FIG. 52 shows anvil 1810 of surgical end effector 1500 in its fully open position. When in that position, firing member 2140 is in its rest or "start position." As can be seen from this figure, one useful measure for comparing the "compactness" of the articulation joint mechanism is the distance between the proximal end 2149 of each upper anvil engagement mechanism 2147 and the anvil pivot axis _PA1 . is the proximal tab distance TD ₁ of . In at least one preferred configuration, when anvil 1810 is in its fully open position and firing member 2140 is in its proximal-most or starting position, proximal tab distance TD ₁ is the total length TL ₁ of each of anvil engagement features 2147. greater than about thirty-five percent (35%) of Stated another way, when anvil 1810 and firing member 2140 are in the positions described above, at least 35% of each of anvil engagement features 2147 extends proximally beyond anvil pivot axis _PA1 . do. FIG. 53 shows end effector 1500 with anvil 1810 in the closed position and firing member 2140 in its proximal-most or starting position. As can be seen from this figure, at least 35% of each of the anvil engagement features 2147 extends proximally beyond the anvil pivot axis PA1.

FIG. 54 shows the position of firing member 4140 of surgical end effector 3500 when anvil 3810 is in its fully open position and firing member 4140 is in its proximal-most or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 4147 is fully distal to the anvil pivot axis _PA2 , thereby resulting in a longer articulation joint mechanism. Thus, distance _TD2 is the distal distance between proximal end 4149 of anvil engagement mechanism 4147 and anvil pivot axis _PA2 . FIG. 55 shows the position of firing member 6140 of surgical end effector 5500 when anvil 5810 is in its fully open position and firing member 6140 is in its proximal-most or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 6147 is fully distal to the anvil pivot axis _PA3 , thereby resulting in a longer articulation joint mechanism. Thus, distance _TD3 is the distal distance between proximal end 6149 of anvil engagement mechanism 6147 and anvil pivot axis _PA3 . FIG. 56 shows the position of firing member 8140 of surgical end effector 7500 when anvil 7810 is in its fully open position and firing member 8140 is in its proximal-most or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 8147 is fully distal to the anvil pivot axis _PA4 , thereby resulting in a longer articulation joint mechanism. Thus, distance _TD4 is the distal distance between proximal end 8149 of anvil engagement mechanism 8147 and anvil pivot axis _PA4 . For comparison purposes, surgical end effector 1500 has shown that a portion of the anvil engagement mechanism on the firing member extends proximally beyond the anvil pivot axis when the firing member is in its proximal-most or starting position. It is the only surgical end effector that extends. The anvil engagement features of each of the firing members of surgical end effectors 3500, 5500 and 7500 are fully distal to the respective anvil pivot axis when the firing members are in their proximal-most or starting positions. be. To further this comparison, for example, surgical end effector 1500 has at least thirty-five percent (35%) of the anvil engagement features engaged with the anvil when the firing member is in its starting position and the anvil is fully open. It is the only surgical end effector that exists between the pivot axis and the articulation axis. A similar comparison can be made by comparing the same distance between the position of the lower channel engagement mechanism on the firing member and the jaw pivot axis when the firing member is in its proximal-most starting position.

Another measure that can be used to assess the compactness of the articulation joint mechanism is the distance from the articulation axis to the distal edge of the tissue anchor or the proximal-most staple/fastening element for each end effector (distance TSD ₁ , TSD ₂ , TSD ₃ , TSD ₄ - FIGS. 41, 43, 45, 47) to the distal end of the anvil engagement mechanism on the firing member (distances AJD ₁ , AJD ₂ , AJD ₃ , AJD ₄ - Figures 48-51) ratio comparisons may be made. For example, in a preferred configuration AJD/TSD<0.500. The ratio of AJD/TSD is sometimes referred to herein as the "compactness ratio" of that particular surgical end effector. For example, in one configuration of end effector 1500, _AJD1 / _TSD1 = 0.517 inches/1.044 inches = 0.495. In one illustrated example of end effector 3500, _AJD2 / _TSD2 = 0.744 inches/1.318 inches = 0.564. In one illustrated example of the end effector 5500, _AJD3 / _TSD3 = 1.045 inches/1.664 inches = 0.628. In one illustrated configuration, _AJD4 / _TSD4 = 1.096 inches/1.686 inches = 0.650. Thus, in at least one preferred configuration in which the articulation joint mechanism is most compact, has the largest jaw opening, and is most maneuverable, the distance from the articulation axis to the proximal end of the anvil engagement mechanism on the firing member is to the distance from the articulation axis to the distal edge of the tissue anchor or the most proximal staple/fastening element is less than approximately 0.500.

57-61 illustrate a gradual closure mechanism for moving anvil 1810 of surgical end effector 1500 from a fully open position to a closed position to an over closed position. Figures 57 and 58 show the anvil 1810 in the closed position. In both of these figures, the distal obturator tube portion 2030 has been advanced distally DD to its fully closed position. As discussed above, the interaction of inner camming surface 2036 of distal closure tube portion 2030 and anvil camming surface 1821 of anvil mounting portion 1820 pivots anvil 1810 to the closed position. As seen in FIG. 58, the staple forming lower surface or tissue contacting surface 1813 of the anvil body 1812 can be relatively parallel and spaced apart from the cartridge deck surface 1710 of the surgical staple/fastening element cartridge. When in its initial closed position, firing member 2140 is in its starting position as seen in FIG. When in that position, anvil engagement feature 2147 of firing member 2140 is not engaged with anvil 1810 but is substantially horizontally aligned with ledge 1816 formed in anvil 1810 . In at least one configuration, an angled portion 1829 is formed proximal to each of the horizontal anvil shelves 1816 . 59 shows the position of firing member 2140 after distal advancement to the point where anvil engagement mechanism 2147 first engages horizontal anvil ledge 1816 of anvil 1810, and FIG. A position of firing member 2140 and anvil 1810 such that the engagement mechanism is in full engagement with anvil ledge 1816 and exerts an "over-close" force on anvil 1810 as firing member 2140 continues to advance distally. is shown. For example, in at least one configuration as shown in FIG. 61, when the anvil 1810 is in the closed position (with no tissue clamped between the anvil and cartridge), the distal portion of the anvil 1810 extends from the cartridge deck. contact surface 1710; As a result of such a configuration, the force required to distally advance the firing member within the end effector from its starting position to its ending position is comparable to other surgical ends that do not employ such a gradual closure mechanism. It can be generally smaller than the effector configuration.

FIG. 62 shows anvil 1810 of surgical end effector 1500 in a fully open position. As noted above, each of anvil trunnions 1822 is received within a corresponding trunnion cradle 1614 formed in upstanding wall 1612 of proximal end portion 1610 of elongated channel 1602 . Anvil trunnions 1822 are pivotally retained within their corresponding trunnion cradles 1614 by channel caps or anvil retainers 1630 . Channel cap 1630 has a pair of mounting projections 1636 configured to be retained and received within corresponding projection grooves or notches 1616 formed in upstanding wall 1612 of proximal end portion 1610 of elongated channel 1602 . contains. During part of the closing stroke of anvil 1810 against thick tissue, reaction forces established during the tissue clamping process tend to push anvil trunnions 1822 out of their respective trunnion cradles 1614 . Channel cap 1630 includes a pair of slot cap portions 1632 corresponding to each trunnion cradle 1614 . When channel caps 1630 are placed over proximal end portions 1610 of elongate channels 1602, each slot cap portion 1632 functions to retain anvil trunnions 1822 within respective trunnion cradles 1614 during the closing process. As seen in FIGS. 62 and 63 , each slot cap portion 1632 may have an arcuate bottom 1638 configured to pivotally receive a corresponding anvil trunnion 1822 . Each slot cap 1632 may have a wedge shape that completely blocks the open end of trunnion cradle 1614 . Such a channel cap feature 1630 can facilitate ease of assembly of anvil 1810 into elongated channel 1602 . After the anvil trunnions 1822 are positioned within their respective trunnion cradles 1614, the channel caps 1630 can be installed as shown. In at least one configuration, the distal closure tube portions 2030 are channeled into positions that function to prevent vertical movement of the anvil trunnions 1822 within their corresponding trunnion cradles 1614 during closure as shown in FIG. It has a function of holding the cap 1630 . Alternatively, the mounting projections 1636 may be frictionally retained within their respective notches 1616 or may be retained within the notches by adhesive or other fastening means.

The four interchangeable tool assemblies 1000, 3000, 5000 and 7000 employ different jaw opening configurations to facilitate moving the anvil from the closed position to the fully open position. For example, the distal obturator tube portion 4030 of the replaceable tool assembly 3000 includes a positive jaw or anvil opening mechanism 4040 corresponding to each of the sidewalls of the distal obturator tube portion 4030 and projecting inwardly from the sidewalls. A positive anvil opening mechanism 4040 extends inwardly through a corresponding opening in the transition sidewall and can be welded to the distal obturator tube portion 4030 . In this configuration, the positive anvil opening features are axially aligned with each other and configured to operatively interconnect with corresponding opening ramps formed in the lower surface of anvil mounting portion 3820 . When anvil 3810 and distal obturator tube portion 4030 are in their fully closed positions, each of positive anvil opening features 4040 is positioned within a cavity established between the anvil opening ramp and the bottom of elongated channel 3602. To position. When in that position, the positive anvil opening mechanism 4040 may not contact the anvil mounting portion 3820, or at least exert no significant opening motion or force on the anvil mounting portion. As the distal obturating tube portion 4030 is moved proximally, the anvil opening mechanism 4040 contacts the anvil opening ramp and pivots the anvil 3810 to the open position. Further details regarding the positive anvil opening mechanism 4040 can be found in U.S. patent application Ser.

With respect to surgical end effector 5500 of tool assembly 5000 , distal obturator tube segment 6030 includes two inwardly extending positive anvil opening tabs 6038 that can be punched into the wall of distal obturator tube segment 6030 . Please refer to FIG. In the illustrated configuration, tabs 6038 are axially aligned with each other and configured to contact corresponding upstanding anvil tails 5827 formed on anvil mounting portion 5820 . As distal closure tube portion 6030 is moved proximally, anvil opening mechanism 6038 contacts anvil tail 5827 to pivot anvil 5810 to the open position.

With respect to surgical end effector 7500 of tool assembly 7000, a positive anvil opening motion is applied to anvil 7810 by distal obturator tube portion 8030 as distal obturator tube portion 8030 is moved proximally. As mentioned above, an upright anvil tab 7824 is formed in the anvil attachment portion 7820 and extends into the horseshoe opening 8038 of the distal obturator tube portion 8030 . Please refer to FIG. Aperture 8038 defines an aperture tab 8039 configured to operatively interconnect with anvil tab 7824 as distal obturator tube portion 8030 is retracted distally. Such interaction of opening tab 8039 and anvil tab 7824 imparts an opening motion to anvil 7810, thereby moving anvil 7810 to the open position.

With respect to surgical end effector 1500 of replaceable tool assembly 1000, in the illustrated example, distal obturator tube portion 2030 has two axially offset proximal and lateral ends, as shown in FIGS. Distal positive jaw opening mechanisms 2040 and 2050 are used. As seen in FIGS. 64 and 65, the proximal positive jaw opening mechanism 2040 is axially proximal to the distal positive jaw opening mechanism 2050 by an axial offset distance AOF. In FIG. 65, the proximal positive jaw opening mechanism 2040 is located on the right side of shaft axis _SA1 (as viewed by the user of the tool assembly). 66, 72 and 73 show the position of the proximal positive jaw opening mechanism 2040 when the anvil 1810 is in the closed position. 66, when in that position, the proximal positive jaw opening mechanism 2040 is within the right or first relief region 1825 formed in the anvil attachment portion 1820. As shown in FIG. Figures 69, 72 and 73 show the position of the distal positive jaw opening mechanism 2050 when the anvil 1810 is in the closed position. When in that position, the distal positive jaw opening mechanism is in contact with the stepped portion 1823 of the anvil cam surface 1821, as seen in most detail in FIG.

To initiate the opening process, the jaw closure system is actuated to move the distal closure tube portion 2030 in the proximal direction PD. As the distal closure tube portion 2030 is moved in the proximal direction PD, the proximal positive jaw opening mechanism 2040 contacts the first or right jaw opening cam surface 1826 and forces the anvil 1810 into the jaw opening. Begin adding opening movements. See Figures 67, 74 and 75. As seen in FIGS. 70, 74 and 75, during such proximal movement of distal closure tube portion 2030, distal positive jaw opening mechanism 2050 engages anvil mounting portion 1820. is axially movable within a second or left relief region 1840 formed in the . Thus, the proximal positive jaw opening mechanism 2040 imparts the first, or initial, opening motion to the anvil mounting portion 1820, while the distal positive jaw opening mechanism 2050 applies the anvil to the anvil. No significant opening motion is applied to the 1810. Further proximal movement of distal closure tube portion 2030 causes distal positive jaw opening mechanism 2050 to contact left anvil opening tab 1842 and proximal positive jaw opening mechanism 2040 to open the jaws. away from the inner cam surface 1826. Thus, the proximal positive jaw opening mechanism 2040 is disengaged from the anvil mounting portion 1820 and does not impart any additional opening motion to the anvil mounting portion, whereas the distal positive jaw opening mechanism 2050 is disengaged from the anvil mounting portion. , applies a second jaw opening motion to anvil mount 1820 to pivot anvil 1810 to the fully open position shown in FIGS.

FIG. 78 illustrates in graphical form the anvil or jaw opening process used with the replaceable tool assembly 1000 . As can be seen from this figure, the left or vertical axis of the graph represents the amount of jaw opening from about 0° to about 22° (the "anvil opening angle"), while the lower or horizontal axis represents the amount of jaw opening when the anvil is fully open. It represents the approximate proximal axial travel of the distal obturator tube portion 2030 from the closed position to the anvil fully open position. As noted above, the "anvil opening angle" or "jaw opening angle" may refer to the cartridge deck surface or tissue contacting surface of a surgical fastener cartridge, or the fastening element molding surface or the anvil or "second jaw". The angle between the tissue contacting surfaces can be expressed. When the anvil is fully closed, the anvil opening angle can be about 0°, for example. In the illustrated configuration, the distal obturator tube portion 2030 extends proximally from a first position (1850 on the graph) corresponding to the fully closed position, for example, by a proximal distance of about 0.040 inches. , to a first intermediate position (1852 on the graph) before the proximal positive jaw opening mechanism 2040 begins to apply the first jaw opening motion to the anvil 1810 . Distal obturating tube portion 2030 extends proximally from a first intermediate position 1852 to a second intermediate position (1854 on graph), for example, about 0.040 inch to about 0.120 inch further proximally. , the proximal positive jaw opening mechanism 2040 moves the anvil 1810 through an anvil opening angle of 0° to about 10°. The distal obturator tube portion 2030 is moved from the second intermediate position 1854 to the third intermediate position (1856 on the graph) an additional proximal distance (about 0.120 inches to about 0.140 inches). While continuing to move in the azimuthal direction, the anvil remains at an anvil opening angle of approximately 10°. Distal obturating tube portion 2030 is further proximally proximally a distance (about 0.140 inch to about 0.240 inch) from third intermediate position 1856 to fourth intermediate position (1858 on graph). Moving in the direction, distal positive jaw opening mechanism 2050 begins to apply a second jaw opening motion to anvil 1810 . Distal obturator tube portion 2030 moves an additional proximal distance (eg, about 0.140 inch to about 0.240 inch) from third intermediate position 1856 to fourth intermediate position (1858 on graph). As the distal positive jaw opening mechanism 2050 moves the anvil 1810 relative to the elongated channel 1602, the anvil opening angle increases, for example, from about 10° to about 22°. Distal obturator tube portion 2030 extends a further proximal distance (eg, about 0.240 inch to about 0.260 inch) from fourth intermediate position 1858 to final proximal position (graph 1860). , the anvil 1810 remains in a fully open position with an anvil opening angle of about 22°.

The illustrated example closing process of the replaceable tool assembly 1000 can be understood with reference to FIGS. Figures 68 and 71 show the anvil 1810 in its fully open position. As seen in these figures, the proximal positive jaw opening mechanism 2040 is not in contact with the anvil mounting portion 1820 and the distal positive jaw opening mechanism 2050 is in contact with the left anvil opening tab 1842. ing. Once the anvil closure process is initiated, the closure drive system is actuated to move the distal closure tube portion 2030 in the distal direction DD. The anvil 1810 remains in its fully open position as the distal closed tube portion moves from the final proximal position 1860 to the fourth intermediate position 1858 (FIG. 78). Thus, once the closure process is initiated, in at least one example, distal closure tube portion 2030 is distally displaced a first or initial predetermined axial closure distance before anvil 1810 begins to move. can move to Stated another way, the distal obturator tube portion can move a first predetermined axial closing distance before any closing motion is applied to the anvil 1810 . In at least one example, the first or initial predetermined closure distance can be approximately 0.020 inches. As distal obturator tube portion 2030 continues to move distally the intermediate axial closure distance, distal end 2035 of distal obturator tube portion 2030 moves toward inner camming surface 2036 of distal obturator tube portion 2030 . Anvil attachment portion 1820 begins to contact anvil cam surface 1821 until it begins to cam contact with anvil cam surface 1821 (FIGS. 67 and 70). As the inner cam surface 2036 rides over the anvil cam surface 1821, the anvil 1810 pivots to the fully closed position. Anvil camming surface 1821 and internal camming surface 2036 are configured to allow further distal movement of distal obturator tube portion 2030, eg, from a first intermediate point or position 1852 to first position 1850. (Fig. 78). Thus, in at least one example, distal closure tube portion 2030 moves distally a final predetermined axial closure distance during the closure process after anvil 1810 reaches its fully closed position. can be done. In at least one example, the final predetermined axial closure distance can be approximately 0.040 inches.

Surgical stapling apparatus employing a firing member assembly including a firing member having a tissue cutting surface are designed to prevent inadvertent advancement of the firing member unless an unused staple cartridge is properly supported within the end effector. It may be desirable for the firing system and end effector portion(s) to be configured in some manner. For example, if no staple cartridge is present and the firing member is advanced distally through the end effector, tissue will be cut but not stapled. Similarly, if a spent staple cartridge (i.e., a staple cartridge with at least some of the staples already fired) is present in the end effector and the firing member is advanced, the tissue will be severed, but Stapling may, if at all, be imperfect. It will be appreciated that the occurrence of such phenomena can lead to undesirable catastrophic results during surgical procedures. U.S. Patent No. 6,988,649 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT", U.S. Patent No. 7,044,352 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOC KOUT MECHANISM FOR PREVENTION OF FIRING" , No. 7,380,695, Title of Invention "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING", US Patent Application Publication No. 2016-0367247-A1, Title of Invention "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING" and U.S. patent application Ser. PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT" Each discloses a variety of firing member lockout mechanisms. Each of these references is incorporated herein by reference in its entirety.

60A-60I, a surgical end effector 9010 forming part of a surgical tool assembly 9000 including a first jaw 9020 and a second jaw 9120 is shown. In the illustrated configuration, for example, first jaw 9020 includes an elongated channel 9022 configured to removably and operatively support surgical staple cartridge 9600 therein. Elongated channel 9022 is attached to an elongated shaft assembly 9300 of a surgical tool assembly. In the configuration shown in FIGS. 60C and 60D, for example, elongated channel 9022 is pivotally coupled to spine assembly 9310 of elongated shaft assembly 9300 for selective articulation relative to the elongated shaft assembly. See Figures 60D, 60E, 60H and 60I. Elongated shaft assembly 9300 can define a shaft axis SA. Second jaw 9120 includes an anvil 9122 movably supported on elongated channel 9022 and movable between open and closed positions by closure system 9400 . Anvil 9122 includes an anvil body 9124 and an anvil mounting portion 9126 pivotally supported for pivotal movement relative to proximal end 9024 of elongated channel 9022 . Closure system 9400 is axially movable, eg, configured to cam engage cam surface 9128 on anvil mounting portion 9126 as distal closure tube portion 9410 is axially advanced in distal direction DD. A distal closure tube portion 9410 may be included. The distal closure tube portion 9410 may also be configured to impart an opening motion to the anvil attachment portion 9126 when the distal closure tube portion 9410 is moved in the proximal direction PD. See Figures 60C and 60D.

Surgical tool assembly 9000, which further includes firing system 9500, is a firing member configured, in the illustrated configuration, to receive firing motion from a firing control system supported within a housing of, for example, a hand-held control system or a robotic control system. Includes assembly 9510 . In the illustrated embodiment, one form of firing member assembly 9510 includes a first firing member element 9520 consisting of a firing member body 9522 supporting a tissue cutting surface or blade 9524 . Firing member body 9522 is coupled to a firing bar or knife bar 9530 that is operably interconnected with corresponding portions of firing system 9500 for receiving firing motion from a firing control system. Firing member body 9522 can include laterally extending tab elements configured to be received within corresponding second jaw passages or slots 9125 of anvil body 9124. A mating mechanism 9526 can be included. Additionally, firing member body 9522 further includes first jaw or channel engagement features or feet 9528 configured to be received within corresponding first jaw passageways or slots or openings 9023 of elongate channel 9022 . can contain.

Staple cartridge assembly 9600 includes a cartridge body 9602 . See Figures 60H and 60I. Cartridge body 9602 includes a proximal end 9604, a distal end (not shown), and a deck 9606 extending between the proximal and distal ends. In use, staple cartridge 9600 is positioned on a first side of tissue to be stapled and anvil 9122 is positioned on a second side of tissue. Anvil 9122 moves toward staple cartridge 9600 to compress and clamp tissue against deck 9606 . Staples or fastening elements removably stored in the cartridge body 9602 can then be deployed into the tissue. Cartridge body 9602 includes a staple or fastening element cavity (not shown) defined therein, with staples or fastening elements (not shown) removably stored within the staple cavities. Each staple cavity can be arranged in a longitudinal row. In one configuration, three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. The longitudinal slot is configured to axially receive the first firing member element 9520 therethrough. Other configurations of staple/fastening element cavities and staples or fastening elements may also be possible.

The staples or fastening elements are supported by staple drivers (not shown) that are movably supported within cartridge body 9602 . The driver is movable between a first, or unfired, position and a second, or fired, position for ejecting staples or fastening elements from the cavities. The drivers are secured within the cartridge body 9602 by a retainer (not shown) that extends around the bottom of the cartridge body 9602 and includes a resilient member configured to grip the cartridge body and retain the retainer against the cartridge body. is held in The drivers can be moved between their unfired position and their fired position by sled 9610 . The sled 9610 is movable between a proximal or "unfired" position adjacent the proximal end 9604 and a distal or "fired" position (after firing) adjacent the distal end. . As seen in FIG. 60G, the sled 9610 has a plurality of ramps or cams configured to slide under the driver and lift the driver and staples or fastening elements supported thereon toward the anvil. A face 9620 is included. By "unfired," "unused," "new," or "new" staple cartridge 9600, it is meant herein that all staples or fastening elements of staple cartridge 9600 are in the "ready to fire position." do. When in that position, the sled assembly 9610 is in its starting or "unfired" position. A new staple cartridge 9600 can be placed within the elongated channel 9022 and retained within the elongated channel by snap elements of the cartridge body 9602 configured to retainably engage corresponding portions of the elongated channel 9022 . Figures 60G and 60H show a portion of a surgical end effector 9010 with a new or unfired surgical staple cartridge 9600 placed therein. As seen in Figures 60G and 60H, sled 9610 is in the unfired position. More precisely, the first firing member element prevents firing system 9500 from being actuated if an unfired or fresh surgical staple cartridge 9600 is not properly placed within elongated channel 9022. To prevent 9520 from being driven distally through the surgical end effector 9010, the illustrated surgical tool assembly 9000 employs a firing member lockout system, generally indicated as 9700. FIG.

60E and 60F, in one form, a firing member lockout system 9700 includes a second firing member element or tilting element 9710 that includes a sled engaging portion 9720. As shown in FIG. In the illustrated configuration, the second firing member element 9710 is pivotally received, for example, in a corresponding pivot hole 9523 provided in the firing member body 9522, such that it rotates transversely to the shaft axis SA. Pivotally coupled to firing member body 9522 by a mounting joint 9713 in the form of one or more pivot members 9714 for pivotal movement about pivot axis PA. Such a configuration facilitates pivotal movement of second firing member element 9710 relative to firing member body 9522 between a locked position (FIG. 60E) and an unlocked position (FIG. 60F). In the illustrated example, firing member body 9522 includes a distal surface 9525 generally perpendicular to channel engagement feature 9528 and a lockout surface 9527 angled relative to distal surface 9525 . Additionally, one or more support ramps 9529 are formed on the firing member body 9522 that function to define corresponding landing surfaces 9531 for receiving the second firing member element 9710 when in the locked configuration. See Figure 60E.

As seen in FIG. 60F, when the second firing member element 9710 is in the unlocked position, there is a gap between the proximal surface 9722 of the second firing member element 9710 and the distal surface 9525 of the firing member body 9522. A space generally indicated as 9724 is provided. Thus, when in the unlocked position, the proximal surface 9722 of the second firing member element 9710 is not in contact with the distal surface 9525 of the firing member body 9522. 60A-60D, second firing member element 9710 engages a corresponding lockout notch 9026 formed in elongated channel 9022 when second firing member element 9710 is in the locked position. Further includes at least one lockout engagement portion 9730 including an angled locking end 9732 configured to. In one embodiment, for example, the second firing member element 9710 includes two lockout engagement portions 9730. As also seen in FIGS. 60A-60D , a lockout spring or biasing member 9740 is attached to the proximal end 9024 of the elongated channel 9022 and includes two spring arms 9742 respectively corresponding to lockout engagement portions 9730 . I'm in. As shown in FIGS. 60B-60D, spring arm 9742 functions to bias second firing member element 9710 to the locked position.

60G-60I, the sled 9610 has an unlocking portion configured to engage the sled engaging portion 9720 of the second firing member element 9710 when the sled 9610 is in the unfired position. 9630 included. Such configuration functions to pivot the second firing member element 9710 to the unlocked position. When in the unlocked position, the angled lock end 9732 of each lockout engagement portion 9730 pivots out of the corresponding lockout notch 9026 of the elongated channel 9022 to fire or fire the firing member assembly 9510 through the staple cartridge. It can be advanced distally. If the staple cartridge loaded within elongated channel 9022 has already been fired or partially fired, sled 9610 is not in the unfired position and pivots second firing member element 9710 to the unlocked position. move. In such a case, the clinician would be unable to advance or fire the firing member assembly 9510 distally. When in the unlocked position, actuation of firing system 9500 will cause firing member assembly 9510 to move distally. As noted above, when firing member assembly 9510 is driven distally, second firing member element 9710 is in contact with firing member body 9522 via pivot member 9714 . However, when the second firing member element 9710 is pivoted to the locked position (FIG. 60E), a portion of the proximal surface 9722 abuts the angled lockout surface 9527 of the firing member body 9522. 60E and 60F, the pivot holes 9523 of the firing member body 9522 are sized to the corresponding pivot members 9714 to provide a clearance C therebetween. , the load is transferred directly to the firing member body 9522 through the second firing member element and not through the pivot member 9714 . As seen in FIG. 60E, the angled lockout surface 9527 facilitates pivotal movement of the sled engaging portion 9720 to the locked position. If a clinician inadvertently applies a firing motion FM to the firing member assembly 9510 in the distal direction DD when the second firing member element 9720 is in the locked position, the second firing member element 9720 and the elongated Distal advancement of firing member assembly 9510 is prevented by engagement of channel 9022 with lockout notch 9026 and a resulting unlocking load force UL is applied to second firing member element 9720 . This unlocking load force UL is applied to the angled lockout surface 9527 of the firing member body 9522 and not to the pivot member 9714 . Such a configuration prevents loading or stressing the pivot member 9714 should a clinician inadvertently attempt to advance the firing member assembly 9510 when in the locked position. Accordingly, this configuration can prevent the pivot member 9714 from being sheared when the firing member assembly 9510 is so advanced.

As such, the firing member assembly 9510 and firing member lockout assembly 9700 described above can provide several advantages. For example, as discussed above, the distal surface 9525 of the firing member body 9522 receives a firing load that acts as a pivot member that attaches the second firing member element 9710 to the first firing member element 9520. prevent it from being transmitted to When in the lockout condition or locked position, the load is received by the angled lock end 9732 of the lockout engagement portion 9730 . Such a configuration also eliminates the need for vertical movement of the firing member assembly 9510, or more particularly the first firing member element 9520. Such vertical movement can inadvertently cause misalignment with the anvil and elongated channel when moved to the unlocked condition for firing. Further, because the first firing member element 9520 does not move vertically, the anvil engagement mechanism as well as the channel engagement mechanism are advantageously shaped and designed to provide the desired engagement with the anvil and channel during firing. can do. The design and shape of the firing member body can also provide a large surface area for attachment to the knife bar, such as by welding. For example, the distal end of the knife bar can be attached to the firing member body by butt welding and laser welding from both sides to interconnect the laminations to form the knife bar at the distal end. Such a weld configuration can be made more compact longitudinally compared to conventional weld configurations, resulting in superior joint lengths. Other advantages can also be enjoyed from the above firing member and lockout system configurations.

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

Example 1 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a first end effector jaw coupled to an articulation joint coupled to the elongated shaft assembly. a second end effector jaw for selective pivotal movement relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis; concatenated. One of the first end effector jaw and the second end effector jaw is configured to operably support a surgical fastener cartridge therein including a proximal-most fastener location. one of the first end effector jaw and the second end effector jaw axially including a closure member cam surface configured for camming contact with a jaw cam surface of one of the first effector jaw and the second effector jaw; A movable closure member is movable between an open position and a fully closed position. A first distance between the articulation axis and the cam contact area between the closure member cam surface and the jaw cam surface divided by a second distance from the articulation axis to the most proximal fastening element location is: less than 0.5.

Example 2 - The first distance between the jaw pivot axis and the cam contact area between the closure cam member surface and the jaw cam surface is the second distance from the articulation axis to the proximal fastening element position. The surgical instrument of Example 1, wherein divided by is greater than 0.2 and less than 0.5.

Example 3 - The surgical instrument of Example 1 or 2, wherein a cartridge of surgical fastening elements is supported within a first end effector jaw, and the second end effector jaw includes an anvil including a jaw cam surface.

Example 4 - The surgical instrument of Examples 1, 2 or 3, wherein the jaw pivot axis is fixed.

Example 5 - The surgical application of Example 3, wherein the anvil includes at least one tissue locking member including a distal tissue contacting surface corresponding to the most proximal fastening element position when the anvil is in the fully closed position instrument.

Example 6 - Anvil Mounting Where the Anvil Includes an Anvil Body and a Pair of Laterally Extending Anvil Trunnions Configured to be Pivotally Supported Within Corresponding Openings of the Jaw Cam Surface and the First End Effector Jaw A surgical instrument according to example 3 or 5, comprising a portion.

Example 7 - The surgical instrument of Examples 1, 2, 3, 4, 5, or 6, wherein the closure member includes an axially movable distal closure tube portion including a closure member cam surface.

Example 8 - An elongated shaft assembly includes a spine assembly operably coupled to a first end effector jaw and a distal end movably supported for axial movement relative to the spine assembly and axially movable. and a proximal obturator tube assembly pivotally connected to the positional obturator tube portion.

Example 9 - The method of example 8, wherein the proximal obturator tube assembly is operably interconnected with a closure system configured to selectively impart an axial opening and closing motion to the proximal obturator tube assembly surgical instruments.

Example 10 - The surgical instrument of Example 9, wherein the closure system is supported by a handheld housing.

[00103] Example 11 - The surgical instrument of Example 10, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator.

Embodiment 12 - Includes an elongated shaft assembly defining a shaft axis and operable to selectively articulate relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis A surgical instrument further comprising a coupled surgical end effector. A surgical end effector includes an elongated channel coupled to an articulation joint coupled to an elongated shaft assembly. The elongate channel is configured to operably support a surgical fastening element cartridge. The surgical fastener cartridge includes a proximal-most fastener location. The surgical end effector has an anvil pivotally coupled to the elongated channel for selective pivotal movement relative to the elongated channel about a fixed anvil pivot axis transverse to the shaft axis. Including further. The anvil is moveable between an open position and a fully closed position by an axially movable closure member including a closure member cam surface configured for camming contact with an anvil cam surface of the anvil. A first distance between the articulation axis and the cam contact area between the closure member cam surface and the cam surface divided by a second distance from the articulation axis to the most proximal fastening element location is: less than 0.5.

Example 13 - A first distance between the anvil pivot axis and the cam contact area between the closure member cam surface and the anvil cam surface with a second distance from the articulation axis to the most proximal fastening element position The surgical instrument of Example 12, wherein the divide value is greater than 0.2 and less than 0.5.

Example 14 - according to example 12 or 13, wherein the anvil comprises at least one tissue locking member including a distal tissue contacting surface corresponding to the most proximal fastening element position when the anvil is in the fully closed position surgical instruments.

Example 15 - An anvil includes an anvil body and an anvil mounting portion having a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of an anvil cam surface and an elongated channel. The surgical instrument of example 12, 13 or 14, comprising:

Example 16 - The surgical instrument of Example 12, 13, 14 or 15, wherein the closure member includes an axially movable distal closure tube portion including a closure member cam surface.

[00103] Example 17 - The surgical instrument of Example 16, wherein the elongated shaft assembly includes a spine assembly operably coupled to the elongated channel. A proximal obturator tube assembly is movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion.

Example 18 - According to example 17, wherein the proximal obturator tube assembly is operatively interconnected with a closure system configured to selectively impart an axial opening and closing motion to the proximal obturator tube assembly surgical instruments.

Example 19 - The surgical instrument of Example 18, further comprising a firing member operably supported for axial movement through the surgical fastener cartridge upon application of an axial firing motion.

Example 20 - A surgical system including a housing operatively supporting a closure system therein. The surgical system further includes a replaceable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that the proximal closure portion of the elongated shaft assembly undergoes axial closure movement from the closure system. configured to receive The elongated shaft assembly defines a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a first end effector jaw coupled to an articulation joint coupled to the elongated shaft assembly. a second end effector jaw for selective pivotal movement relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis; concatenated. One of the first end effector jaw and the second end effector jaw is configured to operably support a surgical fastener cartridge having a proximal-most fastener location. One of the first end effector jaw and the second end effector jaw is moved between an open position and a fully closed position by an axially movable distal closure member operably coupled to a proximal closure portion of the elongated shaft assembly. It is possible to move between The distal closure member includes closure member cam surfaces configured for camming contact with jaw cam surfaces of one of the first end effector jaw and the second end effector jaw. A first distance between the articulation axis and the cam contact area between the closure member cam surface and the jaw cam surface divided by a second distance from the articulation axis to the most proximal fastening element location is: less than 0.5.

Example 21 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector also includes a first end effector jaw coupled to an articulation joint coupled to the elongated shaft assembly. a second end effector jaw for selective pivotal movement relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis; concatenated. The surgical instrument is at least configured to impart a closing motion to the second end effector jaw when the axially movable firing member is moved from a starting position to an ending position within the first end effector jaw. Further includes an axially movable firing member including one jaw engagement mechanism. The at least one jaw engaging mechanism is configured such that a portion of the at least one jaw engaging mechanism is positioned between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. is configured to

Example 22 - A portion of at least one jaw engagement mechanism articulates with the jaw pivot axis when the axially movable firing member is in the starting position and the second end effector jaw is in the fully open position 22. The surgical instrument of example 21, disposed between the shaft.

Example 23 - According to Example 21 or 22, wherein at least 35 percent of each jaw engagement mechanism is located between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position surgical instruments.

Example 24 - At least 35% of each jaw engagement mechanism articulates with the jaw pivot axis when the axially movable firing member is in the starting position and the second jaw of the end effector is in the fully open position 23. The surgical instrument of example 22 between the shaft.

Example 25 - Axially moveable closure independently moveable relative to the axially moveable firing member and configured to selectively impart additional closing motion to the second end effector jaw 25. The surgical instrument of embodiment 21, 22, 23 or 24, further comprising a member.

[00333] Example 26 - The surgical instrument of Example 25, wherein the axially movable closure member includes a closure member camming surface configured for camming contact with a jaw camming surface of the second end effector jaw.

[00323] Example 27 - The surgical instrument of Example 21, 22, 23, 24, 25 or 26, wherein the axially movable firing member comprises a tissue cutting surface.

Example 28 - Example 21, wherein the first end effector jaw includes an elongated channel configured to operably support a surgical fastener cartridge therein and the second end effector jaw includes an anvil, 28. The surgical instrument according to 22, 23, 24, 25, 26 or 27.

Example 29 - The surgical instrument of Example 21, 22, 23, 24, 25, 26, 27 or 28, wherein the jaw pivot axis is fixed.

Example 30 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. A surgical end effector includes an elongated channel coupled to the elongated shaft assembly and configured to operably support a surgical fastening element cartridge therein. An anvil is coupled with the elongate channel for selective pivotal movement relative to the elongate channel about a fixed jaw pivot axis transverse to the shaft axis. The surgical instrument includes at least one anvil engagement mechanism configured to apply a closing motion to the anvil when the axially movable firing member is movable from a starting position to a terminal position within the elongated channel. , further including an axially movable firing member. The at least one anvil engagement mechanism has a portion of the at least one anvil engagement mechanism disposed between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. is configured as

Embodiment 31 - At least one portion of the anvil engagement mechanism is between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position and the anvil is in the fully open position 31. The surgical instrument of example 30, deployed.

Embodiment 32 - to embodiment 30 or 31 wherein at least 35 percent of each anvil engagement mechanism is located between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position A surgical instrument as described.

Embodiment 33 - Embodiment 30, 31 or wherein at least 35 percent of each anvil engagement mechanism is located between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position 32. The surgical instrument according to 32.

Example 34 - At least 35% of each anvil engagement mechanism is located between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position and the anvil is in the fully open position The surgical instrument of Example 30.

Embodiment 35—An implementation further comprising an axially movable closure member independently movable relative to the axially movable firing member and configured to selectively impart additional closing motion to the anvil A surgical instrument according to Examples 30, 31, 32, 33 or 34.

[00430] Example 36 - The surgical instrument of Example 35, wherein the axially moveable closure member includes a closure member camming surface configured for camming contact with an anvil camming surface of the anvil.

Example 37 - The surgical instrument of Example 30, 31, 32, 33, 34, 35 or 36, wherein the firing member comprises a tissue cutting surface.

Example 38 - A firing member includes a firing member body including a tissue cutting surface, at least one anvil engaging mechanism having a first anvil engaging tab projecting from a first side of the top of the firing member body; and a second anvil-engaging tab projecting from a second side of the top of the firing member body.

[00400] Example 39 - The surgical instrument of Example 38, wherein the firing member body extends through a slot in the anvil attachment portion of the anvil when the firing member is in the starting position.

Example 40 - A surgical system including a housing operatively supporting a closure system and a firing system. The closure system and launch system are independently operable with respect to each other. The surgical system further includes a replaceable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that the proximal closure portion of the elongated shaft assembly undergoes axial closure movement from the closure system. and a proximal firing member of the elongated shaft assembly is configured to receive firing motion from the firing system. The elongated shaft assembly defines a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. A surgical end effector includes an elongated channel coupled to the elongated shaft assembly and configured to operably support a surgical fastening element cartridge therein. An anvil is coupled with the elongate channel for selective pivotal movement relative to the elongate channel about a jaw pivot axis transverse to the shaft axis. An axially movable firing member is operably coupled to the proximal firing member for imparting a closing motion to the anvil when the axially movable firing member is movable from a starting position to an ending position within the elongated channel. at least one anvil engagement mechanism configured to. The at least one anvil engagement mechanism is configured such that a portion of the at least one anvil engagement mechanism is positioned between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. is configured to

Example 41 - The surgical instrument of Example 40, wherein the housing includes a portion of the robotic system.

Example 42 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A first end effector jaw is coupled to the elongated shaft assembly and a second end effector jaw is transverse to the shaft axis and fully open about a fixed jaw pivot axis extending through the shaft axis. It is coupled to the first end effector jaw for selective pivotal movement relative to the first end effector jaw between a position and a fully closed position. The elongated shaft assembly is axially between a start position corresponding to the fully open position of the second end effector jaw and an end position corresponding to the fully closed position of the second end effector jaw relative to the first end effector jaw. It includes a directionally movable closure member. When the closure member is in the starting position, its distal end lies on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is no greater than 0.090 inches.

[00103] Embodiment 43 - The surgical instrument of embodiment 42, wherein the distal end of the closure member lies on the plane when the closure member is in the starting position, and the plane intersects the jaw pivot axis.

Example 44 - The surgical instrument of Examples 42 or 43, wherein said distance is in the range of 0.010 to 0.060 inches.

Embodiment 45 - The closure member comprises an axially movable distal closure tube portion, wherein the axially movable distal closure tube portion moves from the start position to the end position. 45. The surgical instrument of embodiment 42, 43, or 44, including a closure cam surface configured to cam engage a jaw cam surface of the second end effector jaw when operable.

Example 46 - Example 42, wherein the first end effector jaw includes an elongated channel configured to operably support a surgical fastener cartridge therein, and the second end effector jaw includes an anvil, 46. A surgical instrument according to 43, 44 or 45.

Example 47 - An anvil comprising an anvil body and an anvil mounting portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of anvil cam surfaces and elongated channels. 47. The surgical instrument of example 46, comprising:

Embodiment 48 - The closure member comprises an axially moveable distal closure tube portion, said axially moveable distal closure tube portion moving from a start position to an end position. 48. The surgical instrument of embodiment 46 or 47, including a closure cam surface configured to cam engage an anvil cam surface of the anvil when movably movable.

Example 49 - A spine assembly having an elongated shaft assembly operably coupled to the elongated channel and a distal closure tube portion movably supported for axial movement relative to the spine assembly and axially movable 49. The surgical instrument of Example 48, comprising a proximal obturator tube assembly pivotally coupled to the.

Example 50 - According to example 49, wherein the proximal obturator tube assembly is operably interconnected with a closure system configured to selectively impart an axial opening and closing motion to the proximal obturator tube assembly surgical instruments.

Example 51 - The surgical instrument of Example 50, wherein the closure system is supported by a handheld housing.

[00104] Example 52 - The surgical instrument of Example 50, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator.

Example 53 - A surgical instrument including an elongated shaft assembly defining a shaft axis. An elongate channel configured to operably support a surgical fastener cartridge therein and elongated for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. operably connected to the shaft assembly; An anvil is pivotable in the elongate channel for selective pivotal movement relative to the elongate channel about a fixed jaw pivot axis transversely intersecting the shaft axis and between fully open and fully closed positions. connected to The elongated shaft assembly includes a closure member axially movable between a start position corresponding to the fully open position of the anvil and an end position corresponding to the fully closed position of the anvil. When the closure member is in the starting position, its distal end lies on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is no greater than 0.090 inch.

[00104] Embodiment 54 - The surgical instrument of embodiment 53, wherein the distal end of the closure member lies on said plane when the closure member is in the starting position, and said plane intersects the jaw pivot axis.

Example 55 - The surgical instrument of Example 53 or 54, wherein said distance is within the range of 0.010 to 0.060 inches.

Example 56 - An anvil comprising an anvil body and an anvil mounting portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of anvil cam surfaces and elongated channels. The surgical instrument of example 53, 54 or 55, comprising:

Embodiment 57 - The closure member has a closure cam surface configured for camming engagement with an anvil cam surface of the anvil when the axially movable distal closure tube portion is movable from the start position to the end position. 57. The surgical instrument of example 53, 54, 55 or 56, comprising an axially movable distal obturator tube portion comprising:

Example 58 - A spine assembly having an elongated shaft assembly operably coupled to the elongated channel and a distal closure tube portion movably supported for axial movement relative to the spine assembly and axially movable 58. The surgical instrument of example 57, comprising a proximal obturator tube assembly pivotally coupled to the.

Example 59 - A proximal obturator tube assembly operatively interconnected with a closure system supported by a handheld housing and configured to selectively impart an axial opening and closing motion to the proximal obturator tube assembly 59. The surgical instrument of example 58, wherein

[00103] Example 60 - The surgical instrument of Example 58, wherein the proximal obturator tube assembly operatively interconnects with a closure system supported by a housing configured to interconnect with a robotic system. The closure system is configured to selectively apply an axial opening and closing motion to the proximal closure tube assembly.

Example 61 - A surgical system including a housing operatively supporting a closure system. The surgical system further includes a replaceable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that the proximal closure portion of the elongated shaft assembly undergoes axial closure movement from the closure system. configured to receive The elongated shaft assembly defines a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. A surgical end effector includes an elongated channel coupled to the elongated shaft assembly and configured to operably support a surgical fastening element cartridge therein. An anvil is coupled with the elongate channel for selective pivotal movement relative to the elongate channel about a jaw pivot axis transversely intersecting the shaft axis. The elongated shaft assembly includes a closure member axially movable between a start position corresponding to the fully open position of the anvil and an end position corresponding to the fully closed position of the anvil. When the closure member is in the starting position, its distal end lies on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is no greater than 0.090 inch.

Example 62—A surgical stapling apparatus including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongated shaft assembly by an articulation joint configured to facilitate selective articulation of the surgical end effector about an articulation axis transverse to the shaft axis. be. The surgical end effector includes a surgical staple cartridge operably supporting a plurality of surgical staples therein. An anvil is supported for selective pivotal movement relative to the surgical staple cartridge between a fully open position and a closed position. The anvil includes a plurality of staple forming pockets corresponding to the surgical staples within the surgical staple cartridge. The surgical stapling apparatus is at least configured to engage the anvil when the anvil is in the closed position when the axially movable firing member is movable from the proximal-most position to the distal-most position. It further includes an axially movable firing member including one anvil engagement mechanism. The surgical stapling apparatus also adjusts the joint distance between the articulation axis and the distal end of the anvil engagement mechanism of the axially movable firing member when the axially movable firing member is in the proximal-most position. Means are also included for minimizing while increasing the jaw opening distance between the distal-most staple in the surgical staple cartridge and the corresponding one of the staple forming pockets of the anvil.

Example 63 - The means for increasing includes a closing member configured to impart a closing motion to the anvil, the closing member having a start position corresponding to a fully open position of the second end effector jaws and a fully open position of the anvil. 63. A surgical stapling apparatus according to embodiment 62, axially movable between an end position corresponding to a closed position. When the closure member is in the starting position and the axially movable firing member is in the proximal-most position, the distal end of the closure member ranges from 0.4 to 0.9 inches from the distal end of the anvil engagement mechanism. spaced distally by a horizontal distance within.

Example 64 - The surgical stapling apparatus of example 63, wherein said horizontal distance is measured along a horizontal line parallel to or coinciding with the shaft axis.

Embodiment 65 - The closure member includes a closure cam surface configured for camming engagement with a cam surface of the anvil when the axially movable distal closure tube portion is movable from the start position to the end position A surgical stapling apparatus according to example 62, 63 or 64, comprising an axially movable distal obturator tube portion.

Example 66 - The surgical method of Example 62, 63, 64, or 65, wherein the surgical fastener cartridge is removably supported within an elongated channel operably coupled to the elongated shaft assembly by an articulation joint stapling device.

Example 67 - An anvil comprising an anvil body and an anvil mounting portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of anvil cam surfaces and elongated channels. 67. The surgical stapling apparatus of embodiment 66, comprising:

Embodiment 68 - An Axially Moveable Distal Closure Where the Elongated Shaft Assembly Includes an Axially Moveable Proximal Obturator Tube Assembly and a Closure Member is Operatively Coupled with the Axially Moveable Proximal Obturator Tube Assembly A surgical stapling apparatus according to example 63, 64, 65, 66 or 67, comprising a tube portion.

Embodiment 69 - A distal axially movable closure tube portion cammingly engages an anvil cam surface of an anvil as the distal axially movable closure tube portion is allowed to move from a start position to an end position. 69. The surgical stapling apparatus of embodiment 68, comprising a configured closure cam surface.

Embodiment 70 - An elongated shaft assembly includes a spine assembly operably coupled to the elongated channel and movably supporting at least a portion of a proximal obturator tube assembly, the proximal obturator tube assembly 70. A surgical stapling apparatus according to embodiment 68 or 69, operatively interconnected with a closure system configured to selectively apply an axial opening and closing motion to the surgical stapling apparatus.

[00101] Example 71 - The surgical stapling apparatus of Example 70, wherein the closure system is supported by a handheld housing.

[00104] Example 72 - The surgical stapling apparatus of Example 70, wherein the closure system is supported by a housing operably interconnected with a robotically controlled actuator.

Example 73 - A surgical instrument including an elongated shaft assembly coupled with an elongated channel configured to operably support a surgical fastener cartridge therein. An anvil is pivotally coupled to the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions about the fixed jaw pivot axis. A closure member is configured to impart a closing motion to the anvil to move the anvil between fully open and fully closed positions as the closure member is moved from the start position to the end position. The surgical instrument includes at least one configured to impart additional closing motion to the anvil when the axially movable firing member is movable from a proximal-most position to a distal-most position within the elongated channel. Further includes an axially movable firing member having an anvil engagement mechanism. When the closure member is in the starting position and the axially movable firing member is in the proximal-most position, the distal end of the closure member is distal to the distal end of the anvil engagement mechanism.

Example 74—When the closure member is in the starting position and the axially movable firing member is in the proximal-most position, the distal end of the closure member is 0.4 to 0.4 mm from the distal end of the anvil engagement mechanism. 74. The surgical instrument of Example 73, spaced distally by a horizontal distance within the range of 9 inches.

[00104] Example 75 - The surgical instrument of Example 74, wherein the elongated shaft assembly defines a shaft axis, and wherein said horizontal distance is measured along a horizontal line parallel to or coinciding with the shaft axis.

Embodiment 76 - A closure member includes a closure cam surface configured for camming engagement with an anvil cam surface of an anvil when the axially movable distal closure tube portion is movable from the start position to the end position 76. A surgical instrument according to example 73, 74 or 75, comprising an axially movable distal obturator tube portion.

[00103] Example 77 - The surgical instrument of Example 76, wherein the elongated shaft assembly includes a spine assembly operably coupled to the elongated channel. A proximal obturator tube assembly is movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion.

Example 78 - According to example 77, wherein the proximal obturator tube assembly is operably interconnected with a closure system configured to selectively impart an axial opening and closing motion to the proximal obturator tube assembly surgical instruments.

Example 79 - The surgical instrument of Example 78, wherein the closure system is supported by a handheld housing.

[00101] Example 80 - The surgical instrument of Example 78, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator.

Example 81 - A surgical system including a housing operatively supporting a closure system. The surgical system further includes a replaceable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that the proximal closure portion of the elongated shaft assembly undergoes axial closure movement from the closure system. configured to receive The elongated shaft assembly defines a shaft axis. The surgical tool assembly further includes a surgical end effector operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. include. A surgical end effector includes an elongated channel coupled to the elongated shaft assembly and configured to operably support a surgical fastening element cartridge therein. An anvil is coupled to the elongated channel for selective pivotal movement relative to the elongated channel about a jaw pivot axis transverse to the shaft axis between fully open and fully closed positions. The elongated shaft assembly includes a distal closure member operably coupled to the proximal closure portion to impart a closing motion to the anvil when the distal closure member is moved from the starting position to the ending position to the fully open position. Configured to move the anvil to and from a fully closed position. The axially movable firing member is configured to impart additional closing motion to the anvil as the axially movable firing member can move from a proximal-most position to a distal-most position within the elongated channel. At least one anvil engagement mechanism is included. When the distal closure member is in the starting position and the axially movable firing member is in the proximal-most position, the distal end of the distal closure member is located distal to the distal end of the anvil engagement mechanism. .

Example 82 - A surgical instrument including a surgical end effector including a first jaw defining a first tissue contacting surface and a second jaw pivotally coupled to the first jaw. The second jaw is selectively movable about the fixed jaw pivot axis between fully open and fully closed positions. The second jaw includes a second tissue contacting surface facing the first tissue contacting surface. At least one tissue locating element is on the second jaw and extends downwardly beyond the second tissue contacting surface to align the first tissue contacting surface and the second tissue when the second jaw is in the fully closed position. It is configured to prevent tissue received between the contact surface from extending proximally beyond the distal end portion of the at least one tissue locating element. When the second jaw is in the fully open position, the distal end portion of each tissue locating element is positioned relative to the corresponding portion of the first tissue contacting surface to prevent gaps therebetween. When the second jaw is in the fully open position, the jaw opening angle between the first tissue contacting surface and the second tissue contacting surface is greater than 12.25°.

Example 83 - The surgical procedure of Example 82, wherein the distal end portion of each tissue locating element is located less than 0.750 inches from the fixed jaw pivot axis when the second jaw is in the fully closed position equipment.

Example 84 - A first jaw includes an elongated channel configured to operably support a surgical fastener cartridge therein, and a first tissue contacting surface includes a deck surface of the surgical fastener cartridge , embodiment 82 or 83.

[00101] Example 85 - The surgical instrument of Example 82, 83 or 84, wherein the second jaw includes an anvil and the second tissue contacting surface includes a fastening element forming a lower surface of a portion of the anvil.

[00104] Example 86 - The surgical instrument of Example 85, wherein the anvil includes an anvil body portion, and wherein the at least one tissue locating element is formed on a proximal portion of the anvil body portion.

Example 87 - The surgical procedure of Example 82, 83, 84, 85 or 86, wherein the surgical end effector is sized to pass through the trocar cannula when the second jaw is in the fully closed position equipment.

Example 88 - The surgical instrument of Example 82, 83, 84, 85, 86 or 87, further comprising means for imparting an opening and closing motion to the second jaw.

Example 89 - The surgical instrument of Example 88, wherein the means for imparting opening and closing motion comprises an axially movable closure tube. The closure tube includes a closure cam surface at a distal end of the closure tube configured to cam engage a jaw cam surface of the second jaw to impart a closing motion to the second jaw, and an axially movable closure. at least one jaw opening mechanism configured to apply a jaw opening motion to the second jaw when the tube is moved proximally.

Example 90 - A surgical instrument including a surgical end effector including a surgical fastening element cartridge including a cartridge body operably supporting a plurality of surgical fastening elements therein. The cartridge body defines a tissue contacting surface through which surgical fastening elements are injected. The anvil is pivotable relative to the surgical fastener cartridge for selective pivotal movement relative to the surgical fastener cartridge between a fully open position and a fully closed position about the fixed jaw pivot axis. supported by The anvil includes an anvil body defining a fastening element molding surface including a plurality of fastening element molding formations, each fastening element molding formation corresponding to one of the surgical fastening elements in the surgical fastening element cartridge. do. The fastening element molding surface faces the tissue contacting surface of the surgical fastening element cartridge. At least one tissue anchor protrudes from the anvil body and extends downwardly beyond the fastening element molding surface for tissue received between the tissue contacting surface and the fastening element molding surface when the anvil is in the fully closed position. , to prevent it from extending proximally beyond the distal end portion of the tissue anchor. When the anvil is in the fully closed position, the distal end portion of each tissue stop is spaced from the fixed jaw pivot axis by an axial distance of less than 0.750 inches, and when the anvil is in the fully open position, surgical The vertical distance between the most distal one of the fastening elements in the cartridge and the corresponding one of the fastening element molding formations on the fastening element molding surface is at least 0.900 inches.

Example 91 - The surgical instrument of Example 90, wherein the jaw opening angle between the fastening element forming surface and the tissue contacting surface is greater than 12.25° when the anvil is in the fully open position.

[00101] Example 92 - The surgical instrument of Example 90 or 91, wherein the surgical end effector is sized to pass through the trocar cannula when the anvil is in the fully closed position.

Example 93 - The surgical instrument of Examples 90, 91, or 92, further comprising means for imparting an opening and closing motion to the anvil.

Example 94 - The surgical instrument of Example 93, wherein the means for imparting opening and closing motion comprises an axially movable closure tube. An axially movable closure tube includes a closure cam surface at its distal end configured to cammingly engage an anvil cam surface of the anvil to impart a closing motion to the anvil. At least one jaw opening mechanism is configured to impart a jaw opening motion to the anvil when the axially movable closure tube is moved proximally.

[00104] Example 95 - The surgical instrument of Example 90, 91, 92, 93, or 94, wherein the surgical end effector is operably coupled to an elongated shaft assembly defining a shaft axis.

Example 96 - The tissue contacting surface of the cartridge body is parallel to the shaft axis and said vertical distance is measured along a line perpendicular to the shaft axis extending from the distal-most fastening element and corresponding fastening element molding formation 95. The surgical instrument of example 95.

Embodiment 97—An embodiment wherein the distal end portion of each tissue anchor is positioned against a corresponding portion of the tissue contacting surface to prevent gaps therebetween when the anvil is in the fully open position A surgical instrument according to Examples 90, 91, 92, 93, 94, 95 or 96.

Example 98—When the anvil is in the fully open position, a portion of each tissue stop is flush with or extends below the tissue contacting surface, thereby 98. The surgical instrument of embodiment 97, which prevents tissue from extending proximally beyond the tissue stop.

Example 99—When the anvil is in the fully open position, a portion of each tissue stop is flush with the tissue contacting surface or extends below the tissue contacting surface so that it is above the tissue contacting surface. 99. A surgical instrument according to embodiment 90, 91, 92, 93, 94, 95, 96, 97 or 98, which prevents tissue from extending proximally beyond the tissue anchor.

Embodiment 100 - A surgical system including a housing operatively supporting a closure system. An interchangeable surgical tool assembly, an elongated shaft assembly operably and removably coupled to a housing such that a proximal closure portion thereof is configured to receive an axial closure motion from a closure system. A possible includes an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a surgical fastening element cartridge including a cartridge body operably supporting a plurality of surgical fastening elements therein and defining a tissue contacting surface through which the surgical fastening elements are ejected. The anvil is pivotable relative to the surgical fastener cartridge for selective pivotal movement relative to the surgical fastener cartridge between a fully open position and a fully closed position about the fixed jaw pivot axis. supported by The anvil includes an anvil body defining a fastening element molding surface including a plurality of fastening element molding formations, each fastening element molding formation corresponding to one of the surgical fastening elements in the surgical fastening element cartridge. do. The fastening element molding surface faces the tissue contacting surface of the surgical fastening element cartridge. At least one tissue anchor protrudes from the anvil body and extends downwardly beyond the fastening element molding surface for tissue received between the tissue contacting surface and the fastening element molding surface when the anvil is in the fully closed position. , from extending proximally beyond the distal end portion of the at least one tissue anchor. When the anvil is in the fully closed position, the distal end portion of each tissue stop is spaced from the fixed jaw pivot axis by an axial distance of less than 0.750 inches, and when the anvil is in the fully open position, surgical The vertical distance between the most distal one of the fastening elements in the cartridge and the corresponding one of the fastening element molding formations on the fastening element molding surface is at least 0.900 inches.

[00101] Example 101 - The surgical instrument of Example 100, wherein the jaw opening angle between the fastening element molding surface and the tissue contacting surface is greater than 12.25° when the anvil is in the fully open position.

[00104] Example 102 - The surgical instrument of Example 100 or 101, wherein the surgical end effector is sized to pass through the trocar cannula when the anvil is in the fully closed position.

Example 103 - A surgical instrument including a first jaw including a pair of laterally aligned vertical slots formed in a proximal end portion of the first jaw. Each vertical slot has an open top end. A second jaw is movably supported for selective pivotal movement relative to the first jaw between fully open and fully closed positions. The second jaw includes a second jaw body and a pair of pivot members projecting laterally from the proximal end of the second jaw body. Each pivot member is pivotally received in a corresponding one of the vertical slots of the first jaw such that the pivot members pivot therein to move the second jaw relative to the first jaw. can facilitate pivotal movement of the The surgical instrument pivots into corresponding vertical slots in operable engagement with the proximal end portion of the first jaw as the second jaw moves between the fully open and fully closed positions. further including a retainer member configured to retain the An axially movable closure member is configured to apply an opening and closing motion to the second jaw to retain the retainer member in retaining engagement with the proximal end of the first jaw.

Embodiment 104 - An embodiment in which each pivot member has a circular cross-sectional shape and the retainer member includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot 103. Surgical instrument according to 103. Each slot cap has an arcuate bottom configured to pivotally receive a corresponding pivot pin therein.

Example 105 - According to example 103, wherein each vertical slot is formed in a corresponding upstanding vertical wall portion of the first jaw, and the retainer member comprises a retainer body sized to span between the vertical wall portions. surgical instruments. The retainer member further includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot. A mounting formation is on the retainer body and corresponds to each upright vertical wall portion and is configured to be seated in a correspondingly shaped mounting opening in the upright vertical wall portion.

[00104] Example 106 - The surgical instrument of Example 105, wherein the attachment formation is disposed proximal to the slot cap.

Embodiment 107—An axially movable closure member provides opening and closing motion to the second jaw by slidably moving on the retainer member, and the retainer member is in retaining engagement with the proximal end portion of the first jaw. 107. A surgical instrument according to example 103, 104, 105 or 106, comprising an axially movable distal obturator tube portion sized to hold mated.

[00103] Example 108 - The surgical instrument of Example 107, wherein the first jaw is operably coupled to the elongated shaft assembly.

[00104] Example 109 - The surgical instrument of Example 108, wherein the elongated shaft assembly includes a spine assembly operably coupled to the first jaw. A proximal obturator tube assembly is movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion.

[00119] Example 110 - According to example 109, wherein the proximal obturator tube assembly is operatively interconnected with a closure system configured to selectively impart an axial opening and closing motion to the proximal obturator tube assembly surgical instruments.

[00113] Example 111 - The surgical instrument of Example 110, wherein the closure system is supported by a handheld housing.

[00113] Embodiment 112 - The surgical instrument of embodiment 110, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator.

Example 113—A surgical instrument including an elongated channel configured to operably support a surgical fastener cartridge therein. The elongated channel includes a pair of laterally aligned vertical slots formed in the proximal end portion of the elongated channel, each vertical slot including an open top end. An anvil is movably supported for selective pivotal movement relative to the elongated channel between fully open and fully closed positions. The anvil includes an anvil body and a pair of anvil trunnions projecting laterally from an anvil mounting portion of the anvil body. Each anvil trunnion is pivotally received within a corresponding vertical slot of the elongated channel such that the anvil trunnion can pivot therein to facilitate pivotal movement of the anvil relative to the elongated channel. A surgical instrument is supported on the proximal end portion of the elongated channel to pivotally retain each anvil trunnion within a corresponding vertical slot as the anvil moves between fully open and fully closed positions. and a retainer member configured to: An axially movable closure member is configured to apply an opening and closing motion to the anvil to retain the retainer member in retaining engagement with the proximal end portion of the elongated channel.

Embodiment 114 - to embodiment 113 wherein each anvil trunnion includes a circular cross-sectional shape and the retainer member includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot A surgical instrument as described. Each slot cap has an arcuate bottom configured to pivotally receive a corresponding anvil trunnion therein.

[00113] Example 115 - The surgical application of Example 113, wherein each vertical slot is formed in a corresponding upstanding vertical wall portion of the elongated channel and the retainer member includes a retainer body sized to span between the vertical wall portions. instrument. The retainer member further includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot. The retainer member also includes a mounting formation on the retainer body corresponding to each upstanding vertical wall portion and configured to be seated within a correspondingly shaped mounting opening in the upstanding vertical wall portion.

[00119] Example 116 - The surgical instrument of Example 115, wherein the slot caps have a wedge shape configured to be inserted into open ends of corresponding vertical slots.

Example 117 - The surgical application of Example 113, 114, 115, or 116, wherein the retainer member is secured to the elongate channel by at least one of frictional engagement with the elongate channel, adhesive, and welding instrument.

Embodiment 118—Axially moveable closure member slidably moves over retainer member to impart opening and closing motion to the anvil and retains retainer member in retaining engagement with proximal end portion of elongated channel 118. A surgical instrument according to example 113, 114, 115, 116 or 117, comprising an axially movable distal obturator tube portion sized as such.

[00119] Embodiment 119 - The surgical instrument of embodiment 113, 114, 115, 116, 117 or 118, wherein the elongated channel is operably coupled to the elongated shaft assembly.

Embodiment 120—An elongated shaft assembly operably coupled to an elongated channel and a spine assembly movably supported for axial movement relative to the spine assembly and pivoting to an axially movable closure member 120. The surgical instrument of Example 119, comprising a operably coupled proximal obturator tube assembly.

Example 121 - A surgical system including a housing operatively supporting a closure system. The surgical system further includes a replaceable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that the proximal closure portion of the elongated shaft assembly undergoes axial closure movement from the closure system. configured to receive The replaceable surgical tool assembly is an elongated channel configured to operably support a surgical fastener cartridge therein and includes a pair of laterally aligned vertical grooves formed at a proximal end portion of the elongated channel. Further included is a surgical end effector that includes an elongated channel that includes a slot. Each vertical slot includes an open top end. An anvil is movably supported for selective pivotal movement relative to the elongated channel between fully open and fully closed positions. The anvil includes an anvil body and a pair of anvil trunnions projecting laterally from an anvil mounting portion of the anvil body. Each anvil trunnion is pivotally received within a corresponding vertical slot of the elongated channel such that the anvil trunnions pivot therein to facilitate pivotal movement of the anvil relative to the elongated channel. A surgical system is supported on the proximal end portion of the elongated channel to pivotally retain each anvil trunnion within a corresponding vertical slot as the anvil moves between fully open and fully closed positions. and a retainer member configured to: An axially movable closure member is configured to apply an opening and closing motion to the anvil to retain the retainer member in retaining engagement with the proximal end portion of the elongated channel.

Embodiment 122—Axially movable closure member slidably moves over retainer member to impart opening and closing motion to the anvil and retains the retainer member in retaining engagement with the proximal end portion of the elongated channel 122. The surgical system of Example 121, comprising an axially moveable distal obturator tube portion sized to. An elongated shaft assembly is operably coupled to the elongated channel and movably supported for axial movement relative to the spine assembly and pivotable to the axially movable distal obturator tube portion. a proximal obturator tube assembly coupled to the .

Example 123 - A first jaw and a second jaw coupled to the first jaw for selective pivotal movement relative to the first jaw between fully open and fully closed positions surgical instruments, including; The axially movable closure member is selectively in a closing direction to move the second jaw from the fully open position to the fully closed position and in an axial opening direction to move the second jaw from the fully closed position to the fully open position. is axially movable. The axially movable closure member includes a first jaw opening mechanism configured to apply a first jaw opening motion to the second jaw. The second jaw opening mechanism is axially spaced from the first jaw opening mechanism such that the first jaw opening mechanism performs the first jaw opening movement when the closure member moves in the axial opening direction. The first jaw opening mechanism ceases to apply the first jaw opening motion and the second jaw opening mechanism ceases to apply the first jaw opening motion when the closure member, in addition to the second jaw, has moved axially a predetermined axial distance in the axial opening direction; A jaw opening mechanism applies a second jaw opening motion to the second jaw to move the second jaw to a fully open position.

[00129] Example 124 - The surgical instrument of Example 123, wherein the first jaw opening mechanism is axially proximal to the second jaw opening mechanism.

Embodiment 125—The first jaw defines a central jaw axis, the first jaw opening mechanism is spaced axially on the closure member from the central jaw axis on a first side thereof, and the second jaw opening 125. The surgical instrument of embodiment 123 or 124, wherein the mechanism is spaced from the central jaw axis on the closure member on its second side opposite the first side.

[00124] Example 126 - The surgical instrument of Example 123, 124, or 125, wherein the second jaw includes a second jaw mounting portion pivotally supported on the first jaw. The second jaw mounting portion includes a second jaw camming surface on the second jaw mounting portion that engages the first jaw opening when the closure member is axially moved in an axial opening direction a predetermined axial distance. It is configured to be axially cammed by a mechanism. The second jaw cam surface is configured to move away from the first jaw opening mechanism as the closure member continues to move in the axial opening direction over a predetermined axial distance. The second jaw mounting portion is configured to be axially cammed by the second jaw opening mechanism as the closure member continues to move in the axial opening direction beyond the predetermined axial distance. It further includes two jaw cam surfaces.

Example 127 - The closure member is axially moved from a first position corresponding to the fully closed position of the second jaw to a first intermediate axial position without subjecting the closure member to a first jaw opening motion. 127. The surgical instrument of embodiment 126, wherein the surgical instrument is axially movable in an opening direction.

Embodiment 128—The first jaw opening mechanism performs a first jaw opening movement when the closure member is moved axially in the axial opening direction from the first intermediate axial position to the second intermediate axial position. to the second jaw to move the second jaw relative to the first jaw over the second jaw opening angle.

Example 129 - The surgical instrument of Example 128, wherein the second jaw opening angle is 10°.

Embodiment 130—The first jaw opening mechanism closes the second jaw when the closure member is moved axially in the axial opening direction between the second intermediate axial position and the third intermediate axial position. 130. A surgical instrument according to embodiment 128 or 129, wherein the second jaw does not move relative to the first jaw beyond the opening angle.

Embodiment 131 - Axial movement of the closure member in the axial opening direction from the third intermediate axial position to the fourth intermediate axial position causes the second jaw opening mechanism to move to the second jaw. 131. The surgical instrument of embodiment 130, applying two jaw opening motions.

Embodiment 132—Axial movement of the closure member in the axial opening direction between the third intermediate axial position and the fourth intermediate axial position causes the second jaw to open the second jaw opening. 132. The surgical instrument of embodiment 131, which moves with respect to the first jaw to a corner.

Example 133 - The surgical instrument of Example 132, wherein the second jaw opening angle is 22°.

Embodiment 134—Axial movement of the closure member in the axial opening direction from the third intermediate axial position to the fourth intermediate axial position causes the first jaw opening mechanism to move to the second jaw relative to the second jaw. 134. The surgical instrument of embodiment 131, 132, or 133, which stops applying one jaw opening motion.

Embodiment 135—Axial movement of the closure member in the axial opening direction from the fourth intermediate axial position to the final axial position causes the second jaw opening mechanism to open the second jaw relative to the second jaw. 135. The surgical instrument of embodiment 134, wherein the application of the opening motion ceases.

Example 136 - Examples 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, wherein the first jaw comprises a surgical fastener cartridge and the second jaw comprises an anvil, 135. Surgical instrument according to 134 or 135.

Example 137—A surgical instrument including an elongated channel configured to operatively support a surgical fastener cartridge therein. An anvil is pivotally supported on the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions. An axially movable closure member is selectively axially movable in a closing direction to move the anvil from the fully open position to the fully closed position and an axial opening direction to move the anvil from the fully closed position to the fully open position. be. The axially movable closure member includes a proximal jaw opening mechanism configured to apply a first jaw opening motion to the anvil. The distal jaw opening mechanism is axially spaced from the proximal jaw opening mechanism such that the proximal jaw opening mechanism effects the anvil first jaw opening movement when the closure member is moved in the axial opening direction. In addition, when the closure member has axially moved a predetermined axial distance in the axial opening direction, the proximal jaw opening mechanism ceases to apply the first jaw opening motion and the distal jaw opening mechanism A second jaw opening motion is applied to the anvil to move the anvil to the fully open position.

Embodiment 138—The first jaw opening mechanism is supported within the elongated channel when the closure member is moved axially in an axial opening direction from the first intermediate axial position to the second intermediate axial position 138. The surgical instrument of Example 137, wherein the anvil moves over a first jaw opening angle measured between the deck surface of the surgical fastener cartridge and the fastening element molded lower surface of the anvil.

Example 139 - The surgical instrument of Example 138, wherein the first jaw opening angle is 10°.

Embodiment 140—The first jaw opening mechanism closes the first jaw when the closure member is moved axially in the axial opening direction between the second intermediate axial position and the third intermediate axial position. 140. The surgical instrument of embodiment 138 or 139, wherein the anvil is not moved relative to the elongate channel beyond the opening angle.

Embodiment 141 - Axial movement of the closure member in the axial opening direction from the third intermediate axial position to the fourth intermediate axial position causes the second jaw opening mechanism to open the first jaw opening angle. 141. The surgical instrument of embodiment 140, moving the anvil over a second jaw opening angle that is greater than.

Example 142—A surgical instrument including an elongated channel configured to operatively support a surgical fastener cartridge therein. An anvil is pivotally supported on the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions. The axially movable distal obturator portion is selectively axially moved in a closing direction to move the anvil from the fully open position to the fully closed position and an axial opening direction to move the anvil from the fully closed position to the fully open position. is movable. An axially movable distal obturator tube includes a proximal jaw opening mechanism formed in the distal obturator tube portion and configured to apply a first jaw opening motion to the anvil. A distal jaw opening mechanism is formed in the distal closure tube portion and is axially spaced from the proximal jaw opening mechanism such that when the distal closure tube portion is moved axially in an opening direction, the proximal jaw opening mechanism is opened. An opening mechanism applies a first jaw opening motion to the anvil, and a proximal jaw opening mechanism applies the first jaw opening motion when the distal closure tube portion axially moves a predetermined axial distance in the opening direction. Then the distal jaw opening mechanism applies a second jaw opening motion to the anvil to move the anvil to the fully open position.

Example 143 - A first jaw and a second jaw coupled to the first jaw for selective pivotal movement relative to the first jaw between fully open and fully closed positions surgical instruments, including; The closure member undergoes a closing motion when the closure member is axially movable distally from a starting position corresponding to the fully open position of the second jaw to an end position corresponding to the fully closed position of the second jaw. to the second jaw. The closure member is further configured to move distally from the starting position an initial predetermined axial closure distance before applying the closure motion to the second jaw.

Example 144 - The surgical instrument of Example 143, wherein the initial predetermined axial closure distance is 0.020 inch.

Embodiment 145 - to embodiment 143 or 144, wherein the closure member is configured to move distally a final predetermined axial closure distance after the second jaw has been moved to the fully closed position A surgical instrument as described.

Example 146 - The surgical instrument of Example 145, wherein the final predetermined axial closure distance is 0.040 inches.

Embodiment 147 - Embodiment 143, 144, 145 or 146 wherein the closure member includes a closing cam surface configured to cam engage a jaw cam surface of the second jaw to impart a closing motion to the second jaw The surgical instrument according to .

Example 148 - Examples 143, 144 wherein the closure member further comprises means for imparting an opening motion to the second jaw upon axial movement of the closure member in the proximal direction from the end position to the start position, 147. A surgical instrument according to 145, 146 or 147.

Embodiment 149—The means for applying the opening motion provides a first amount of jaw opening motion when the closure member is moved axially from the end position to an intermediate axial position between the end position and the start position. 149. The surgical instrument of embodiment 148, including a first jaw opening mechanism on the closure member configured to apply to the second jaw. Means are axially spaced from the first jaw opening mechanism for imparting a second amount of jaw opening movement to the second jaw when the closure member is moved axially from the intermediate position to the starting position. and a second jaw opening mechanism on the closure member configured to:

Embodiment 150 - A surgical instrument including an elongated channel configured to operably support a surgical staple/fastening element cartridge therein. An anvil is pivotally supported on the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions. The closure member imparts a closing motion to the anvil as the closure member is axially movable distally from a start position corresponding to the fully open position of the anvil to an end position corresponding to the fully closed position of the anvil. It is configured. The closure member is configured to move distally from the starting position an initial predetermined axial closure distance prior to applying the closure motion to the anvil.

Example 151 - The surgical instrument of Example 150, wherein the initial predetermined axial closure distance is 0.020 inches.

[00100] Embodiment 152 - The surgical procedure of embodiment 150 or 151, wherein the closure member is configured to move distally a final predetermined axial closure distance after the anvil is moved to the fully closed position equipment.

Example 153 - The surgical instrument of Example 152, wherein the final predetermined axial closure distance is 0.040 inches.

Embodiment 154—After the closure member travels the initial predetermined axial closure distance and before it travels the final predetermined axial closure distance, the closure member travels far over the intermediate predetermined axial closure distance. 154. The surgical instrument of embodiment 152 or 153, wherein the closure member is configured to impart a closing motion to the anvil when moved in the lateral direction.

Example 155—The surgical instrument of Example 154, wherein the intermediate predetermined axial closure distance is 0.200 inches.

Example 156 - Examples 150, 151, 152, 153 wherein the closure member includes a closing cam surface configured to cam engage an anvil cam surface on an anvil mounting portion of the anvil to impart a closing motion to the anvil, 155. Surgical instrument according to 154 or 155.

Example 157 - Examples 150, 151, 152 wherein the closure member further comprises means for imparting an opening motion to the anvil as the closure member axially moves proximally from the end position to the start position, 157. A surgical instrument according to 153, 154, 155, 156 or 157.

Embodiment 158—The means for applying the opening motion provide a first amount of jaw opening motion when the closure member is moved axially from the end position to an intermediate axial position between the end position and the start position 158. A surgical instrument according to embodiment 157, including a first jaw opening mechanism on the closure member configured to apply a force to the anvil. Means are axially spaced from the first jaw opening mechanism and configured to impart a second amount of jaw opening movement to the anvil upon axial movement of the closure member from the intermediate axial position to the starting position. and a second jaw opening mechanism on the closure member.

Example 159 - A surgical system including a housing operatively supporting a closure system. The surgical system further includes a replaceable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that the proximal closure portion of the elongated shaft assembly undergoes axial closure movement from the closure system. configured to receive The replaceable surgical tool assembly further includes a surgical end effector operably coupled to the elongated shaft assembly. A surgical end effector includes an elongated channel coupled to the elongated shaft assembly and configured to operably support a surgical fastening element cartridge therein. An anvil is coupled to the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions. The elongated shaft assembly includes an axially movable proximal closure member configured to undergo an axial closure motion. A distal closure member is operably coupled to the proximal closure member and extends axially distally from a starting position corresponding to the fully open position of the anvil to an ending position corresponding to the fully closed position of the anvil. It is configured to impart an axial closing motion to the anvil when it is allowed to move. The distal closure member is configured to move distally from a starting position an initial predetermined axial closure distance prior to applying a closure motion to the anvil.

[00101] Example 160 - The surgical procedure of Example 159, wherein the distal closure member is configured to move distally a final predetermined axial closure distance after the anvil is moved to the fully closed position equipment.

Example 161 - A surgical tool assembly including a first jaw and a second jaw movable relative to the first jaw. The surgical tool assembly further includes a firing system including a firing member assembly configured to move distally from a starting position when a firing motion is applied. The firing member assembly includes a first firing member element and a second firing member element pivotally coupled to the first firing member element at the mounting joint. The second firing member element is adapted to move the firing member assembly from the starting position when firing motion is imparted to the firing member assembly by the second firing member element being in locking engagement with the lockout portion of the first jaw. To move between a locked position in which distal movement is prevented and an unlocked position in which the firing member assembly is distally advanced from the starting position when a firing motion is applied to the firing member assembly. It is configured. The surgical tool assembly further includes means for preventing an unlocking load from being applied to the mounting joint when the second firing member is in the locked position and firing motion is applied to the first firing member element. include.

Embodiment 162 - At least one lock of the first jaw, wherein the lockout portion is configured to retainably engage the second firing member element when the second firing member element is in the locked position 162. The surgical tool assembly of embodiment 161, including an out notch.

[00109] Embodiment 163 - The surgical tool assembly of embodiment 161 or 162, further comprising a biasing member in the first jaw configured to bias the second firing member element to the locked position.

Embodiment 164 - At least one first jaw engaging mechanism configured such that a first firing member element is movably received within a corresponding first jaw passageway and a corresponding second jaw passageway and at least one second jaw engagement mechanism configured to be movably received therein.

Embodiment 165 - When the firing member assembly is in the starting position, each of the first jaw engagement features is axially aligned with the corresponding first jaw passage regardless of the position of the second firing member element 165. The surgical tool assembly according to embodiment 164, wherein each second jaw engagement feature is axially aligned with a corresponding second jaw passageway.

Embodiment 166 - When the firing member assembly is in the starting position and the second firing member element is in the locked position, each of the first jaw engaging features is axially aligned with the corresponding first jaw passageway 166. The surgical tool assembly according to embodiment 165, wherein each second jaw engagement feature is axially aligned with a corresponding second jaw passageway.

Embodiment 167 - Embodiments 161, 162, 163, wherein the first jaw is configured to operably support a removable surgical component that operably supports a movable component element therein; A surgical tool assembly according to 164, 165 or 166. The movable component element is movable between an unfired position and a fired position. The second firing member element is configured to be moved from the locked position by the movable component element when the removable surgical component is supported within the first jaw and the movable component element is in the unfired position. It is

Embodiment 168 - A first jaw is operably connected to an elongated shaft defining a shaft axis, and a second firing member element pivots a first firing member about a pivot axis transverse to the shaft axis. 168. A surgical tool assembly according to embodiment 161, 162, 163, 164, 165, 166 or 167, which is pivotable with respect to the member element.

[00103] Embodiment 169 - The surgical instrument of embodiment 161, 162, 163, 164, 165, 166, 167 or 168, wherein the first firing member element comprises a tissue cutting surface.

Embodiment 170 - Embodiments 161, 162, 163, 164, 165, 166, wherein the first jaw is configured to operably support a surgical staple cartridge operably supporting a sled therein; 168 or 169 surgical instruments. The sled is movable between an unfired position and a fired position. The second firing member element is configured to be moved from the locked position by the sled when the surgical staple cartridge is supported within the first jaw and the sled is in the unfired position.

Example 171 - of example 161, 162, 163, 164, 165, 166, 167, 168, 169 or 170, wherein the means for preventing comprises the distal surface and the lockout surface of the first firing member element Surgical tool assembly. The distal face rests on the proximal face on the second firing member element so as to provide space between the proximal face of the second firing member element when the second firing member is in the unlocked position. configured for The proximal surface abuts the lockout surface when the second firing member element is in the locked position.

Example 172 - An implementation wherein the mounting joint includes at least one pivot member on the second firing member element and pivotally received within a corresponding pivot hole of the first firing member element A surgical tool assembly according to Example 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 or 171.

Example 173 - Where the second firing member is in the locked position and firing motion is imparted to the first firing member element by further including a gap between each pivot member and its corresponding pivot hole 173. The surgical tool assembly of embodiment 172, wherein an unlocking load is not transmitted to the at least one pivot member.

Example 174 - A stapling assembly including an anvil jaw and a staple cartridge jaw including a lockout surface. The firing member includes a distal end including an anvil cam portion and a channel cam portion. The firing member further includes a distal edge that includes a cutting member and a lockout force receiving surface. A lockout member is pivotally coupled to the distal end of the firing member by at least one pivot member. The lockout member prevents the staple cartridge from being installed in the staple cartridge jaws or when a partially-used staple cartridge is installed in the staple cartridge jaws and a firing motion is applied to the firing member. It is configured to engage a lockout surface of the cartridge jaw to block advancement of the firing member. The firing member and lockout member are configured to prevent an unlocking load from being applied to the pivot member when the lockout member is engaged with the lockout surface and firing motion is applied to the firing member. ing.

Example 175—The stapling assembly of Example 174, wherein the staple cartridge jaws include a staple cartridge including a sled movable between an unfired position and a fired position. The sled is configured to engage the lockout member when the sled is in the unfired position to prevent the lockout member from moving relative to the firing member and engaging the lockout surface.

Embodiment 176 - An embodiment further comprising a spring configured to bias the lockout member into the locked configuration against the firing member when a partially used staple cartridge is present and when the staple cartridge is absent A stapling assembly according to Examples 174 or 175.

[00104] Embodiment 177 - The stapling assembly of embodiment 174, 175, or 176, wherein the firing member is configured to be substantially vertically immovable.

Example 178—A surgical fastener including a first jaw configured to operably support an unfired surgical fastener cartridge therein. An anvil is movably supported relative to the first jaw. The surgical fastener further includes a firing system including a firing member assembly configured for axial movement between a start position and an end position. The firing member assembly includes a firing member including a cutting surface and a tilting element pivotally coupled to the firing member by a mounting joint. The tilting element prevents the firing member assembly from moving distally from the starting position when a firing motion is imparted to the firing member assembly by the tilting element being in locking engagement with the lockout portion of the first jaw. and an unlocked position in which the firing member assembly is distally advanceable from the starting position when firing motion is applied to the firing member assembly. . The firing member and tilting element are configured to prevent an unlocking load from being applied to the mounting joint when the tilting element is in the locked position and firing motion is applied to the firing member assembly. The surgical fastener instrument further includes means for biasing the tilting element into locking engagement when an unfired surgical fastener cartridge is not operably supported within the first jaw.

Example 179 - A surgical fastening according to Example 178, wherein the mounting joint includes at least one pivot member on the tilt element and pivotally received within a corresponding pivot hole of the firing member instrument.

Embodiment 180—Further having a gap between each pivot member and its corresponding pivot hole allows an unlocking load to be applied to each pivot member when the tilting element is in the locked position and a firing motion is applied to the firing member assembly. 179. The surgical fastener of embodiment 179, which is not transmitted to the pivot member.

Although many of the surgical tool systems described herein operate with electric motors, the surgical tool systems described herein can operate in any suitable manner. In various instances, the surgical instrument systems described herein can be operated by, for example, manually operated triggers. In certain examples, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein can be utilized with robotic surgical instrument systems. For example, U.S. patent application Ser. No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STABLE DEPLOYMENT ARRANGEMENTS," now U.S. Pat. No. 9,072,535, provides several examples of robotic surgical instrument systems. is 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 fastening elements 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;
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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. Thus, any particular feature, structure, or characteristic illustrated or described with respect to one embodiment may be combined, without limitation, in whole or in part, with the features, structures, or characteristics of one or more other embodiments. good. 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 disclosures that are incorporated by reference herein 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 It shall be incorporated only to the extent that it is not inconsistent with the disclosure.

[Mode of implementation]
(1) A surgical instrument comprising:
a first jaw;
a second jaw coupled to the first jaw for selective pivotal movement relative to the first jaw between fully open and fully closed positions;
A closure member axially moves distally from a start position corresponding to the fully open position of the second jaw to an end position corresponding to the fully closed position of the second jaw. a closing member configured to apply a closing motion to the second jaw when capable of being applied, the closing member initially moving from the starting position prior to applying the closing motion to the second jaw. A surgical instrument configured to move distally a predetermined axial closure distance of the.
(2) The surgical instrument of claim 1, wherein said initial predetermined axial closure distance is 0.020 inch.
3. According to claim 1, the closure member is configured to move distally a final predetermined axial closure distance after the second jaw has been moved to the fully closed position. A surgical instrument as described.
(4) The surgical instrument of Clause 3, wherein said final predetermined axial closure distance is 0.040 inch.
(5) after said closure member travels said initial predetermined axial closure distance and before said closure member travels said final predetermined axial closure distance, said closure member travels an intermediate predetermined axial closure distance; 4. The surgical instrument of claim 3, wherein the closure member is configured to apply the closure motion to the second jaw when moving distally across.

6. The surgical instrument of claim 5, wherein said intermediate predetermined axial closure distance is 0.200 inch.
Clause 7. Aspect 3, wherein the closing member includes a closing cam surface configured to cam engage a jaw cam surface of the second jaw to impart the closing motion to the second jaw. surgical instruments.
(8) Embodiment wherein said closure member further comprises means for imparting an opening motion to said second jaw as said closure member moves axially proximally from said end position to said start position. 4. The surgical instrument according to 3.
(9) said means for imparting an opening motion comprising:
configured to impart a first amount of jaw opening movement to the second jaw as the closure member moves axially from the end position to an intermediate axial position between the end position and the start position; a first jaw opening mechanism on the closure member, and
axially spaced from the first jaw opening mechanism for imparting a second amount of jaw opening movement to the second jaw as the closure member moves axially from the intermediate position to the starting position; and a second jaw opening mechanism on the closure member configured to:
(10) A surgical instrument comprising:
an elongated channel configured to operably support a surgical staple/fastening element cartridge therein;
an anvil pivotally supported on the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions;
a closure member, when the closure member is axially moveable distally from a start position corresponding to the fully open position of the anvil to an end position corresponding to the fully closed position of the anvil; a closure member configured to apply a closing motion to the anvil, the closure member distally extending an initial predetermined axial closure distance from the starting position prior to applying the closing motion to the anvil. A surgical instrument that is configured to move to.

Clause 11. The surgical instrument of Clause 10, wherein said initial predetermined axial closure distance is 0.020 inches.
12. The surgical device of claim 10, wherein the closure member is configured to move distally a final predetermined axial closure distance after the anvil has moved to the fully closed position. instrument.
Clause 13. The surgical instrument of Clause 12, wherein said final predetermined axial closure distance is 0.040 inches.
(14) after said closure member travels said initial predetermined axial closure distance and before said closure member travels said final predetermined axial closure distance, said closure member moves an intermediate predetermined axial closure distance; 13. The surgical instrument of embodiment 12, wherein the closure member is configured to apply the closure motion to the anvil as it moves distally across.
15. The surgical instrument of claim 14, wherein said intermediate predetermined axial closure distance is 0.200 inches.

Clause 16. The surgical procedure of clause 12, wherein the closure member includes a closing cam surface configured to cam engage an anvil cam surface on an anvil mounting portion of the anvil to impart the closing motion to the anvil. equipment.
Aspect 17. Aspect 12, wherein the closure member further comprises means for imparting an opening motion to the anvil as the closure member moves axially proximally from the end position to the start position. surgical instruments.
(18) said means for applying an opening motion comprises:
configured to impart a first amount of jaw opening motion to the anvil as the closure member moves axially from the end position to an intermediate axial position between the end position and the start position; a first jaw opening mechanism on the closure member;
axially spaced from the first jaw opening mechanism to impart a second amount of jaw opening movement to the anvil as the closure member moves axially from the intermediate axial position to the starting position; and a configured second jaw opening mechanism on the closure member.
(19) A surgical system comprising:
a housing operably supporting the closure system;
An interchangeable surgical tool assembly comprising:
an elongated shaft assembly operably and removably connectable to the housing, a proximal closure portion thereof configured to undergo axial closure motion from the closure system;
a replaceable surgical tool assembly comprising a surgical end effector operably coupled to the elongated shaft assembly, the surgical end effector comprising:
an elongated channel coupled to the elongated shaft assembly and configured to operably support a surgical fastener cartridge therein;
an anvil coupled to the elongate channel for selective pivotal movement relative to the elongate channel between a fully open position and a fully closed position, the elongate shaft assembly comprising:
an axially movable proximal closure member configured to undergo said axial closure movement;
A distal closure member operably coupled to the proximal closure member, the distal closure member from a starting position corresponding to the fully open position of the anvil to an ending position corresponding to the fully closed position of the anvil. a distal closure member configured to impart said axial closure motion to said anvil when axially moveable distally to a position, said distal closure member configured to apply said closure motion to said anvil; to the anvil before moving distally an initial predetermined axial closure distance from the starting position.
20. Aspect 19, wherein the distal closure member is configured to move distally a final predetermined axial closure distance after the anvil is moved to the fully closed position. surgical system.

Claims (2)

A surgical instrument,
a first jaw;
a second jaw coupled to the first jaw for selective pivotal movement relative to the first jaw between fully open and fully closed positions;
a closing member, wherein the closing member moves from a starting position corresponding to the fully open position of the second jaw to a fourth intermediate position, a third intermediate position, a second intermediate position, a first intermediate position; a closure member configured to apply a closing motion to said second jaw when it is axially movable in a distal direction through to an end position corresponding to said fully closed position of said second jaw; wherein said closure member moves distally an initial predetermined axial closure distance from said starting position to said fourth intermediate position prior to applying said closing motion to said second jaw. is configured and
The closure member is adapted to maintain the second jaw in the fully closed position as it moves distally a final predetermined axial closure distance from the first intermediate position to the terminal position. is configured to
After the closure member travels the initial predetermined axial closure distance and before the closure member travels the final predetermined axial closure distance, the closure member moves from the fourth intermediate position to the first axial closure distance. said closure member configured to impart said closure motion to said second jaw upon distal movement over an intermediate predetermined axial closure distance to an intermediate position;
the position of the second jaw is maintained constant as the closure member moves through the distance from the third intermediate position to the second intermediate position ;
the initial predetermined axial closure distance is 0.020 inch;
said final predetermined axial closure distance is 1.016 mm (0.040 inch);
said intermediate predetermined axial closure distance is 5.08 mm (0.200 inch);
said closure member including a closure cam surface configured to cam engage an anvil cam surface to impart said closing motion to said second jaw;
said closure member further comprising means for imparting an opening motion to said second jaw upon axial movement of said closure member in a proximal direction from said end position to said start position;
said means for imparting an opening motion comprising:
configured to impart a first amount of jaw opening movement to the second jaw as the closure member moves axially from the end position to an intermediate axial position between the end position and the start position; a first jaw opening mechanism on the closure member that is spaced and axially offset;
Axially spaced distally from the first jaw opening mechanism to provide a second amount of jaw opening movement as the closure member axially moves from the intermediate axial position to the starting position. a second axially offset jaw opening mechanism on the closure member configured to apply to two jaws. A surgical instrument,
an elongated channel having an elongated slot configured to operably support a surgical staple/fastening element cartridge therein;
an anvil pivotally supported on the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions;
a closure member, the closure member from a starting position corresponding to the fully open position of the anvil, through a fourth intermediate position, a third intermediate position, a second intermediate position, a first intermediate position; a closure member configured to impart a closing motion to the anvil when the anvil is axially movable distally to an end position corresponding to the fully closed position of the anvil, the closure member configured to , configured to move distally an initial predetermined axial closure distance from the starting position to the fourth intermediate position before applying the closing motion to the anvil;
The closure member is configured to maintain the anvil in the fully closed position upon distal movement a final predetermined axial closure distance from the first intermediate position to the terminal position. and
After the closure member travels the initial predetermined axial closure distance and before the closure member travels the final predetermined axial closure distance, the closure member moves from the fourth intermediate position to the first axial closure distance. said closure member configured to impart said closure motion to said anvil upon moving distally over an intermediate predetermined axial closure distance to an intermediate position;
wherein the anvil position is maintained constant as the closure member moves over a distance from the third intermediate position to the second intermediate position ;
the initial predetermined axial closure distance is 0.020 inch;
said final predetermined axial closure distance is 1.016 mm (0.040 inch);
said intermediate predetermined axial closure distance is 5.08 mm (0.200 inch);
the closure member includes a closing cam surface configured to cam engage an anvil cam surface on an anvil mounting portion of the anvil to impart the closing motion to the anvil;
the closure member further comprising means for imparting an opening motion to the anvil as the closure member axially moves proximally from the end position to the start position;
said means for imparting an opening motion comprising:
a shaft configured to impart a first amount of jaw opening movement to the anvil as the closure member axially moves from the end position to an intermediate axial position between the end position and the start position; a first jaw opening mechanism on the closure member offset in a direction;
the anvil axially spaced distally from the first jaw opening mechanism to provide a second amount of jaw opening movement to the anvil as the closure member axially moves from the intermediate axial position to the starting position; and an axially offset second jaw opening mechanism on the closure member configured to apply to the surgical instrument.

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