阅读说明：本技术 包括适应性电气系统的外科器械 (Surgical instrument including an adaptive electrical system ) 是由 F·E·谢尔顿四世 J·L·哈里斯 D·C·耶茨 于 2018-10-24 设计创作，主要内容包括：本发明公开了一种外科器械,所述外科器械包括：柄部；轴,所述轴从所述柄部朝远侧延伸；端部执行器,所述端部执行器从所述轴朝远侧延伸；关节运动接头,其中所述端部执行器被构造成能够围绕所述关节运动接头进行关节运动；以及柔性电路(80400),所述柔性电路在所述轴内延伸,其中所述柔性电路包括第一应变消除区域(80410),其中所述第一应变消除区域允许所述柔性电路扩展,以及第二应变消除区域(80420),其中所述第二应变消除区域允许所述柔性电路扩展,并且其中所述第二应变消除区域(80420)基本上垂直于所述第一应变消除区域(80410)。(A surgical instrument is disclosed, the surgical instrument comprising: a handle; a shaft extending distally from the handle; an end effector extending distally from the shaft; an articulation joint, wherein the end effector is configured to articulate about the articulation joint; and a flexible circuit (80400) extending within the shaft, wherein the flexible circuit includes a first strain relief region (80410), wherein the first strain relief region allows the flexible circuit to expand, and a second strain relief region (80420), wherein the second strain relief region allows the flexible circuit to expand, and wherein the second strain relief region (80420) is substantially perpendicular to the first strain relief region (80410).)

1. A surgical instrument, comprising:

a handle;

a shaft extending distally from the handle;

an end effector extending distally from the shaft;

an articulation joint, wherein the end effector is configured to articulate about the articulation joint; and

a flexible circuit extending within the shaft, wherein the flexible circuit comprises:

a first strain relief region, wherein the first strain relief region allows the flexible circuit to expand; and

a second strain relief region, wherein the second strain relief region allows the flexible circuit to expand, and wherein the second strain relief region is substantially perpendicular to the first strain relief region.

2. The surgical instrument of claim 1, wherein the shaft has a diameter of less than 10 millimeters.

3. The surgical instrument of claim 1, wherein the flexible circuit further comprises a flexible substrate and a circuit board, wherein the circuit board is integrally formed with the flexible substrate.

4. The surgical instrument of claim 1, wherein the flexible circuit further comprises:

a flexible substrate;

an electrical trace supported by the flexible substrate; and

a first end wrapped into a first loop, wherein the electrical trace extends around the first loop.

5. The surgical instrument of claim 4, wherein the flexible circuit further comprises:

a second end wrapped into a second loop, wherein the electrical trace extends around the second loop.

6. The surgical instrument of claim 1, wherein the flexible circuit further comprises:

a first leg portion;

a second leg portion;

a base extending between the first leg and the second leg; and

a biasing member extending between the first leg and the second leg.

7. The surgical instrument of claim 6, wherein the biasing member is configured to transition between a flexed state and an unflexed state, wherein the biasing member is configured to flex into the flexed state upon articulation of the end effector.

8. The surgical instrument of claim 6, wherein the biasing member comprises a spring.

9. A surgical instrument, comprising:

a housing;

a shaft extending distally from the housing;

an end effector extending distally from the shaft;

an articulation joint, wherein the end effector is configured to articulate about the articulation joint; and

a flexible circuit extending within the shaft, wherein the flexible circuit comprises:

a flexible substrate;

an electrical trace;

a first strain relief region, wherein the first strain relief region allows the flexible circuit to expand; and

a second strain relief region, wherein the second strain relief region allows the flexible circuit to expand, and wherein the second strain relief region is substantially perpendicular to the first strain relief region.

10. The surgical instrument of claim 9, wherein the flexible circuit further comprises a circuit board integrally formed with the flexible substrate.

11. The surgical instrument of claim 9, wherein the shaft has a diameter of less than 10 millimeters.

12. The surgical instrument of claim 9, wherein the flexible circuit further comprises:

a first leg portion;

a second leg portion;

a base extending between the first leg and the second leg; and

a biasing member extending between the first leg and the second leg.

13. The surgical instrument of claim 12, wherein the biasing member is configured to transition between a flexed state and an unflexed state, wherein the biasing member is configured to flex into the flexed state upon articulation of the end effector.

14. The surgical instrument of claim 12, wherein the biasing member comprises a spring.

15. A surgical instrument, comprising:

a handle;

a shaft extending distally from the handle along a longitudinal shaft axis;

an end effector extending distally from the shaft;

a shaft rotation system configured to rotate the shaft about the longitudinal shaft axis;

an articulation joint, wherein the end effector is configured to articulate about the articulation joint;

an end effector rotation system configured to rotate the end effector relative to the shaft about an end effector longitudinal axis; and

a flexible circuit, the flexible circuit comprising:

a flexible substrate;

an electrical trace;

a first strain relief region, wherein the first strain relief region allows the flexible circuit to expand; and

a second strain relief region, wherein the second strain relief region allows the flexible circuit to expand, and wherein the second strain relief region is substantially perpendicular to the first strain relief region.

16. The surgical instrument of claim 15, wherein the flexible circuit further comprises a circuit board integrally formed with the flexible substrate.

17. The surgical instrument of claim 15, wherein the shaft has a diameter of less than 10 millimeters.

18. The surgical instrument of claim 15, wherein the flexible circuit further comprises:

a first leg portion;

a second leg portion;

a base extending between the first leg and the second leg; and

a biasing member extending between the first leg and the second leg.

19. The surgical instrument of claim 18, wherein the biasing member is configured to transition between a flexed state and an unflexed state, wherein the biasing member is configured to flex into the flexed state upon articulation of the end effector.

20. The surgical instrument of claim 18, wherein the biasing member comprises a spring.

Background

The present disclosure relates to surgical systems, and, in various arrangements, to grasping instruments designed for grasping tissue of a patient, dissecting instruments configured to manipulate tissue of a patient, clamping jaws configured to clamp tissue of a patient, stapling instruments configured to staple tissue of a patient, and the like.

Drawings

Various features of the embodiments described herein, along with their advantages, may be understood from the following description in conjunction with the following drawings:

fig. 1 illustrates a surgical system including a handle and a plurality of shaft assemblies, wherein each of the shaft assemblies is selectively attachable to the handle, in accordance with at least one embodiment;

FIG. 2 is an elevation view of one of the handle and shaft assembly of the surgical system of FIG. 1;

FIG. 3 is a partially cut-away perspective view of the shaft assembly of FIG. 2;

FIG. 4 is another perspective view, partially in section, of the shaft assembly of FIG. 2;

FIG. 5 is a partially exploded view of the shaft assembly of FIG. 2;

FIG. 6 is a partial cross-sectional elevation view of the shaft assembly of FIG. 2;

FIG. 7 is a front view of a drive module of the handle of FIG. 1;

FIG. 8 is a cut-away perspective view of the drive module of FIG. 7;

FIG. 9 is an end view of the drive module of FIG. 7;

FIG. 10 is a partial cross-sectional view of the interconnection between the handle and shaft assembly of FIG. 2in a locked configuration;

FIG. 11 is a partial cross-sectional view of the interconnection between the handle and shaft assembly of FIG. 2in an unlocked configuration;

FIG. 12 is a perspective view, partially in section, of the motor and reduction gear assembly of the drive module of FIG. 7;

FIG. 13 is an end view of the reduction gear assembly of FIG. 12;

FIG. 14 is a partial perspective view of an end effector of the shaft assembly of FIG. 2in an open configuration;

FIG. 15 is a partial perspective view of the end effector of FIG. 14 in a closed configuration;

FIG. 16 is a partial perspective view of the end effector of FIG. 14 articulated in a first direction;

FIG. 17 is a partial perspective view of the end effector of FIG. 14 articulated in a second direction;

FIG. 18 is a partial perspective view of the end effector of FIG. 14 rotated in a first direction;

FIG. 19 is a partial perspective view of the end effector of FIG. 14 rotated in a second direction;

FIG. 20 is a perspective view, partially in section, of the end effector of FIG. 14, separated from the shaft assembly of FIG. 2;

FIG. 21 is an exploded view of the end effector of FIG. 14 shown with some components removed;

FIG. 22 is an exploded view of a distal attachment portion of the shaft assembly of FIG. 2;

FIG. 22A is an exploded view of the distal portion of the shaft assembly of FIG. 2 shown with some components removed;

FIG. 23 is another perspective view, partially in section, of the end effector of FIG. 14, separated from the shaft assembly of FIG. 2;

FIG. 24 is a perspective view, partially in section, of the end effector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 25 is a perspective view, partially in section, of the end effector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 26 is another perspective view, partially in section, of the end effector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 27 is a partial cross-sectional view of the end effector of FIG. 14 attached to the shaft assembly of FIG. 2, the partial cross-sectional view showing a first clutch, a second clutch, and a third clutch of the end effector;

FIG. 28 shows the first clutch of FIG. 27 in an unactuated state;

FIG. 29 shows the first clutch of FIG. 27 in an actuated state;

FIG. 30 shows the second clutch of FIG. 27 in an unactuated state;

FIG. 31 shows the second clutch of FIG. 27 in an actuated state;

FIG. 32 shows the third clutch of FIG. 27 in an unactuated state;

FIG. 33 shows the third clutch of FIG. 27 in an actuated state;

FIG. 34 shows the second and third clutches of FIG. 27 in their unactuated states and the end effector of FIG. 14 locked to the shaft assembly of FIG. 2;

FIG. 35 shows the second clutch of FIG. 27 in its unactuated state and the third clutch of FIG. 27 in its actuated state;

FIG. 36 shows the second and third clutches of FIG. 27 in their actuated states and the end effector of FIG. 14 unlocked from the shaft assembly of FIG. 2;

FIG. 37 is a partial cross-sectional view of a shaft assembly including sensors configured to detect the states of the first, second, and third clutches of FIG. 27, according to at least one alternative embodiment;

FIG. 38 is a partial cross-sectional view of a shaft assembly including sensors configured to detect the states of the first, second, and third clutches of FIG. 27, according to at least one alternative embodiment;

FIG. 39 illustrates the first and second clutches and sensors of FIG. 38 in their unactuated states in accordance with at least one alternative embodiment;

fig. 40 illustrates the second and third clutches of fig. 38 in their unactuated states and sensors, according to at least one alternative embodiment;

FIG. 41 is a partial cross-sectional view of a shaft assembly according to at least one embodiment;

FIG. 42 is a partial cross-sectional view of the shaft assembly of FIG. 41 including the clutch shown in an unactuated state;

FIG. 43 is a partial cross-sectional view of the shaft assembly of FIG. 41 showing the clutch in an actuated state;

FIG. 44 is a partial cross-sectional view of a shaft assembly including a first clutch and a second clutch shown in an unactuated state in accordance with at least one embodiment;

FIG. 45 is a perspective view of one of the handle drive module of FIG. 7 and the shaft assembly of the surgical system of FIG. 1;

FIG. 46 is another perspective view of the handle drive module of FIG. 7 and the shaft assembly of FIG. 45;

FIG. 47 is a partial cross-sectional view of the shaft assembly of FIG. 45 attached to the handle of FIG. 1;

FIG. 48 is a partial cross-sectional view of the shaft assembly of FIG. 45 attached to the handle of FIG. 1;

FIG. 49 is a perspective view, partially in section, of the shaft assembly of FIG. 45;

FIG. 50 is a schematic view of a control system of the surgical instrument of FIG. 1.

FIG. 51 is an elevation view of one of the handle and shaft assembly of the surgical system of FIG. 1;

FIG. 52 is a perspective view of the handle of FIG. 1 and the shaft assembly of FIG. 2;

FIG. 53 is a partial top plan view of the handle of FIG. 1 and the shaft assembly of FIG. 2;

FIG. 54 is a partial front view of the handle of FIG. 1 and the shaft assembly of FIG. 2;

FIG. 55 is a perspective view of the drive module of FIG. 7 and the power module of FIG. 1;

FIG. 56 is a perspective view of the drive module of FIG. 7 and the power module of FIG. 55;

FIG. 57 is a front view of the drive module of FIG. 7 and the power module of FIG. 55 attached to a side battery port of the drive module;

FIG. 58 is a partial cross-sectional view of the connection between the side battery port of the drive module of FIG. 7 and the power module of FIG. 55;

fig. 59 is an elevation view of the handle drive module of fig. 7, the power module of fig. 45 attached to a proximal battery port of the handle drive module, and the shaft assembly of fig. 45 attached to the drive module;

FIG. 60 is a top view of the drive module of FIG. 7 and the power module of FIG. 45 attached to a proximal battery port;

FIG. 61 is a front view of the drive module of FIG. 7 and the power module of FIG. 45 attached to a proximal battery port;

FIG. 62 is a perspective view of the drive module of FIG. 7 and the power module of FIG. 45 attached to a proximal battery port;

FIG. 63 is a perspective view of the power module of FIG. 45 separated from the drive module of FIG. 7;

FIG. 64 is another perspective view of the power module of FIG. 45 separated from the drive module of FIG. 7;

FIG. 65 is a front view of the power module of FIG. 45 attached to a proximal battery port of the drive module of FIG. 7;

FIG. 66 is a partial cross-sectional view of the connection between the proximal battery port of the drive module of FIG. 7 and the power module of FIG. 45;

FIG. 67 is a front view of the power module of FIG. 55 attached to a proximal battery port of the drive module of FIG. 7;

FIG. 68 is a partial cross-sectional view of the connection between the proximal battery port of the drive module of FIG. 7 and the power module of FIG. 55;

FIG. 69 is a front view of a side battery port attempting to connect the power module of FIG. 45 to the drive module of FIG. 7;

FIG. 70 is a cross-sectional detail view of a side battery port attempting to connect the power module of FIG. 45 to the drive module of FIG. 7;

FIG. 71 is a perspective view of the power module of FIG. 45 attached to the proximal battery port of the drive module of FIG. 7 and the power module of FIG. 55 attached to the side battery port;

fig. 72 is a cross-sectional view of the power module of fig. 45 attached to the proximal battery port of the drive module of fig. 7 and the power module of fig. 55 attached to the side battery port;

fig. 73 is a perspective view of a portion of a surgical instrument including a selectively attachable modular component in accordance with at least one aspect of the present disclosure;

fig. 74 is an electrical architecture of the surgical instrument of fig. 73 in accordance with at least one aspect of the present disclosure;

FIG. 75 is a perspective view, partially in section, of the handle of the surgical instrument of FIG. 73, according to at least one aspect of the present disclosure;

fig. 76 is a perspective view of a magnetic element system disposed on the handle and shaft of the surgical instrument of fig. 73 in accordance with at least one aspect of the present disclosure;

fig. 77 is a perspective view of a magnetic element system disposed on the handle and shaft of the surgical instrument of fig. 73 in accordance with at least one aspect of the present disclosure;

fig. 78 is a perspective view of the magnetic element system of fig. 77 aligning a shaft of a surgical instrument with a handle in accordance with at least one aspect of the present disclosure;

FIG. 79 is a perspective view of a flexible circuit for use with the surgical instrument of FIG. 73 according to at least one aspect of the present disclosure;

fig. 79A is a detailed perspective view of a primary strain relief portion of the flex circuit of fig. 79, in accordance with at least one aspect of the present disclosure;

fig. 79B is a detailed perspective view of a secondary strain relief portion of the flex circuit of fig. 79, in accordance with at least one aspect of the present disclosure;

FIG. 79C is a detailed perspective view of a control circuit component incorporated into the flexible plastic of the flex circuit of FIG. 79 in accordance with at least one aspect of the present disclosure;

fig. 80 is a perspective view of a flexible circuit used in conjunction with the flexible circuit of fig. 79 in accordance with at least one aspect of the present disclosure;

fig. 81A is a perspective view of the flexible circuit of fig. 79 prior to being electrically coupled with the flexible circuit of fig. 80, in accordance with at least one aspect of the present disclosure;

fig. 81B is a perspective view of the flex circuit of fig. 79 electrically coupled to the flex circuit of fig. 80 in accordance with at least one aspect of the present disclosure;

FIG. 82 is a perspective view of a surgical stapling instrument including a handle, shaft, and end effector;

FIG. 83 is a logic flow diagram showing a process for a control program for controlling a surgical instrument;

FIG. 84 is a perspective view of a surgical stapling instrument handle including a motor;

FIG. 85 is a partial cross-sectional view of the surgical stapling instrument of FIG. 82; and is

FIG. 86 is an exploded view of a suturing cartridge for use with the surgical suturing system.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

Detailed Description

The applicants of the present patent application own the following U.S. patent applications filed on 24/8/2018 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 16/112,129 entitled "SURGICA L SUTURING INSTRUMENT CONGURED TO MANIPU L ATE TISSUESING MECHANICA L AND E L ECTRICA L POWER";

-U.S. patent application Ser. No. 16/112,155 entitled "SURGICA L SUTURING INSTRUMENTS COMPRISING A CAPTURE WIDTH WHICHIS L ARGER THAN TROCAR DIAMETER";

-U.S. patent application Ser. No. 16/112,168 entitled "SURGICA L SUTURING INSTRUMENTS COMPRISING A NON-CIRCU L ARNEED L E";

U.S. patent application Ser. No. 16/112,180 entitled "E L ECTRICA L POWER OUTPUT CONTRO L BASED ON MECHANICA L FORCES";

-U.S. patent application serial No. 16/112,193 entitled "REACTIVE A L GORITHM FOR SURGICA L SYSTEM";

U.S. patent application Ser. No. 16/112,112 entitled "CONTRO L SYSTEM ARRANGEMENTS FOR A MODU L AR SURGICA L INSTRUMENT";

-U.S. patent application Ser. No. 16/112,119 entitled "ADAPTIVE control L program FOR A SURGICA L System constituent TYPE OF CARTRIDGE";

-U.S. patent application Ser. No. 16/112,097 entitled "SURGICA L INSTRUMENT SYSTEM COMPLISING BATTERY ARRANGEMENTS";

-U.S. patent application serial No. 16/112,109 entitled "SURGICA L INSTRUMENT SYSTEM COMPRISING HAND L E ARRANGEMENTS";

-U.S. patent application Ser. No. 16/112,114 entitled "SURGICA L INSTRUMENT SYSTEM COMPISING FEEDBACK MECHANISMS";

-U.S. patent application serial No. 16/112,117 entitled "SURGICA L INSTRUMENT SYSTEM COMPRISING L OCKOUT MECHANISM";

-U.S. patent application Ser. No. 16/112,095 entitled "SURGICA L INSTRUMENTS COMPRISING A L OCKAB L E END EFFECTORSOCKET";

-U.S. patent application serial No. 16/112,121 entitled "SURGICA L INSTRUMENTS COMPRISING A SHIFTING MECHANISM";

-U.S. patent application Ser. No. 16/112,151 entitled "SURGICA L INSTRUMENTS COMPLEMENTING A SYSTEM FOR ARTICU L ATION AND RECONTATION COMPENSATION";

-U.S. patent application serial No. 16/112,154 entitled "SURGICA L INSTRUMENTS COMPRISING A BIASED SHIFTING MECHANISM";

U.S. patent application Ser. No. 16/112,226 entitled "SURGICA L INSTRUMENTS COMPRISING AN ARTICU L ATION DRIVE THATPROVIDES FOR HIGH ARTICU L ATION ANG L ES";

-U.S. patent application Ser. No. 16/112,062 entitled "SURGICA L DISSECTORS AND MANUFACTURING TECHNIQUES";

U.S. patent application Ser. No. 16/112,098 entitled "SURGICA L DISSECTORS CONFIGURED TO APP L Y MECHANICA L ANDE L ECTRICA L ENGY";

-U.S. patent application serial No. 16/112,237 entitled "SURGICA L C L IP APP L IER CONFIGURED TO STORE C L IPs IN a storage;

-U.S. patent application serial No. 16/112,245 entitled "SURGICA L C L IP APP L IER COMPRISING AN EMPTY C L IP CARTRIDGE L OCKOUT";

-U.S. patent application serial No. 16/112,249 entitled "SURGICA L C L IP APP L IER COMPRISING AN AUTOMATIC C L IP FEEDINGSYSTEM";

U.S. patent application Ser. No. 16/112,253 entitled "SURGICA L C L IP APP L IER COMPRISING ADAPTIVE FIRING CONTRO L", and

U.S. patent application Ser. No. 16/112,257 entitled "SURGICA L C L IP APP L IER COMPRISING ADAPTIVE CONTRO L IN RESPONSETO A STRAIN GAUGE CICUIT".

The applicants of the present patent application own the following U.S. patent applications filed on 1/5/2018 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 62/665,129 entitled "URGICA L tuning SYSTEMS";

-U.S. patent application serial No. 62/665,139 entitled "SURGICA L INSTRUMENTS COMPRISING CONTRO L SYSTEMS";

-U.S. patent application serial No. 62/665,177 entitled "SURGICA L INSTRUMENTS COMPRISING HAND L E ARRANGEMENTS";

-U.S. patent application serial No. 62/665,128 entitled "MODU L AR SURGICA L INSTRUMENTS";

U.S. patent application Ser. No. 62/665,192 entitled "SURGICA L DISSECTORS", and

U.S. patent application Ser. No. 62/665,134 entitled "SURGICA L C L IP APP L IER".

The applicants of the present patent application own the following U.S. patent applications filed 2018 on 28/2 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/908,021 entitled "SURGICA L INSTRUMENT WITH REMOTE RE L EASE";

-U.S. patent application Ser. No. 15/908,012 entitled "SURGICA L INSTRUMENT HAVING DUA L ROTATAB L E MEMBERS TO EFFECTDIFFERENT TYPES OF END EFFECTOR MOVAMENT";

U.S. patent application Ser. No. 15/908,040 entitled "SURGICA L INSTRUMENT WITH ROTARY DRIVE SE L ECTIVE L Y ACTIONANTENGMU L TIP L E END EFFECTOR FUNCTIONS";

U.S. patent application Ser. No. 15/908,057 entitled "SURGICA L INSTRUMENT WITH ROTARY DRIVE SE L ECTIVE L Y ACTIONANTENGMU L TIP L E END EFFECTOR FUNCTIONS";

U.S. patent application Ser. No. 15/908,058 entitled "SURGICA L INSTRUMENT WITH MODU L AR POWER SOURCES", and

U.S. patent application Ser. No. 15/908,143 entitled "SURGICA L INSTRUMENT WITH SENSOR AND/OR CONTROL L SYSTEMS".

The applicants of the present patent application own the following U.S. patent applications filed 2017 at 10, 30 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 62/578,793 entitled "SURGICA L INSTRUMENT WITH REMOTE RE L EASE";

-U.S. patent application Ser. No. 62/578,804 entitled "SURGICA L INSTRUMENT HAVING DUA L ROTATAB L E MEMBERS TO EFFECTDIFFERENT TYPES OF END EFFECTOR MOVAMENT";

U.S. patent application Ser. No. 62/578,817 entitled "SURGICA L INSTRUMENT WITH ROTARY DRIVE SE L ECTIVE L Y ACTIONANTENGMU L TIP L E END EFFECTOR FUNCTIONS";

U.S. patent application Ser. No. 62/578,835 entitled "SURGICA L INSTRUMENT WITH ROTARY DRIVE SE L ECTIVE L Y ACTIONANTENGMU L TIP L E END EFFECTOR FUNCTIONS";

U.S. patent application Ser. No. 62/578,844 entitled "SURGICA L INSTRUMENT WITH MODU L AR POWER SOURCES", and

U.S. patent application Ser. No. 62/578,855 entitled "SURGICA L INSTRUMENT WITH SENSOR AND/OR CONTROL L SYSTEMS".

The applicant of the present patent application owns the following U.S. provisional patent applications filed on 2017, 12, 28, the disclosure of each of which is incorporated herein by reference in its entirety:

-U.S. provisional patent application serial No. 62/611,341 entitled "INTERACTIVE SURGICA L P L ATFORM";

U.S. provisional patent application Ser. No. 62/611,340 entitled "C L OUD-BASED MEDICA L ANA L YTICS", and

U.S. provisional patent application serial No. 62/611,339 entitled "ROBOT associated SURGICA L P L ATFORM".

The applicant of the present patent application owns the following U.S. provisional patent applications filed on 28/3/2018, each of which is incorporated herein by reference in its entirety:

-U.S. provisional patent application serial No. 62/649,302 entitled "INTERACTIVE SURGICA L SYSTEMS WITH ENCRYPTED COMMUNICATIONCAPABI L ITIES";

-U.S. provisional patent application serial No. 62/649,294 entitled "DATA STRIPPING METHOD TO interface patent RECORD and issue electronically sized RECORD";

-U.S. provisional patent application serial No. 62/649,300 entitled "SURGICA L HUB siutana L AWARENESS";

U.S. provisional patent application serial No. 62/649,309 entitled "SURGICA L HUB SPATIA L AWARENESS TO DETERMINE DEVICES INOPERATING THEREATER";

-U.S. provisional patent application serial No. 62/649,310 entitled "transformer IMP L EMENTED INTERACTIVE SURGICA L SYSTEMS";

U.S. provisional patent application Ser. No. 62/649,291 entitled "USE OF L ASER L IGHT AND RED-GREEN-B L UE CO L ORATION TO DETERMINONEPERTIES OF BACK SCATTERED L IGHT";

U.S. provisional patent application serial No. 62/649,296 entitled "ADAPTIVE control L PROGRAM UPDATES FOR DEVICES L DEVICES";

-U.S. provisional patent application serial No. 62/649,333 entitled "C L OUD-BASED medicine L ANA L times FOR custom mixing and FOR using;

U.S. provisional patent application Ser. No. 62/649,327 entitled "C L OUD-BASED MEDICA L ANA L YTICS FOR SECURITY AND AUTHENTICATION RENDS AND REACTIVE MEASURES";

-U.S. provisional patent application serial No. 62/649,315 entitled "DATA HAND L ING AND PRIORITIZATION IN A C L OUD ANA L YTICSNETWORK";

U.S. provisional patent application Ser. No. 62/649,313 entitled "C L OUD INTERFACE FOR COUP L ED SURGICA L DEVICES";

-U.S. provisional patent application serial No. 62/649,320 entitled "DRIVE ARRANGEMENTS FOR ROBOT-associated SURGICA L P L atfonms";

U.S. provisional patent application Ser. No. 62/649,307 entitled "AUTOMATIC TOO L ADJUSTMENT FOR ROBOT-ASSISTED SURGICA L P L ATFORMS", and

U.S. provisional patent application Ser. No. 62/649,323 entitled "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS".

The applicant of the present patent application owns the following U.S. patent applications filed on 29/3/2018, each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/940,641 entitled "INTERACTIVE SURGICA L SYSTEMS WITH ENCRYPTED COMMUNICATIONCAPABI L ITIES";

-U.S. patent application serial No. 15/940,648 entitled "INTERACTIVE SURGICA L SYSTEMS WITH CONDITION HAND L ING OFDEVICES AND DATA CAPABI L ITIES";

-U.S. patent application serial No. 15/940,656 entitled "SURGICA L HUB COORDINATION OF CONTRO L AND COMMUNICATION OF OPERATING ROOM DEVICES";

-U.S. patent application serial No. 15/940,666 entitled "SPATIA L AWARENESS OF SURGICA L HUBS IN OPERATING ROOMS";

-U.S. patent application Ser. No. 15/940,670 entitled "COOPERATIVE UTI L IZATION OF DATA DERIVED FROM SECONDARYSOURCES by INTE LL IGENT SURGICA L HUBS";

U.S. patent application Ser. No. 15/940,677 entitled "Surgical HUB CONTRO L ARRANGEMENTS";

-U.S. patent application Ser. No. 15/940,632 entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND DCREATE ANONYMIZED RECORD";

U.S. patent application Ser. No. 15/940,640 entitled "COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERSAND STATUS OF A SURGICA L DEVICE TO BE SHARED WITH C L OUD BASED ANA L YTICSSYSTEMS";

-U.S. patent application serial No. 15/940,645 entitled "SE L F screening DATA PACKETS GENERATED AT AN issuinginstmentt";

-U.S. patent application serial No. 15/940,649 entitled "DATA PAIRING TO interconnected a DEVICE MEASURED PARAMETER WITHAN OUTCOME";

-U.S. patent application serial No. 15/940,654 entitled "URGICA L HUB siutana L AWARENESS";

-U.S. patent application serial No. 15/940,663 entitled "SURGICA L SYSTEM DISTRIBUTED PROCESSING";

U.S. patent application Ser. No. 15/940,668 entitled "AGGREGAGATION AND REPORTING OF SURGICA L HUB DATA";

U.S. provisional patent application serial No. 15/940,671 entitled "SURGICA L HUB SPATIA L AWARENESS TO DETERMINE DEVICES INOPERATING THEREATER";

U.S. patent application Ser. No. 15/940,686 entitled "DISP L AY OF A L IGNMENT OF STAP L E CARTRIDGE TO PRIOR L INEARSTAP L E L INE";

U.S. patent application Ser. No. 15/940,700 entitled "STERI L E FIE L D INTERACTIVE CONTRO L DISP L AYS";

-U.S. patent application serial No. 15/940,629 entitled "compoter IMP L EMENTED INTERACTIVE SURGICA L SYSTEMS";

U.S. provisional patent application Ser. No. 15/940,704 entitled "USE OF L ASER L IGHT AND RED-GREEN-B L UE CO L ORATION TO DETERMINONEPERTIES OF BACK SCATTERED L IGHT";

U.S. provisional patent application Ser. No. 15/940,722 entitled "CHARACTERIZATION OF TISSUE IRREGU L ARITIES THROUGH THE USE OFMONO-CHROMATIC L IGHT REFRACTIVITY", and

U.S. patent application serial No. 15/940,742 entitled "DUA L CMOS ARRAY IMAGING".

The applicant of the present patent application owns the following U.S. patent applications filed on 29/3/2018, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/940,636 entitled "ADAPTIVE control L PROGRAM UPDATES FOR DEVICES L DEVICES";

-U.S. patent application serial No. 15/940,653 entitled "ADAPTIVE control L PROGRAM UPDATES FOR subagca L HUBS";

-U.S. provisional patent application serial No. 15/940,660 entitled "C L OUD-BASED medicine L ANA L times FOR custom mixing and FOR using;

U.S. provisional patent application Ser. No. 15/940,679 entitled "C L OUD-BASED MEDIA L ANA L YTICS FOR L INKING OF L OCA L USAGETRENDS WITH THE RESOURCE ACQUISITION BEHAVORS OF L ARGER DATA SET";

U.S. provisional patent application Ser. No. 15/940,694 entitled "C L OUD-BASED MEDIA L ANA L YTICS FOR MEDICA L FACI L ITY SEGMENTEDIVIDING OF INSTRUMENT FUNCTION";

U.S. provisional patent application Ser. No. 15/940,634 entitled "C L OUD-BASED MEDICA L ANA L YTICS FOR SECURITY AND AUTHENTICATION RENDS AND REACTIVE MEASURES";

U.S. provisional patent application Ser. No. 15/940,706 entitled "DATA HAND L ING AND PRIORITIZATION IN A C L OUD ANA L YTICSNETWORK", AND

U.S. patent application Ser. No. 15/940,675 entitled "C L OUD INTERFACE FOR COUP L ED SURGICA L DEVICES".

The applicant of the present patent application owns the following U.S. patent applications filed on 29/3/2018, each of which is incorporated herein by reference in its entirety:

-U.S. patent application Ser. No. 15/940,627 entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMs";

-U.S. patent application serial No. 15/940,637 entitled "communiation armamentaments FOR ROBOT-ASSISTED SURGICA L P L atfoms";

-U.S. patent application serial No. 15/940,642 entitled "control L S FOR ROBOT-associated SURGICA L P L atfonms";

U.S. provisional patent application Ser. No. 15/940,676 entitled "AUTOMATIC TOO L ADJUSTMENT FOR ROBOT-ASSISTED SURGICA L P L ATFORMS";

-U.S. patent application Ser. No. 15/940,680 entitled "ContRO LL ERS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS";

-U.S. provisional patent application serial No. 15/940,683 entitled "performance minor SURGICA L action FOR ROBOT-ASSISTED SURGICA L P L atformms";

U.S. patent application Ser. No. 15/940,690 entitled "DISP L AY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS", and

U.S. patent application Ser. No. 15/940,711 entitled "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICA L P L ATFORMS".

The applicant of the present patent application owns the following U.S. provisional patent applications filed on 30/3/2018, each of which is incorporated herein by reference in its entirety:

-U.S. provisional patent application serial No. 62/650,887 entitled "SURGICA L SYSTEMS WITH OPTIMIZED sending CAPABI L ITIES";

U.S. provisional patent application serial No. 62/650,877 entitled "SURGICA L SMOKE EVACUATION SENSING AND control L S";

-U.S. provisional patent application serial No. 62/650,882 entitled "SMOKE evacution MODU L E FOR INTERACTIVE SURGICA L P L ATFORM";

and

U.S. patent application Ser. No. 62/650,898 entitled "CAPACITIVE COUP L ED RETURN PATH PAD WITH SEPARAB L E ARRAYE L EMENTS".

The applicant of the present patent application owns the following U.S. provisional patent applications filed on 2018, month 4, and day 19, which are incorporated herein by reference in their entirety:

U.S. provisional patent application serial No. 62/659,900 entitled "METHOD OF HUB COMMUNICATION".

Numerous specific details are set forth herein to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments 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 in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples and that specific structural and functional details disclosed herein are representative and illustrative. Variations and changes may be made to these embodiments without departing from the scope of the claims.

The term "comprises" (and any form of "comprising", such as "comprises" and "comprising)", "has" (and "has)", such as "has" and "has)", "contains" (and any form of "containing", such as "comprises" and "containing)", and "containing" (and any form of "containing", such as "containing" and "containing", are open-ended verbs. Thus, a surgical system, device, or apparatus that "comprises," "has," "contains," or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Likewise, an element of a system, apparatus, or device that "comprises," "has," "includes," or "contains" one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

The terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" 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 surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in a variety of surgical procedures and applications, including, for example, in conjunction with open surgical procedures. With continued reference to this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural orifice, through an incision or puncture formed in tissue, and the like. The working portion or end effector portion of the instrument may be inserted directly into a patient or may be inserted through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

In various instances, for example, the end effector of a surgical instrument may be configured to be inserted into a patient through a TROCAR or cannula and may have any suitable diameter, such as approximately 5mm, 8mm, and/or 12mm, U.S. patent application Ser. No. 11/013,924 entitled "TROCSEA L EMB L Y," which is incorporated herein by reference in its entirety, and the end effector may be configured to rotate about at least a longitudinal axis of the surgical instrument, and/or the end effector may be configured to rotate about at least a portion of a longitudinal joint axis of the surgical instrument, such as about a longitudinal joint axis of the end effector, and/or a portion of the end effector.

A surgical instrument system is shown in fig. 1. The surgical instrument system includes a handle assembly 1000 that can be selectively used with the shaft assembly 2000, the shaft assembly 3000, the shaft assembly 4000, the shaft assembly 5000, and/or any other suitable shaft assembly. Shaft assembly 2000 is attached to handle assembly 1000 in fig. 2, and shaft assembly 4000 is attached to handle assembly 1000 in fig. 45. The shaft assembly 2000 includes a proximal portion 2100, an elongate shaft 2200 extending from the proximal portion 2100, a distal attachment portion 2400, and an articulation joint 2300 rotatably connecting the distal attachment portion 2400 to the elongate shaft 2200. Shaft assembly 2000 also includes replaceable end effector assembly 7000 attached to distal attachment portion 2400. The replaceable end effector assembly 7000 includes a jaw assembly 7100 configured to open and close to clamp and/or manipulate tissue of a patient. In use, the end effector assembly 7000 can be articulated about the articulation joint 2300 and/or rotated about a longitudinal axis relative to the distal attachment portion 2400 to better position the jaw assembly 7100 within a patient, as described in more detail further below.

Referring again to fig. 1, the handle assembly 1000 further comprises a drive module 1100 or the like. As described in more detail below, the drive module 1100 includes a distal mounting interface that allows a clinician to selectively attach, for example, one of the shaft assemblies 2000, 3000, 4000, and 5000 to the drive module 1100. Accordingly, each of the shaft assemblies 2000, 3000, 4000, and 5000 includes the same or at least similar proximal mounting interface configured to engage the distal mounting interface of the drive module 1100. As also described in more detail below, the mounting interface of the drive module 1100 mechanically secures and electrically couples the selected shaft assembly to the drive module 1100. The drive module 1100 also includes at least one electric motor, one or more controls and/or displays, and a controller configured to operate the electric motor, the rotational output of which is transmitted to a drive system attached to the shaft assembly of the drive module 1100. Further, the drive module 1100 can be used with one or more power modules, such as power modules 1200 and 1300, for example, which can be operatively attached to the drive module 1100 to provide power thereto.

In addition to the above, referring again to fig. 1 and 2, the handle drive module 1100 comprises a housing 1110, a first module connector 1120, and a second module connector 1120'. The power module 1200 includes a housing 1210, a connector 1220, one or more release latches 1250, and one or more batteries 1230. The connector 1220 is configured to engage with a first module connector 1120 of the drive module 1100 in order to attach the power module 1200 to the drive module 1100. The connector 1220 includes one or more latches 1240 that mechanically couple and securely fix the housing 1210 of the power module 1200 to the housing 1110 of the drive module 1100. When the release latch 1250 is depressed, the latch 1240 may move to a disengaged position so that the power module 1200 may be separated from the drive module 1100. The connector 1220 can also include one or more electrical contacts to position the battery 1230, and/or circuitry including the battery 1230 that is in electrical communication with circuitry in the drive module 1100.

In addition to the above, referring again to fig. 1 and 2, the power module 1300 includes a housing 1310, a connector 1320, one or more release latches 1350, and one or more batteries 1330 (fig. 47). The connector 1320 is configured to engage with the second module connector 1120' of the drive module 1100 in order to attach the power module 1300 to the drive module 1100. The connector 1320 includes one or more latches 1340 that mechanically couple and securely fix the housing 1310 of the power module 1300 to the housing 1110 of the drive module 1100. When the release latch 1350 is depressed, the latch 1340 may move to a disengaged position so that the power module 1300 may be separated from the drive module 1100. The connector 1320 also includes one or more electrical contacts that house the batteries 1330 of the power module 1300 and/or an electrical power circuit that includes the batteries 1330, which is in electrical communication with the electrical power circuit in the drive module 1100.

In addition to the above, the power module 1200, when attached to the drive module 1100, includes a pistol grip that can allow a clinician to hold the handle 1000 in a manner that places the drive module 1100 on the clinician's hand. The power module 1300, when attached to the drive module 1100, includes an end grip that allows the clinician to grip the handle 1000 like a wand. Power module 1200 is longer than power module 1300, but power modules 1200 and 1300 may comprise any suitable length. Power module 1200 has more battery cells than power module 1300 and can accommodate these additional battery cells appropriately due to its length. In various cases, the power module 1200 may provide more power to the drive module 1100 than the power module 1300, and in some cases, the power module 1200 may provide power for a longer period of time. In some cases, the housing 1110 of the drive module 1100 includes keys and/or any other suitable features that prevent the power module 1200 from connecting to the second module connector 1120' and similarly prevent the power module 1300 from connecting to the first module connector 1120. This arrangement may ensure that the longer power module 1200 is used for a pistol grip arrangement and the shorter power module 1300 is used for a wand grip arrangement. In alternative embodiments, the power modules 1200 and 1300 may be selectively coupled to the drive module 1100 at the first module connector 1120 or the second module connector 1120'. Such embodiments provide clinicians with more options to customize the handle 1000 in a manner suitable for them.

In various instances, only one of the power modules 1200 and 1300 is coupled to the drive module 1100 at a time, in addition to the above. In some cases, the power module 1200 may be in the manner when the shaft assembly 4000 is attached to, for example, the drive module 1100. Alternatively, both power modules 1200 and 1300 may be operatively coupled to the drive module 1100 simultaneously. In such cases, the drive module 1100 may access the power provided by both power modules 1200 and 1300. Further, when both power modules 1200 and 1300 are attached to the drive module 1100, the clinician can switch between a pistol grip and a wand grip. Further, this arrangement allows the power module 1300 to function, for example, in balance with a shaft assembly attached to the drive module 1100, such as the shaft assemblies 2000, 3000, 4000, or 5000.

Referring to fig. 7 and 8, the handle drive module 1100 further comprises a frame 1500, a motor assembly 1600, a drive system 1700 operatively engaged with the motor assembly 1600, and a control system 1800. Frame 1500 includes an elongate shaft that extends through motor assembly 1600. The elongate shaft includes a distal end 1510 and electrical contacts or receptacles 1520 defined in the distal end 1510. The electrical contacts 1520 are in electrical communication with the control system 1800 of the drive module 1100 via one or more circuits and are configured to transmit signals and/or power between the control system 1800 and, for example, a shaft assembly, such as the shaft assembly 2000, 3000, 4000, or 5000, attached to the drive module 1100. Control system 1800 includes a Printed Circuit Board (PCB)1810, at least one microprocessor 1820, and at least one storage device 1830. The plate 1810 may be rigid and/or flexible, and may include any suitable number of layers. The microprocessor 1820 and the storage device 1830 are part of a control circuit defined on the board 1810 that controls the operation of the motor assembly 1600, as described in more detail below.

Referring to fig. 12 and 13, the motor assembly 1600 includes an electric motor 1610 including a housing 1620, a drive shaft 1630, and a gear reduction system. Electric motor 1610 also includes a stator and a rotor, the nail including windings 1640 and the rotor including magnetic elements 1650. Stator windings 1640 are supported in housing 1620 and rotor magnetic element 1650 is mounted to drive shaft 1630. When stator windings 1640 are energized by a current controlled by control system 1800, drive shaft 1630 rotates about the longitudinal axis. The drive shaft 1630 is operatively engaged with a first planetary gear system 1660 that includes a central sun gear and a plurality of planet gears operatively intermeshed with the sun gear. The sun gear of the first planetary gear system 1660 is fixedly mounted to the drive shaft 1630 such that it rotates with the drive shaft 1630. The planet gears of the first planetary gear system 1660 are rotatably mounted to the sun gear of the second planetary gear system 1670 and also intermesh with the geared or splined inner surface 1625 of the motor housing 1620. Due to the above, the rotation of the first sun gear rotates the first planetary gear, which rotates the second sun gear. Similar to the above, the second planetary gear system 1670 also includes a planetary gear 1665 (fig. 13) that drives the third planetary gear system and ultimately the drive shaft 1710. The planetary gear systems 1660, 1670, and 1680 cooperate to reduce the speed applied to the drive shaft 1710 by the motor shaft 1620. Various alternative embodiments are contemplated without a retarding system. Such embodiments are suitable when rapid actuation of the end effector function is desired. Notably, the drive shaft 1630 includes an aperture or hollow core extending therethrough through which wires and/or circuitry may extend.

The control system 1800 communicates with the motor assembly 1600 and the electrical power circuit of the drive module 1100. The control system 1800 is configured to control the power delivered from the electrical power circuit to the motor assembly 1600. The electrical power circuit is configured to provide a constant or at least nearly constant Direct Current (DC) voltage. In at least one instance, the electrical power circuit provides 3V dc power to the control system 1800. The control system 1800 includes a Pulse Width Modulation (PWM) circuit configured to deliver voltage pulses to the motor assembly 1600. The duration or width of the voltage pulses provided by the PWM circuit, and/or the duration or width between voltage pulses, may be controlled to control the power applied to the motor assembly 1600. By controlling the power applied to the motor assembly 1600, the PWM circuit can control the speed of the output shaft of the motor assembly 1600. Control system 1800 may include Frequency Modulation (FM) circuitry in addition to or in place of PWM circuitry. As discussed in more detail below, the control system 1800 is capable of operating in more than one mode of operation, and depending on the mode of operation used, the control system 1800 may operate the motor assembly 1600 at a speed or range of speeds determined to be appropriate for that mode of operation.

In addition to the above, referring again to fig. 7 and 8, the drive system 1700 includes a rotatable shaft 1710 including a splined distal end 1720 and a longitudinal aperture 1730 defined therein. A rotatable shaft 1710 is operatively mounted to the output shaft of the motor assembly 1600 such that the rotatable shaft 1710 rotates with the motor output shaft. The handle frame 1510 extends through the longitudinal aperture 1730 and rotatably supports the rotatable shaft 1710. Thus, the shank frame 1510 acts as a bearing for the rotatable shaft 1710. When the shaft assembly 2000 is assembled to the drive module 1100, the handle frame 1510 and the rotatable shaft 1710 extend distally from the mounting interface 1130 of the drive module 1110 and couple with corresponding components on the shaft assembly 2000. Referring again to fig. 3-6, shaft assembly 2000 further includes a slave frame 2500 and a drive system 2700. The frame 2500 includes a longitudinal shaft 2510 that extends through the shaft assembly 2000 and a plurality of electrical contacts or pins 2520 that extend proximally from the shaft 2510. When the shaft assembly 2000 is attached to the drive module 1100, the electrical contacts 2520 on the shaft frame 2510 engage the electrical contacts 1520 on the handle frame 1510 and form an electrical path therebetween.

Similar to the above, the drive system 2700 includes a rotatable drive shaft 2710 that is operatively coupled to the rotatable drive shaft 1710 of the handle 1000 when the shaft assembly 2000 is assembled to the drive module 1100, such that the drive shaft 2710 rotates with the drive shaft 1710. To this end, the drive shaft 2710 includes a splined proximal end 2720 that mates with the splined distal end 1720 of the drive shaft 1710, such that when the drive shaft 1710 is rotated by the motor assembly 1600, the drive shafts 1710 and 2710 rotate together. Taking into account the nature of the splined interconnection between drive shafts 1710 and 2710 and the electrical interconnection between frames 1510 and 2510, the shaft assembly 2000 is assembled to the handle 1000 along a longitudinal axis; however, the operable interconnection between the drive shafts 1710 and 2710 and the electrical interconnection between the frames 1510 and 2510 may comprise any suitable configuration that may allow the shaft assembly to be assembled to the handle 1000 in any suitable manner.

As described above, referring to fig. 3-8, the mounting interface 1130 of the drive module 1110 is configured to be coupled to a corresponding mounting interface on, for example, the shaft assemblies 2000, 3000, 4000, and 5000. For example, the shaft assembly 2000 includes a mounting interface 2130 configured to couple to the mounting interface 1130 of the drive module 1100. More specifically, the proximal portion 2100 of the shaft assembly 2000 includes a housing 2110 that defines a mounting interface 2130. Referring primarily to fig. 8, the drive module 1100 includes a latch 1140 configured to releasably retain the mounting interface 2130 of the shaft assembly 2000 against the mounting interface 1130 of the drive module 1100. As described above, when the drive module 1100 and the shaft assembly 2000 are brought together along the longitudinal axis, the latches 1140 contact the mounting interface 2130 and rotate outward to the unlocked position. Referring primarily to fig. 8, 10 and 11, each latch 1140 includes a locking end 1142 and a pivot portion 1144. The pivot portion 1144 of each latch 1140 is rotatably coupled to the housing 1110 of the drive module 1100, and when the latches 1140 are rotated outward, the latches 1140 rotate about the pivot portions 1144, as described above. Notably, each latch 1140 further includes a biasing spring 1146 configured to bias the latch 1140 inwardly to the locked position. Each biasing spring 1146 is compressed between the latch 1140 of the drive module 1100 and the housing 1110 such that the biasing spring 1146 applies a biasing force to the latch 1140; however, such biasing forces may be overcome when the latches 1140 are rotated outward to their unlocked positions by the shaft assembly 2000. That is, when the latch 1140 is rotated outward after contacting the mounting interface 2130, the locking end 1142 of the latch 1140 may enter the latch window 2140 defined in the mounting interface 2130. Once locking end 1142 passes through latch window 2140, spring 1146 may bias latch 1140 back to its locked position. Each locking end 1142 includes a locking shoulder or surface that securely retains the shaft assembly 2000 on the drive module 1100.

In addition to the above, a biasing spring 1146 holds latch 1140 in its locked position. The distal end 1142 is sized and configured to prevent, or at least inhibit, relative longitudinal movement, i.e., translation along the longitudinal axis, between the shaft assembly 2000 and the drive module 1100 when the latch 1140 is in its latched position. Further, the latches 1140 and latch windows 1240 are sized and configured to prevent relative lateral movement, i.e., translation transverse to the longitudinal axis, between the shaft assembly 2000 and the drive module 1100. Additionally, the latches 1140 and latch windows 2140 are sized and configured to prevent the shaft assembly 2000 from rotating relative to the drive module 1100. The drive module 1100 also includes a release actuator 1150 that, when depressed by the clinician, moves the latch 1140 from its locked position to its unlocked position. The drive module 1100 includes a first release actuator 1150 slidably mounted in an opening defined in a first side of the handle housing 1110 and a second release actuator 1150 slidably mounted in an opening defined in a second or opposite side of the handle housing 1110. Although the release actuators 1150 are separately actuatable, it is typically necessary to depress both release actuators 1150 to fully unlock the shaft assembly 2000 from the drive module 1100 and to allow the shaft assembly 2000 to be separated from the drive module 1100. That is, it is possible to disengage the shaft assembly 2000 from the drive module 1100 by merely depressing one of the release actuators 1150.

Once shaft assembly 2000 has been secured to handle 1000 and, for example, end effector 7000 has been assembled to shaft assembly 2000, the clinician can manipulate handle 1000 to insert end effector 7000 into the patient. In at least one instance, end effector 7000 is inserted into a patient through a trocar and then manipulated to position jaw assembly 7100 of end effector assembly 7000 relative to patient tissue. Typically, the jaw assembly 7100 must be in its closed or clamped configuration in order to fit through a trocar. Once through the trocar, the jaw assembly 7100 can be opened to allow patient tissue to fit between the jaws of the jaw assembly 7100. At this point, jaw assembly 7100 can be returned to its closed configuration to clamp patient tissue between the jaws. The clamping force applied to the patient tissue by jaw assembly 7100 is sufficient to move or manipulate the tissue during the surgical procedure. The jaw assembly 7100 can then be reopened to release the patient tissue from the end effector 7000. This process may be repeated until it is desired to remove the end effector 7000 from the patient. At this point, the jaw assembly 7100 can return to its closed configuration and be retracted through the trocar. Other surgical techniques are contemplated in which the end effector 7000 is inserted into the patient through an open incision or without the use of a trocar. In any event, it is contemplated that the jaw assembly 7100 may have to be opened and closed several times throughout the surgical technique.

Referring again to fig. 3-6, the shaft assembly 2000 further includes a clamp trigger system 2600 and a control system 2800. The clamp trigger system 2600 includes a clamp trigger 2610 rotatably connected to a proximal end housing 2110 of the shaft assembly 2000. As described below, when the clamp trigger 2610 is actuated, the clamp trigger 2610 actuates the motor 1610 to operate the jaw driver of the end effector 7000. The grip trigger 2610 includes an elongated portion that can be grasped by a clinician while gripping the handle 1000. The grip trigger 2610 also includes a mounting portion 2620 that is pivotally connected to the mounting portion 2120 of the proximal housing 2110 such that the grip trigger 2610 is rotatable about a fixed, or at least substantially fixed, axis. The closure trigger 2610 is rotatable between a distal position and a proximal position, wherein the proximal position of the closure trigger 2610 is closer to the pistol grip of the handle 1000 than the distal position. The closure trigger 2610 also includes a tab 2615 extending therefrom that rotates within the proximal housing 2110. When the closure trigger 2610 is in its distal position, the tab 2615 is positioned above, but not in contact with, the switch 2115 mounted on the proximal housing 2110. The switch 2115 is part of an electrical circuit configured to detect actuation of the closure trigger 2610 in an open state, with the closure trigger 2610 in its open position. When the closure trigger 2610 is moved to its proximal position, the tab 2615 contacts the switch 2115 and closes the circuit. In various instances, the switch 2115 can include, for example, a toggle switch that mechanically switches between an open state and a closed state when contacted by the tab 2615 of the closure trigger 2610. In some cases, switch 2115 may include, for example, a proximity sensor and/or any suitable type of sensor. In at least one instance, the switch 2115 includes a hall effect sensor that can detect the amount the closure trigger 2610 has been rotated and control the operating speed of the motor 1610 based on the amount of rotation. In such cases, for example, the greater the rotation of the closure trigger 2610, the faster the speed of the motor 1610, and the smaller the rotation, the slower the speed. In any event, the circuitry communicates with a control system 2800 of the shaft assembly 2000, which will be discussed in more detail below.

In addition to the above, the control system 2800 of the shaft assembly 2000 includes a Printed Circuit Board (PCB)2810, at least one microprocessor 2820, and at least one memory device 2830. The panel 2810 can be rigid and/or flexible and can include any suitable number of layers. The microprocessor 2820 and the storage device 2830 are part of a control circuit defined on the board 2810 that communicates with the control system 1800 of the handle 1000. The shaft assembly 2000 further includes a signal communication system 2900, and the handle 1000 further includes a signal communication system 1900, both of which are configured to communicate data between the shaft control system 2800 and the handle control system 1800. Signal communication system 2900 is configured to transmit data to signal communication system 1900 using any suitable analog and/or digital components. In various instances, communication systems 2900 and 1900 can communicate using multiple discrete channels, which allows input gates of microprocessor 1820 to be controlled at least partially directly by output gates of microprocessor 2820. In some cases, communications systems 2900 and 1900 can utilize multiplexing. In at least one such case, control system 2900 includes a multiplexing device that sends multiple signals simultaneously on a carrier channel in the form of a single complex signal to a multiplexing device that recovers the split signal from the complex signal for control system 1900.

The communication system 2900 includes an electrical connector 2910 mounted to a circuit board 2810. The electrical connector 2910 includes a connector body and a plurality of conductive contacts mounted to the connector body. These conductive contacts include, for example, male pins that are soldered to electrical traces defined in the circuit board 2810. In other cases, the protruding pin may communicate with the circuit board trace through, for example, a Zero Insertion Force (ZIF) socket. The communications system 1900 includes an electrical connector 1910 mounted to a circuit board 1810. The electrical connector 1910 includes a connector body and a plurality of conductive contacts mounted to the connector body. These conductive contacts include, for example, female pins that are soldered to electrical traces defined in the circuit board 1810. In other cases, the female pin may communicate with the circuit board trace through, for example, a Zero Insertion Force (ZIF) socket. When the shaft assembly 2000 is assembled to the drive module 1100, the electrical connector 2910 is operatively coupled to the electrical connector 1910 such that the electrical contacts form an electrical path therebetween. As noted above, connectors 1910 and 2910 may include any suitable electrical contacts. Further, communication systems 1900 and 2900 may communicate with each other in any suitable manner. In various instances, communication systems 1900 and 2900 communicate wirelessly. In at least one such case, the communication system 2900 comprises a wireless signal transmitter and the communication system 1900 comprises a wireless signal receiver such that the shaft assembly 2000 can wirelessly communicate data to the handle 1000. Likewise, the communication system 1900 can include a wireless signal transmitter, and the communication system 2900 can include a wireless signal receiver, such that the handle 1000 can wirelessly communicate data to the shaft assembly 2000.

As described above, the control system 1800 of the handle 1000 is in communication with and configured to control the electrical power circuitry of the handle 1000. The handle control system 1800 is also powered by the electrical power circuitry of the handle 1000. The handle communication system 1900 is in signal communication with the handle control system 1800 and is also powered by the electrical power circuitry of the handle 1000. The handle communication system 1900 is powered by the handle electrical power circuit via the handle control system 1800, but may also be powered directly by the electrical power circuit. Also as described above, the handle communication system 1900 is in signal communication with the shaft communication system 2900. That is, the shaft communication system 2900 is also powered by the handle electrical power circuit via the handle communication system 1900. To this end, electrical connectors 1910 and 2010 connect one or more signal circuits and one or more electrical power circuits between the handle 1000 and the shaft assembly 2000. Further, as described above, the shaft communication system 2900 is in signal communication with the shaft control system 2800 and is also configured to be able to supply power to the shaft control system 2800. Thus, the control systems 1800 and 2800 and the communication systems 1900 and 2900 are all powered by the electrical power circuitry of the handle 1000; however, alternative embodiments are contemplated in which the shaft assembly 2000 includes its own power source, such as one or more batteries, and an electrical power circuit configured to power the handle systems 2800 and 2900 from the batteries, for example. In at least one such embodiment, the handle control system 1800 and the handle communication system 1900 are powered by the handle electrical power system, and the shaft control system 2800 and the handle communication system 2900 are powered by the shaft electrical power system.

In addition to the above, actuation of the grip trigger 2610 is detected by the shaft control system 2800 and transmitted to the handle control system 1800 via communication systems 2900 and 1900. Upon receiving a signal that the clamp trigger 2610 has been actuated, the handle control system 1800 provides power to the electric motor 1610 of the motor assembly 1600 to rotate the drive shaft 1710 of the handle drive system 1700 and the drive shaft 2710 of the shaft drive system 2700 in a direction to close the jaw assembly 7100 of the end effector 7000. The mechanism for converting rotation of the drive shaft 2710 into closing motion of the jaw assembly 7100 will be discussed in more detail below. As long as the clamp trigger 2610 is held in its actuated position, the electric motor 1610 will rotate the drive shaft 1710 until the jaw assembly 7100 reaches its fully clamped position. When the jaw assembly 7100 reaches its fully clamped position, the handle control system 1800 cuts off the electrical power provided to the electric motor 1610. The handle control system 1800 can determine when the jaw assembly 7100 reaches its fully clamped position in any suitable manner. For example, the handle control system 1800 may include an encoder system that monitors and counts the rotations of the output shaft of the electric motor 1610, and once the number of rotations reaches a predetermined threshold, the handle control system 1800 may interrupt power to the motor 1610. In at least one instance, end effector assembly 7000 can include one or more sensors configured to detect when jaw assembly 7100 reaches its fully clamped position. In at least one such instance, the sensors in the end effector 7000 are in signal communication with the handle control system 1800 via circuitry extending through the shaft assembly 2000, which may include, for example, electrical contacts 1520 and 2520.

When the grip trigger 2610 is rotated distally away from its proximal end position, the switch 2115 is opened, which is detected by the shaft control system 2800 and communicated to the handle control system 1800 via the communication systems 2900 and 1900. Upon receiving a signal that the grip trigger 2610 has moved out of its actuated position, the handle control system 1800 reverses the polarity of the voltage differential applied to the electric motor 1610 of the motor assembly 1600 to rotate the drive shaft 1710 of the handle drive system 1700 and the drive shaft 2710 of the shaft drive system 2700 in opposite directions, which results in opening the jaw assembly 7100 of the end effector 7000. When the jaw assembly 7100 reaches its fully open position, the handle control system 1800 cuts off electrical power to the electric motor 1610. The handle control system 1800 can determine when the jaw assembly 7100 reaches its fully open position in any suitable manner. For example, the handle control system 1800 can utilize the encoder system and/or one or more sensors described above to determine the configuration of the jaw assembly 7100. In view of the above, the clinician needs to take care to hold the clamp trigger 2610 in its actuated position in order to maintain the jaw assembly 7100 in its clamped configuration, otherwise the control system 1800 will open the jaw assembly 7100. Accordingly, the shaft assembly 2000 further includes an actuator latch 2630 configured to releasably retain the clamp trigger 2610 in its actuated position to prevent inadvertent opening of the jaw assembly 7100. The actuator latch 2630 can be manually released or otherwise disabled by the clinician to allow the clamp trigger 2610 to rotate distally and open the jaw assembly 7100.

The clamp trigger system 2600 also includes a resilient biasing member, such as a torsion spring, for example, configured to resist closing of the clamp trigger system 2600. The torsion spring can also help reduce and/or mitigate sudden movement and/or shaking of the grip trigger 2610. Such a torsion spring may also automatically return the grip trigger 2610 to its unactuated position when the grip trigger 2610 is released. The actuator latch 2630 discussed above can hold the grip trigger 2610 properly in its actuated position against the biasing force of the torsion spring.

As described above, the control system 1800 operates the electric motor 1610 to open and close the jaw assembly 7100. The control system 1800 is configured to open and close the jaw assembly 7100 at the same speed. In such cases, the control system 1800 applies the same voltage pulse to the electric motor 1610, albeit with different voltage polarities, when opening and closing the jaw assembly 7100. That is, the control system 1800 can be configured to open and close the jaw assembly 7100 at different speeds. For example, the jaw assembly 7100 can be closed at a first speed and opened at a second speed that is faster than the first speed. In such cases, the slower closing speed provides the clinician with an opportunity to better position the jaw assembly 7100 while clamping tissue. Alternatively, the control system 1800 can open the jaw assembly 7100 at a slower speed. In such cases, a slower opening speed may reduce the likelihood of the open jaws colliding with adjacent tissue. In either case, the control system 1800 can decrease the duration of the voltage pulses and/or increase the duration between voltage pulses to slow and/or speed up the movement of the jaw assembly 7100.

As described above, the control system 1800 is configured to interpret the position of the clamp trigger 2610 as a command to position the jaw assembly 7100 in a particular configuration. For example, the control system 1800 is configured to interpret the proximal-most position of the clamp trigger 2610 as a command to close the jaw assembly 7100, and to interpret any other position of the clamp trigger as a command to open the jaw assembly 7100. That is, the control system 1800 can be configured to interpret a position of the clamp trigger 2610 within the proximal range of positions, rather than a single position, as a command to close the jaw assembly 7100. Such an arrangement may allow jaw assembly 7000 to better respond to clinician input. In such cases, the range of motion of the grip trigger 2610 is divided into two ranges: a proximal range of commands interpreted to close the jaw assembly 7100 and a distal range of commands interpreted to open the jaw assembly 7100. In at least one instance, the range of motion of the grip trigger 2610 can have an intermediate range between the proximal range and the distal range. When the grip trigger 2610 is within the mid-range, the control system 1800 may interpret the position of the grip trigger 2610 as a command to neither open nor close the jaw assembly 7100. Such an intermediate range may prevent or reduce the likelihood of jitter between the open range and the closed range. In the above-described case, the control system 1800 can be configured to ignore cumulative commands to open or close the jaw assembly 7100. For example, if the closure trigger 2610 has been retracted to its proximal-most position, the control assembly 1800 may ignore movement of the clamp trigger 2610 within the proximal or clamping range until the clamp trigger 2610 enters the distal or opening range, at which point the control system 1800 may then actuate the electric motor 1610 to open the jaw assembly 7100.

In some cases, in addition to the above, the position of the grip trigger 2610 within the grip trigger range or at least a portion of the grip trigger range can allow the clinician to control the speed of the electric motor 1610, and thus the speed at which the jaw assembly 7100 is opened or closed by the control assembly 1800. In at least one instance, the sensor 2115 comprises a hall effect sensor configured to detect the position of the grip trigger 2610 between its distal, unactuated position and proximal, fully actuated position, and/or any other suitable sensor. The hall effect sensor is configured to transmit a signal to the handle control system 1800 via the shaft control system 2800 such that the handle control system 1800 can control the speed of the electric motor 1610 in response to the position of the grip trigger 2610. In at least one instance, the handle control system 1800 controls the speed of the electric motor 1610 to the position of the grip trigger 2610 proportionally or in a linear manner. For example, if the grip trigger 2610 moves halfway through its range, the handle control system 1800 will operate the electric motor 1610 at half the speed at which the electric motor 1610 is operated when the grip trigger 2610 is fully retracted. Similarly, if the grip trigger 2610 moves one-quarter of its range, the handle control system 1800 will operate the electric motor 1610 at one-quarter of the speed at which the electric motor 1610 is operated when the grip trigger 2610 is fully retracted. Other embodiments are contemplated in which the handle control system 1800 controls the speed of the electric motor 1610 to the position of the grip trigger 2610 in a non-linear manner. In at least one instance, the control system 1800 operates the electric motor 1610 slowly in a distal portion of the grip trigger range while rapidly increasing the speed of the electric motor 1610 in a proximal portion of the grip trigger range.

As described above, the clamp trigger 2610 is movable to operate the electric motor 1610 to open or close the jaw assembly 7100 of the end effector 7000. The electric motor 1610 is also operable to rotate the end effector 7000 about the longitudinal axis and articulate the end effector 7000 relative to the elongate shaft 2200 about the articulation joint 2300 of the shaft assembly 2000. Referring primarily to fig. 7 and 8, the drive module 1100 may include an input system 1400 including a rotational brake 1420 and an articulation brake 1430. The input system 1400 also includes a Printed Circuit Board (PCB)1410 in signal communication with a Printed Circuit Board (PCB)1810 of the control system 1800. The drive module 1100 includes communication circuitry, such as a flexible harness or strap, for example, that allows the input system 1400 to communicate with the control system 1800. The rotary actuator 1420 is rotatably supported on the housing 1110 and is in signal communication with the input board 1410 and/or the control board 1810, as described in more detail below. The articulation actuators 1430 are supported by and in communication with the input plate 1410 and/or the control panel 1810, as also described in more detail below.

Referring primarily to fig. 8, 10, and 11, in addition to the above, the handle housing 1110 includes an annular groove or slot defined therein adjacent the distal mounting interface 1130. The rotary actuator 1420 includes an annular ring 1422 rotatably supported within the annular groove, and due to the configuration of the side walls of the annular groove, the annular ring 1422 is constrained to translate longitudinally and/or laterally relative to the handle housing 1110. The annular ring 1422 is rotatable in a first or clockwise direction and a second or counterclockwise direction about a longitudinal axis extending through the frame 1500 of the drive module 1100. The rotary actuator 1420 includes one or more sensors configured to detect rotation of the annular ring 1422. In at least one instance, the rotary actuator 1420 includes a first sensor positioned on a first side of the drive module 1100 and a second sensor positioned on a second or opposite side of the drive module 1100, and the annular ring 1422 includes a detectable element that is detectable by the first and second sensors. The first sensor is configured to detect when the annular ring 1422 is rotating in a first direction, and the second sensor is configured to detect when the annular ring 1422 is rotating in a second direction. When the first sensor detects rotation of the annular ring 1422 in a first direction, the handle control system 1800 causes the handle drive shaft 1710, drive shaft 2710, and end effector 7000 to rotate in the first direction, as described in more detail below. Similarly, when the second sensor detects rotation of the annular ring 1422 in a second direction, the handle control system 1800 causes the handle drive shaft 1710, drive shaft 2710, and end effector 7000 to rotate in the second direction. In view of the above, the reader will appreciate that both the grip trigger 2610 and the rotary actuator 1420 are operable to rotate the drive shaft 2710.

In various embodiments, in addition to the above, the first and second sensors comprise switches that can be mechanically closed by a detectable element of the annular ring 1422. When the annular ring 1422 is rotated in a first direction from the center position, the detectable element closes the switch of the first sensor. When the switch of the first sensor is closed, the control system 1800 operates the electric motor 1610 to rotate the end effector 7000 in the first direction. When the annular ring 1422 is rotated in a second direction toward the center position, the detectable element disengages from the first switch and the first switch reopens. Once the first switch is reopened, the control system 1800 cuts power to the electric motor 1610 to stop rotation of the end effector 7000. Similarly, when the annular ring 1422 is rotated in a second direction from the center position, the detectable element closes the switch of the second sensor. When the switch of the second sensor is closed, the control system 1800 operates the electric motor 1610 to rotate the end effector 7000 in the second direction. When the annular ring 1422 is rotated in a first direction toward the center position, the detectable element disengages the second switch and the second switch reopens. Once the second switch is reopened, the control system 1800 cuts power to the electric motor 1610 to stop rotation of the end effector 7000.

In various embodiments, the first and second sensors of the rotary actuator 1420 include, for example, proximity sensors, in addition to those described above. In certain embodiments, the first and second sensors of the rotary actuator 1420 include hall effect sensors configured to detect a distance between the detectable elements of the annular ring 1422 and the first and second sensors, and/or any suitable sensor. If the first Hall effect sensor detects that the annular ring 1422 has rotated in the first direction, the control system 1800 will cause the end effector 7000 to rotate in the first direction, as described above. Additionally, the control system 1800 may rotate the end effector 7000 at a faster speed when the detectable element is closer to the first hall effect sensor than when the detectable element is farther from the first hall effect sensor. If the second Hall effect sensor detects that the annular ring 1422 has rotated in the second direction, the control system 1800 will cause the end effector 7000 to rotate in the second direction, as described above. Additionally, the control system 1800 may rotate the end effector 7000 at a faster speed when the detectable element is closer to the second hall effect sensor than when the detectable element is farther from the second hall effect sensor. Thus, the rotational speed of the end effector 7000 is a function of the amount or degree of rotation of the annular ring 1422. The control system 1800 is also configured to evaluate inputs from both the first and second hall effect sensors when determining the direction and speed of the rotating end effector 7000. In various instances, the control system 1800 can use the hall effect sensor closest to the detectable element of the annular ring 1422 as the primary data source and the hall effect sensor furthest from the detectable element as the confirmation source of data to review the data provided by the primary data source. The control system 1800 may also include a data integrity protocol to resolve situations where conflicting data is provided to the control system 1800. In any event, the handle control system 1800 may enter a neutral state in which the handle control system 1800 does not rotate the end effector 7000 when the hall effect sensor detects that the detectable element is in its center position, or in a position equidistant between the first hall effect sensor and the second hall effect sensor. In at least one such case, control system 1800 can enter its neutral state when the detectable element is within the range of central positions. Such an arrangement will prevent or at least reduce the likelihood of rotational jitter when the clinician does not intend to rotate the end effector 7000.

In addition to the above, the rotary actuator 1420 may include one or more springs configured to center, or at least substantially center, the rotary actuator 1420 when released by a clinician. In such cases, the spring may act to turn off the electric motor 1610 and stop rotation of the end effector 7000. In at least one instance, the rotary actuator 1420 includes a first torsion spring configured to rotate the rotary actuator 1420 in a first direction and a second torsion spring configured to rotate the rotary actuator 1420 in a second direction. The first torsion spring and the second torsion spring may have the same or at least substantially the same spring constant such that the forces exerted by the first torsion spring and the second torsion spring balance or at least substantially balance the rotary actuator 1420 in its central position.

In view of the above, the reader will appreciate that both the clamp trigger 2610 and the rotary actuator 1420 can be operated to rotate the drive shaft 2710 and, respectively, the jaw assembly 7100 or the rotary end effector 7000. The system that uses rotation of drive shaft 2710 to selectively perform these functions is described in more detail below.

Referring primarily to fig. 7 and 8, the articulation brake 1430 includes a first push button 1432 and a second push button 1434. The first push button 1432 is part of a first articulation control circuit and the second push button 1434 is part of a second articulation circuit of the input system 1400. The first push-down button 1432 includes a first switch that closes when the first push-down button 1432 is pressed. The handle control system 1800 is configured to sense the closing of the first switch and, in addition, the closing of the first articulation control circuit. When the handle control system 1800 detects that the first articulation control circuit has been closed, the handle control system 1800 operates the electric motor 1610 to articulate the end effector 7000 about the articulation joint 2300 in a first articulation direction. When the clinician releases the first push button 1432, the first articulation control circuit is open, which, upon detection by the control system 1800, causes the control system 1800 to turn off power to the electric motor 1610 to stop articulation of the end effector 7000.

In various circumstances, the range of articulation of the end effector 7000 is limited in addition to that described above, and the control system 1800 may utilize the encoder system described above for monitoring the rotational output of the electric motor 1610, for example, to monitor the amount or angle that the end effector 7000 is rotated in the first direction. In addition to or in lieu of the encoder system, the shaft assembly 2000 may include a first sensor configured to detect when the end effector 7000 has reached its limit of articulation in the first direction. In any event, when the control system 1800 determines that the end effector 7000 has reached the limit of articulation in the first direction, the control system 1800 may shut off power to the electric motor 1610 to stop articulation of the end effector 7000.

Similar to the above, the second push button 1434 includes a second switch that closes when the second push button 1434 is pushed. The handle control system 1800 is configured to sense the closing of the second switch and, in addition, the closing of the second articulation control circuit. When the handle control system 1800 detects that the second articulation control circuit has been closed, the handle control system 1800 operates the electric motor 1610 to articulate the end effector 7000 about the articulation joint 2300 in a second direction. When the clinician releases the second push button 1434, the second articulation control circuit is open, which, upon detection by the control system 1800, causes the control system 1800 to turn off power to the electric motor 1610 to stop articulation of the end effector 7000.

In various circumstances, the range of articulation of the end effector 7000 is limited and the control system 1800 can utilize the encoder system described above for monitoring the rotational output of the electric motor 1610, for example, to monitor the amount or angle of rotation of the end effector 7000 in the second direction. In addition to or in lieu of the encoder system, the shaft assembly 2000 may include a second sensor configured to detect when the end effector 7000 has reached its limit of articulation in the second direction. In any event, when the control system 1800 determines that the end effector 7000 has reached the limit of articulation in the second direction, the control system 1800 may turn off power to the electric motor 1610 to stop articulation of the end effector 7000.

As described above, the end effector 7000 is articulated in a first direction (FIG. 16) and/or a second direction (FIG. 17) from a centered or non-articulated position (FIG. 15). Once the end effector 7000 has been articulated, the clinician may attempt to re-center the end effector 7000 by using the first articulation push button 1432 and the second articulation push button 1434. As the reader will appreciate, the clinician may have difficulty re-centering the end effector 7000 because, for example, the end effector 7000 may not be fully visible once positioned within the patient. in some cases, if the end effector 7000 is not re-centered or at least substantially not re-centered, the end effector 7000 may not fit back through the trocar.

In addition to or in lieu of the above, the handle control system 1800 may be configured to re-center the end effector 7000. In at least one such instance, the handle control system 1800 can re-center the end effector 7000 when both articulation push buttons 1432 and 1434 of the articulation actuator 1430 are simultaneously depressed. For example, when the handle control system 1800 includes an encoder system configured to monitor the rotational output of the electric motor 1610, the handle control system 1800 may determine the amount and direction of articulation required to re-center, or at least substantially re-center, the end effector 7000. In various instances, the input system 1400 may include, for example, a home button that, when pressed, automatically centers the end effector 7000, for example.

Referring primarily to fig. 5 and 6, the elongate shaft 2200 of the shaft assembly 2000 includes an outer housing or tube 2210 mounted to a proximal housing 2110 of the proximal portion 2100. The outer housing 2210 includes a longitudinal bore 2230 extending therethrough and a proximal flange 2220 securing the outer housing 2210 to the proximal housing 2110. The frame 2500 of the shaft assembly 2000 extends through the longitudinal aperture 2230 of the elongate shaft 2200. More specifically, the shaft 2510 of the shaft frame 2500 necks down into a smaller shaft 2530 that extends through the longitudinal aperture 2230. That is, the pedestal 2500 may include any suitable arrangement. The drive system 2700 of the shaft assembly 2000 also extends through the longitudinal bore 2230 of the elongate shaft 2200. More specifically, drive shaft 2710 of shaft drive system 2700 is necked down into a smaller drive shaft 2730 that extends through longitudinal aperture 2230. That is, drive shaft 2700 may include any suitable arrangement.

Referring primarily to fig. 20, 23, and 24, the outer housing 2210 of the elongate shaft 2200 extends to the articulation joint 2300. The articulation joint 2300 includes a proximal frame 2310 that is mounted to an outer housing 2210 such that there is little, if any, relative translation and/or rotation between the proximal frame 2310 and the outer housing 2210. Referring primarily to fig. 22, the proximal frame 2310 includes a ring portion 2312 mounted to a side wall of the outer housing 2210 and a tab 2314 extending distally from the ring portion 2312. The articulation joint 2300 also includes links 2320 and 2340 rotatably mounted to the frame 2310 and to the outer housing 2410 of the distal attachment portion 2400. The connector 2320 includes a distal end 2322 mounted to the outer housing 2410. More specifically, the distal end 2322 of the connection member 2320 is received and securely fixed within a mounting slot 2412 defined in the outer housing 2410. Similarly, the connector 2340 includes a distal end 2342 mounted to the outer housing 2410. More specifically, the distal end 2342 of the connector 2340 is received and securely secured within a mounting slot defined in the outer housing 2410. The link 2320 includes a proximal end 2324 that is rotatably coupled to the tab 2314 of the proximal articulation frame 2310. Although not shown in fig. 22, the pin extends through apertures defined in the proximal end 2324 and the tab 2314 to define a pivot axis therebetween. Similarly, the link 2340 includes a proximal end 2344 rotatably coupled to the tab 2314 of the proximal articulation frame 2310. Although not shown in fig. 22, the pin extends through apertures defined in the proximal end 2344 and the tab 2314 to define a pivot axis therebetween. These pivot axes are collinear, or at least substantially collinear, and define an articulation axis a of the articulation joint 2300.

Referring primarily to fig. 20, 23, and 24, the outer housing 2410 of the distal attachment portion 2400 includes a longitudinal aperture 2430 extending therethrough. The longitudinal aperture 2430 is configured to receive the proximal attachment portion 7400 of the end effector 7000. The end effector 7000 includes an outer housing 6230 closely received within the longitudinal aperture 2430 of the distal attachment portion 2400 such that there is little, if any, relative radial movement between the proximal attachment portion 7400 of the end effector 7000 and the distal attachment portion 2400 of the shaft assembly 2000. The proximal attachment portion 7400 also includes a circular array of locking notches 7410 defined on the outer housing 6230 that are releasably engaged by the end effector latch 6400 in the distal attachment portion 2400 of the shaft assembly 2000. When the end effector latch 6400 engages the array of locking notches 7410, the end effector latch 6400 prevents, or at least inhibits, relative longitudinal movement between the proximal attachment portion 7400 of the end effector 7000 and the distal attachment portion 2400 of the shaft assembly 2000. Due to the above, only relative rotation between the proximal attachment portion 7400 of the end effector 7000 and the distal attachment portion 2400 of the shaft assembly 2000 is permitted. To this end, the outer housing 6230 of the end effector 7000 is closely received within a longitudinal aperture 2430 defined in the distal attachment portion 2400 of the shaft assembly 2000.

In addition to the above, referring to fig. 21, the outer housing 6230 further includes a circumferential slot or notch 6270 defined therein that is configured to receive an O-ring 6275 therein. When the end effector 7000 is inserted into the distal attachment portion 2400, the O-ring 6275 is compressed between the outer housing 6230 and the sidewall of the longitudinal aperture 2430. The O-ring 6275 is configured to resist, but allow relative rotation between the end effector 7000 and the distal attachment portion 2400 such that the O-ring 6275 can prevent or reduce the likelihood of inadvertent relative rotation between the end effector 7000 and the distal attachment portion 2400. In various circumstances, for example, the O-ring 6275 can provide a seal between the end effector 7000 and the distal attachment portion 2400 to prevent, or at least reduce, the likelihood of fluid entering the shaft assembly 2000.

Referring to fig. 14-21, the jaw assembly 7100 of the end effector 7000 includes a first jaw 7110 and a second jaw 7120. Each jaw 7110, 7120 includes a distal end configured to assist a clinician in dissecting tissue with the end effector 7000. Each jaw 7110, 7120 also includes a plurality of teeth configured to assist a clinician in grasping and holding tissue with the end effector 7000. Further, referring primarily to fig. 21, each jaw 7110, 7120 includes a proximal end, i.e., proximal ends 7115, 7125 that rotatably connect the jaws 7110, 7120 together, respectively. Each proximal end 7115, 7125 includes an aperture extending therethrough configured to closely receive a pin 7130 therein. The pin 7130 includes a central body 7135 that is closely received within an aperture defined within the proximal end 7115, 7125 of the jaws 7110, 7120 such that there is little relative translation between the jaws 7110, 7120 and the pin 7130. The pin 7130 defines a jaw axis J about which the jaws 7110, 7120 can be rotated, and also rotatably mounts the jaws 7110, 7120 to an outer housing 6230 of the end effector 7000. More specifically, the outer housing 6230 includes a distally extending tab 6235 having an aperture defined therein that is also configured to closely receive the pin 7130 such that the jaw assembly 7100 does not translate relative to the shaft portion 7200 of the end effector 7000. The pin 7130 also includes enlarged ends that prevent the jaws 7110, 7120 from separating from the pin 7130, and also prevent the jaw assembly 7100 from separating from the shaft portion 7200. This arrangement defines a rotational joint 7300.

Referring primarily to fig. 21 and 23, the jaws 7110 and 7120 can be rotated between their open and closed positions by a jaw assembly driver comprising a drive link 7140, a drive nut 7150, and a drive screw 6130. As described in more detail below, drive screw 6130 may be selectively rotated by drive shaft 2730 of shaft drive system 2700. The drive screw 6130 includes an annular flange 6132 that is closely received within a slot or recess 6232 (fig. 25) defined in the outer housing 6230 of the end effector 7000. The sidewalls of the slot 6232 are configured to prevent, or at least inhibit, longitudinal and/or radial translation between the drive screw 6130 and the outer housing 6230, yet still allow relative rotational movement between the drive screw 6130 and the outer housing 6230. The drive screw 6130 also includes a threaded port 6160 that threadably engages a threaded aperture 7160 defined in the drive nut 7150. The drive nut 7150 is constrained from rotating with the drive screw 6130, and thus, as the drive screw 6130 rotates, the drive nut 7150 translates. In use, the drive screw 6130 is rotated in a first direction to displace the drive nut 7150 proximally and is rotated in a second or opposite direction to displace the drive nut 7150 distally. The drive nut 7150 also includes a distal end 7155 including an aperture defined therein that is configured to closely receive a pin 7145 extending from the drive connector 7140. Referring primarily to fig. 21, a first drive connection 7140 is attached to one side of the distal end 7155 and a second drive connection 7140 is attached to the opposite side of the distal end 7155. The first drive link 7140 includes another pin 7145 extending therefrom that is closely received in an aperture defined in the proximal end 7115 of the first jaw 7110, and similarly, the second drive link 7140 includes another pin extending therefrom that is closely received in an aperture defined in the proximal end 7125 of the second jaw 7120. As a result of the above, the drive connector 7140 operatively connects the jaws 7110 and 7120 to the drive nut 7150. As described above, when the drive nut 7150 is driven proximally by the drive screw 6130, the jaws 7110, 7120 are rotated into a closed or gripping configuration. Accordingly, when the drive nut 7150 is driven distally by the drive screw 6130, the jaws 7110, 7120 are rotated into their open configuration.

As described above, the control system 1800 is adapted to actuate the electric motor 1610 to perform three different end effector functions, clamping/opening the jaw assembly 7100 (FIGS. 14 and 15), rotating the end effector 7000 about a longitudinal axis (FIGS. 18 and 19), and articulating the end effector 7000 about an articulation axis (FIGS. 16 and 17). Referring primarily to FIGS. 26 and 27, the control system 1800 is configured to operate the transmission device 6000 to selectively perform these three end effector functions.

In various instances, in addition to the above, shaft 2510 and/or shaft 1510 comprise a flex circuit that includes electrical traces that form part of a clutch control circuit. The flexible circuit may include a tape or substrate defining conductive paths therein and/or thereon. The flexible circuit may also include, for example, sensors and/or any solid state components mounted thereto, such as smoothing capacitors. In at least one instance, each of the conductive paths may include one or more signal smoothing capacitors that may even out fluctuations in the signal transmitted through the conductive path, and the like. In various instances, the flexible circuit may be coated with at least one material, such as an elastomer, that may seal the flexible circuit against fluid ingress, for example.

Referring primarily to fig. 28, the first clutch system 6100 includes a first clutch 6110, an expandable first drive ring 6120, and a first electromagnetic actuator 6140. The first clutch 6110 includes an annular ring and is slidably disposed on the drive shaft 2730. The first clutch 6110 is constructed of a magnetic material and is movable between a disengaged or unactuated position (fig. 28) and an engaged or actuated position (fig. 29) by an electromagnetic field EF generated by a first electromagnetic actuator 6140. In various instances, the first clutch 6110 can be constructed, for example, at least partially of iron and/or nickel. In at least one instance, the first clutch 6110 includes a permanent magnet. As shown in fig. 22A, the drive shaft 2730 includes one or more longitudinal keyways 6115 defined therein that are configured to constrain longitudinal movement of the clutch 6110 relative to the drive shaft 2730. More specifically, the clutch 6110 includes one or more keys that extend into the keyway 6115 such that the distal end of the keyway 6115 stops distal movement of the clutch 6110 and the proximal end of the keyway 6115 stops proximal movement of the clutch 6110.

When the first clutch 6110 is in its disengaged position (fig. 28), the first clutch 6110 rotates with the drive shaft 2130, but does not transmit rotational motion to the first drive ring 6120. As can be seen in fig. 28, the first clutch 6110 is either disengaged from the first drive ring 6120 or is not in contact with the first drive ring. Thus, when the first clutch assembly 6100 is in its disengaged state, rotation of the drive shaft 2730 and the first clutch 6110 is not transmitted to the drive screw 6130. When the first clutch 6110 is in its engaged position (fig. 29), the first clutch 6110 engages the first drive ring 6120 such that the first drive ring 6120 expands or stretches radially outward into contact with the drive screw 6130. In at least one instance, the first drive shaft 6120 can comprise an elastomeric band, for example. As can be seen in fig. 29, the first drive ring 6120 is compressed against the annular inner sidewall 6135 of the drive screw 6130. Thus, when the first clutch assembly 6100 is in its engaged state, rotation of the drive shaft 2730 and the first clutch 6110 is not transmitted to the drive screw 6130. Depending on the direction in which the drive shaft 2730 is rotating, the first clutch assembly 6100 can move the jaw assembly 7100 into its open and closed configurations when the first clutch assembly 6100 is in its engaged state.

As described above, the first electromagnetic actuator 6140 is configured to generate a magnetic field to move the first clutch 6110 between its disengaged position (fig. 28) and engaged position (fig. 29). For example, referring to FIG. 28, a first electromagnetic actuator 6140 is configured to emit a magnetic field EF_LThis magnetic field repels or drives the first clutch 6110 away from the first drive ring 6120 when the first clutch assembly 6100 is in its disengaged state. The first electromagnetic actuator 6140 includes one or more wound coils in a cavity defined in the shaft frame 2530 that generate a magnetic field EF when current flows in a first direction through a first electrical clutch circuit including the wound coils_L. Control system 1800 is configured to apply a first voltage polarity to the first electrical clutch circuit to generate a current flowing in a first direction. The control system 1800 may continuously apply the first voltage polarity to the first electrical shaft circuit to continuously hold the first clutch 6110 in its disengaged position. While this arrangement may prevent the first clutch 6110 from accidentally engaging the first drive ring 6120, it may also consume a lot of power. Alternatively, control system 1800 may apply the first voltageThe polarity is applied to the first electrical clutch circuit for a sufficient time to position the first clutch 6110 in its disengaged position, and then the application of the first voltage polarity to the first electrical clutch circuit is discontinued, resulting in reduced power consumption. That is, the first clutch assembly 6100 further includes a first clutch lock 6150 mounted in the drive screw 6130 that is configured to releasably retain the first clutch 6110 in its disengaged position. The first clutch lock 6150 is configured to prevent or at least reduce the likelihood of the first clutch 6110 inadvertently engaging the first drive ring 6120. When the first clutch 6110 is in its disengaged position, as shown in fig. 28, the first clutch lock 6150 interferes with the free movement of the first clutch 6110 and holds the first clutch 6110 in place by friction and/or interference forces therebetween. In at least one instance, the first clutch lock 6150 includes a resilient plug, abutment, or detent, for example, comprised of rubber. In some cases, the first clutch lock 6150 includes a permanent magnet that holds the first clutch 6110 in its disengaged position by electromagnetic force. In any case, the first electromagnetic actuator 6140 can apply an electromagnetic pulling force to the first clutch 6110 that overcomes these forces, as described in more detail below.

In addition to the above, referring to fig. 29, a first electromagnetic actuator 6140 is configured to emit a magnetic field EF_DWhen the first clutch assembly 6100 is in its engaged state, the magnetic field pulls or drives the first clutch 6110 toward the first drive ring 6120. When current flows through the first electrical clutch circuit in a second or opposite direction, the coil of the first electromagnetic actuator 6140 generates a magnetic field EF_D. Control system 1800 is configured to apply opposite voltage polarities to the first electrical clutch circuit to produce currents flowing in opposite directions. The control system 1800 can continuously apply an opposite voltage polarity to the first electrical clutch circuit to continuously maintain the first clutch 6110 in its engaged position and maintain operable engagement between the first drive ring 6120 and the drive screw 6130. Alternatively, the first clutch 6110 may be configured to wedge when the first clutch 6110 is in its engaged positionInto the first drive ring 6120, and in such cases, the control system 1800 may not need to continuously apply a voltage polarity to the first electrical clutch circuit to maintain the first clutch assembly 6100 in its engaged state. In such cases, the control system 1800 can interrupt the applied voltage polarity once the first clutch 6110 has wedged sufficiently into the first drive ring 6120.

Notably, in addition to the above, the first clutch lock 6150 is configured to lock the jaw assembly driver when the first clutch 6110 is in its disengaged position. More specifically, referring again to fig. 28, when the first clutch 6110 is in its disengaged position, the first clutch 6110 urges the first clutch lock 6150 in the drive screw 6130 into engagement with the outer housing 6230 of the end effector 7000 so that the drive screw 6130 does not rotate, or at least substantially does not rotate, relative to the outer housing 6230. The outer housing 6230 includes a slot 6235 defined therein that is configured to receive the first clutch lock 6150. When the first clutch 6110 is moved to its engaged position, see fig. 29, the first clutch 6110 is no longer engaged with the first clutch lock 6150, and therefore, the first clutch lock 6150 is no longer biased into engagement with the outer housing 6230, and the drive screw 6130 can freely rotate relative to the outer housing 6230. Due to the above, the first clutch 6110 can do at least two things: the jaw driver is operated when the first clutch 6110 is in its engaged position and is latched when the first clutch 6110 is in its disengaged position.

Further, in addition to the above, the threads of the threaded portions 6160 and 7160 can be configured to prevent, or at least resist, back driving of the jaw driver. In at least one instance, the pitch and/or angle of the threaded portions 6160 and 7160 can be selected to prevent back-driving or accidental opening of the jaw assembly 7100, for example. As a result of the above, the likelihood of the jaw assembly 7100 accidentally opening or closing is prevented or at least reduced.

Referring primarily to fig. 30, the second clutch system 6200 includes a second clutch 6210, an expandable second drive ring 6220, and a second electromagnetic actuator 6240. The second clutch 6210 includes an annular ring and is slidably disposed on the drive shaft 2730. This second clutch 6210 is made of a magnetic material and is movable between a disengaged or unactuated position (fig. 30) and an engaged or actuated position (fig. 31) by means of an electromagnetic field EF generated by a second electromagnetic actuator 6240. In various instances, the second clutch 6210 can be constructed, for example, at least partially of iron and/or nickel. In at least one instance, the second clutch 6210 can comprise a permanent magnet. As shown in fig. 22A, the drive shaft 2730 includes one or more longitudinal keyways 6215 defined therein that are configured to constrain longitudinal movement of the second clutch 6210 relative to the drive shaft 2730. More specifically, the second clutch 6210 includes one or more keys that extend into the keyway 6215 such that the distal end of the keyway 6215 stops distal movement of the second clutch 6210 and the proximal end of the keyway 6215 stops proximal movement of the second clutch 6210.

When the second clutch 6210 is in its disengaged position, see fig. 30, the second clutch 6210 rotates with the drive shaft 2730 but does not transmit rotational motion to the second drive ring 6220. as can be seen in fig. 30, the second clutch 6210 is either disengaged from the second drive ring 6220 or is not in contact with the second drive ring 6220. thus, when the second clutch assembly 6200 is in its disengaged state, rotation of the drive shaft 2730 and the second clutch 6210 is not transmitted to the outer housing 6230 of the end effector 7000. when the second clutch 6210 is in its engaged position (fig. 31), the second clutch 6210 is engaged with the second drive ring 6220 such that the second drive ring 6220 expands or stretches radially outwardly to contact the outer housing 6230. in at least one instance, the second drive shaft 6220 comprises an elastomeric band.

As described aboveThe second electromagnetic actuator 6240 is configured to generate a magnetic field to move the second clutch 6210 between its disengaged position (fig. 30) and engaged position (fig. 31). For example, the second electromagnetic actuator 6240 is configured to emit a magnetic field EF_LThis magnetic field repels or drives the second clutch 6210 away from the second drive ring 6220 when the second clutch assembly 6200 is in its disengaged state. The second electromagnetic actuator 6240 includes one or more wound coils in a cavity defined in the shaft frame 2530 that generate a magnetic field EF when current flows in a first direction through a second electrical clutch circuit including the wound coils_L. Control system 1800 is configured to apply a first voltage polarity to the second electrical clutch circuit to generate a current flowing in a first direction. The control system 1800 may continuously apply the first voltage polarity to the second electrical clutch circuit to continuously hold the second clutch 6120 in its disengaged position. While this arrangement may prevent the second clutch 6210 from accidentally engaging the second drive ring 6220, it may also consume a lot of power. Alternatively, the control system 1800 may apply the first voltage polarity to the second electrical clutch circuit for a sufficient time to position the second clutch 6210 in its disengaged position, and then discontinue applying the first voltage polarity to the second electrical clutch circuit, resulting in reduced power consumption. That is, the second clutch assembly 6200 further includes a second clutch lock 6250 mounted in the outer housing 6230 that is configured to releasably retain the second clutch 6210 in its disengaged position. Similar to the above, the second clutch lock 6250 can prevent, or at least reduce, the possibility of the second clutch 6210 being accidentally engaged with the second drive ring 6220. When the second clutch 6210 is in its disengaged position, as shown in fig. 30, the second clutch lock 6250 interferes with the free movement of the second clutch 6210 and holds the second clutch 6210 in place by frictional and/or interfering forces therebetween. In at least one instance, the second clutch lock 6250 can comprise a resilient plug, abutment, or detent, for example, constructed of rubber. In some cases, the second clutch lock 6250 includes a second clutch 6210 that is engaged by electromagnetic forceA permanent magnet held in its disengaged position. That is, the second electromagnetic actuator 6240 can apply an electromagnetic pulling force to the second clutch 6210 that overcomes these forces, as described in more detail below.

In addition to the above, referring to fig. 31, a second electromagnetic actuator 6240 is configured to emit a magnetic field EF_DWhen the second clutch assembly 6200 is in its engaged state, the magnetic field pulls or drives the second clutch 6210 toward the second drive ring 6220. When current flows through the second electrical shaft circuit in a second or opposite direction, the coil of the second electromagnetic actuator 6240 generates a magnetic field EF_D. The control system 1800 is configured to apply an opposite voltage polarity to the second electrical shaft circuit to generate a current flowing in an opposite direction. The control system 1800 can continuously apply an opposite voltage polarity to the second electrical shaft circuit to continuously maintain the second clutch 6210 in its engaged position and maintain operative engagement between the second drive ring 6220 and the outer housing 6230. Alternatively, the second clutch 6210 may be configured to be wedged within the second drive ring 6220 when the second clutch 6210 is in its engaged position, and in such circumstances, the control system 1800 may not need to continuously apply a voltage polarity to the second shaft circuit to maintain the second clutch assembly 6200 in its engaged state. In such cases, the control system 1800 can interrupt the applied voltage polarity once the second clutch 6210 has been sufficiently wedged into the second drive ring 6220.

Notably, in addition to the above, the second clutch lock 6250 is also configured to lock out rotation of the end effector 7000 when the second clutch 6210 is in its disengaged position. More specifically, referring again to fig. 30, when second clutch 6210 is in its disengaged position, second clutch 6210 urges second clutch lock 6250 in outer shaft 6230 into engagement with articulation link 2340 such that end effector 7000 does not rotate, or at least substantially does not rotate, relative to distal attachment portion 2400 of shaft assembly 2000. As shown in fig. 27, when the second clutch 6210 is in its disengaged position, the second clutch lock 6250 is positioned or wedged within a slot or passage 2345 defined in the articulation link 2340. Due to the above, the possibility of accidental rotation of the end effector 7000 is prevented or at least reduced. Further, due to the above, the second clutch 6210 can do at least two things: the end effector is operated when the second clutch 6210 is in its engaged position, and is latched when the second clutch 6210 is in its disengaged position.

Referring primarily to fig. 22, 24, and 25, the shaft assembly 2000 further includes an articulation drive system configured to articulate the distal attachment portion 2400 and the end effector 7000 about the articulation joint 2300. The articulation drive system includes an articulation driver 6330 rotatably supported within the distal attachment portion 2400. That is, the articulation driver 6330 is closely received within the distal attachment portion 2400 such that the articulation driver 6330 does not translate, or at least substantially does not translate, relative to the distal attachment portion 2400. The articulation drive system of the shaft assembly 2000 also includes a fixed gear 2330 fixedly mounted to the articulation frame 2310. More specifically, the fixed gear 2330 is fixedly mounted to the pin connecting the tab 2314 of the articulation frame 2310 and the articulation link 2340 such that the fixed gear 2330 does not rotate relative to the articulation frame 2310. Fixed gear 2330 includes a central body 2335 and an annular array of fixed gears 2332 extending around the periphery of the central body 2335. The articulation driver 6330 includes an annular array of drive teeth 6332 that are in meshing engagement with the fixed teeth 2332. As the articulation driver 6330 rotates, the articulation driver 6330 pushes against the fixed gear 2330 and articulates the distal attachment portion 2400 and the end effector 7000 of the shaft assembly 2000 about the articulation joint 2300.

Referring primarily to fig. 32, the third clutch system 6300 includes a third clutch 6310, an expandable third drive ring 6320 and a third electromagnetic actuator 6340. The third clutch 6310 includes an annular ring and is slidably disposed on the drive shaft 2730. The third clutch 6310 is made of a magnetic material and is movable between a disengaged or unactuated position (fig. 32) and an engaged or actuated position (fig. 33) by an electromagnetic field EF generated by a third electromagnetic actuator 6340. In various instances, the third clutch 6310 is constructed, for example, at least partially of iron and/or nickel. In at least one instance, the third clutch 6310 includes a permanent magnet. As shown in fig. 22A, the drive shaft 2730 includes one or more longitudinal keyways 6315 defined therein that are configured to constrain longitudinal movement of the third clutch 6310 relative to the drive shaft 2730. More specifically, the third clutch 6310 includes one or more keys that extend into the keyway 6315 such that the distal end of the keyway 6315 stops distal movement of the third clutch 6310 and the proximal end of the keyway 6315 stops proximal movement of the third clutch 6310.

When the third clutch 6310 is in its disengaged position, see fig. 32, the third clutch 6310 rotates with the drive shaft 2730, but does not transmit rotational motion to the third drive ring 6320. As can be seen in fig. 32, the third clutch 6310 is disengaged from or does not contact the third drive ring 6320. Thus, when the third clutch assembly 6300 is in its disengaged state, rotation of the drive shaft 2730 and the third clutch 6310 is not transmitted to the articulation driver 6330. When the third clutch 6310 is in its engaged position, see fig. 33, the third clutch 6310 engages the third drive ring 6320 such that the third drive ring 6320 expands or stretches radially outward to contact the articulation driver 6330. In at least one instance, the third drive shaft 6320 comprises an elastomeric band, for example. As can be seen in fig. 33, the third drive ring 6320 is compressed against the annular inner side wall 6335 of the articulation driver 6330. Thus, when the third clutch assembly 6300 is in its engaged state, rotation of the drive shaft 2730 and the third clutch 6310 is transmitted to the articulation driver 6330. Depending on the direction in which the drive shaft 2730 is rotating, the third clutch assembly 6300 may articulate the distal attachment portion 2400 and the end effector 7000 of the shaft assembly 2000 about the articulation joint 2300 in either the first direction or the second direction.

As described above, the third electromagnetic actuator 6340 is configured to generate a magnetic field to move the third clutch 6310 between its disengaged position (fig. 32) and engaged position (fig. 33). For example, referring to FIG. 32, a third electromagnetic actuator 6340 is drivenConfigured to emit a magnetic field EF_LWhen the third clutch assembly 6300 is in its disengaged state, the magnetic field repels or drives the third clutch 6310 away from the third drive ring 6320. The third electromagnetic actuator 6340 includes one or more wound coils in a cavity defined in the shaft frame 2530 that generate a magnetic field EF when current flows in a first direction through a third electrical clutch circuit including the wound coils_L. The control system 1800 is configured to apply a first voltage polarity to the third electrical clutch circuit to generate a current flowing in a first direction. The control system 1800 may continuously apply the first voltage polarity to the third electrical clutch circuit to continuously hold the third clutch 6310 in its disengaged position. Although this arrangement may prevent the third clutch 6310 from accidentally engaging the third drive ring 6320, this arrangement may also consume a lot of power. Alternatively, the control system 1800 may apply the first voltage polarity to the third electrical clutch circuit for a sufficient time to position the third clutch 6310 in its disengaged position, and then discontinue applying the first voltage polarity to the third electrical clutch circuit, resulting in reduced power consumption.

In addition to the above, the third electromagnetic actuator 6340 is configured to emit a magnetic field EF_DWhen the third clutch assembly 6300 is in its engaged state, the magnetic field pulls or drives the third clutch 6310 toward the third drive ring 6320. When current flows through the third electrical clutch circuit in a second or opposite direction, the coil of the third electromagnetic actuator 6340 generates a magnetic field EF_D. Control system 1800 is configured to apply an opposite voltage polarity to the third electrical axis circuit to generate a current flowing in an opposite direction. The control system 1800 may continuously apply the opposite voltage polarity to the third electrical shaft circuit to continuously maintain the third clutch 6310 in its engaged position and maintain operative engagement between the third drive ring 6320 and the articulation driver 6330. Alternatively, the third clutch 6210 may be configured to be wedged within the third drive ring 6320 when the third clutch 6310 is in its engaged position, and in such cases, the control system 1800 may not need to apply a voltagePolarity is continuously applied to the third shaft circuit to maintain the third clutch assembly 6300 in its engaged state. In such cases, the control system 1800 may discontinue applying the voltage polarity once the third clutch 6310 has been sufficiently wedged into the third drive ring 6320. In any event, when the third clutch assembly 6300 is in its engaged state, the end effector 7000 is articulated in either the first or second direction depending upon the direction in which the drive shaft 2730 is rotated.

In addition to the above, referring to fig. 22, 32, and 33, the articulation drive system further includes a lockout 6350 that prevents, or at least inhibits, articulation of the distal attachment portion 2400 and the end effector 7000 of the shaft assembly 2000 about the articulation joint 2300 when the third clutch 6310 is in its disengaged position (fig. 32). Referring primarily to fig. 22, the articulation link 2340 includes a slot or groove 2350 defined therein, wherein the latch 6350 is slidably positioned in the slot 2350 and extends at least partially under the fixed articulation gear 2330. The latch 6350 includes an attachment hook 6352 that engages with the third clutch 6310. More specifically, the third clutch 6310 includes an annular slot or groove 6312 defined therein, and the attachment hook 6352 is positioned in the annular slot 6312 such that the latch 6350 translates with the third clutch 6310. It is noteworthy, however, that the latch 6350 does not rotate or at least substantially does not rotate with the third clutch 6310. Conversely, an annular groove 6312 in the third clutch 6310 allows the third clutch 6310 to rotate relative to the latch 6350. The latch 6350 also includes a latch hook 6354 slidably positioned in a radially extending latch slot 2334 defined in the bottom of the fixed gear 2330. When the third clutch 6310 is in its disengaged position, as shown in fig. 32, the latch 6350 is in a locked position in which the latch hook 6354 prevents the end effector 7000 from rotating about the articulation joint 2300. When the third clutch 6310 is in its engaged position, as shown in fig. 33, the latch 6350 is in an unlocked position in which the latch hook 6354 is no longer positioned in the latch slot 2334. Instead, the latching hook 6354 is positioned in a clearance slot defined in the middle or body 2335 of the fixed gear 2330. In such instances, the latch hook 6354 may rotate within the clearance slot as the end effector 7000 is rotated about the articulation joint 2300.

In addition to the above, the radially extending lockout slots 2334 shown in fig. 32 and 33 extend longitudinally, i.e., along an axis parallel to the longitudinal axis of the elongate shaft 2200. However, once the end effector 7000 has been articulated, the lockout hook 6354 is no longer aligned with the longitudinal lockout slot 2334. Accordingly, the fixed gear 2330 includes a plurality of radially extending lockout slots 2334 or an array of radially extending lockout slots defined in the bottom of the fixed gear 2330 such that when the third clutch 6310 is deactivated and the lockout 6350 is pulled distally after the end effector 7000 has been articulated, the lockout hook 6354 may enter one of the lockout slots 2334 and lock the end effector 7000 in its articulated position. Thus, the end effector 7000 can be locked in the unarticulated and articulated positions. In various instances, the lockout slots 2334 may define discrete articulation positions of the end effector 7000. For example, the lockout slots 2334 may be defined at 10 degree intervals, e.g., the lockout slots may define discrete articulation orientations of the end effector 7000 with 10 degree intervals. In other cases, for example, these orientations may be 5 degrees apart. In an alternative embodiment, the latch 6350 includes a detent that engages a circumferential shoulder defined in the fixed gear 2330 when the third clutch 6310 is disengaged from the third drive ring 6320. In such embodiments, the end effector 7000 can be locked in any suitable orientation. In any event, the latch 6350 prevents or at least reduces the likelihood of the end effector 7000 from inadvertently articulating. Due to the above, the third clutch 6310 can do two things: the articulation drive is operated when the third clutch is in its engaged position and is latched when the third clutch is in its disengaged position.

Referring primarily to fig. 24 and 25, the shaft frame 2530 and drive shaft 2730 extend through the articulation joint 2300 into the distal attachment portion 2400. When the end effector 7000 is articulated, as shown in fig. 16 and 17, the shaft frame 2530 and drive shaft 2730 flex to accommodate the articulation of the end effector 7000. Accordingly, the shaft frame 2530 and the drive shaft 2730 are constructed from any suitable material that accommodates the articulation of the end effector 7000. Further, as described above, the shaft frame 2530 receives the first, second, and third electromagnetic actuators 6140, 6240, 6340. In various instances, for example, the first, second, and third electromagnetic actuators 6140, 6240, 6340 each include wound coils, such as copper wire coils, and the shaft frame 2530 is constructed of an insulating material to prevent or at least reduce the likelihood of a short circuit between the first, second, and third electromagnetic actuators 6140, 6240, 6340. In each case, the first, second and third electrical clutch circuits extending through the shaft frame 2530 are constructed of, for example, insulated electrical wires. In addition to the above, first, second, and third electrical clutch circuits communicate electromagnetic actuators 6140, 6240, and 6340 with the control system 1800 in the drive module 1100.

As described above, clutches 6110, 6210 and/or 6310 may be held in their disengaged positions so that they do not accidentally move to their engaged positions. In various arrangements, the clutch system 6000 includes, for example, a first biasing member, such as a spring, configured to bias the first clutch 6110 to its disengaged position; a second biasing member, such as a spring, for example, configured to bias the second clutch 6210 to its disengaged position; and/or a third biasing member, such as a spring, for example, configured to bias the third clutch 6110 to its disengaged position. In such an arrangement, the electromagnetic force generated by the electromagnetic actuator may selectively overcome the biasing force of the spring when powered by an electrical current. In addition to the above, clutches 6110, 6210 and/or 6310 may be held in their engaged positions by drive rings 6120, 6220 and/or 6320, respectively. More specifically, in at least one instance, the drive rings 6120, 6220, and/or 6320 are constructed of a resilient material that grips or frictionally retains the clutches 6110, 6210, and/or 6310, respectively, in their engaged positions. In other alternative embodiments, the clutch system 6000 includes, for example, a first biasing member, such as a spring, configured to bias the first clutch 6110 to its engaged position; a second biasing member, such as a spring, for example, configured to bias the second clutch 6210 to its engaged position; and/or a third biasing member, such as a spring, for example, configured to bias the third clutch 6110 to its engaged position. In such an arrangement, the biasing force of the spring can be overcome by an electromagnetic force applied by the electromagnetic actuator 6140, 6240, and/or 6340, respectively, to selectively retain the clutches 6110, 6210, and 6310 in their disengaged positions. In either mode of operation of the surgical system, the control assembly 1800 may energize one of the electromagnetic actuators to engage one of the clutches while simultaneously energizing the other two electromagnetic actuators to disengage the other two clutches.

Although the clutch system 6000 includes three clutches to control the three drive systems of the surgical system, the clutch system may include any suitable number of clutches to control any suitable number of systems. Further, while the clutches of the clutch system 6000 slide proximally and distally between their engaged and disengaged positions, the clutches of the clutch system may be moved in any suitable manner. Additionally, while the clutches in the clutch system 6000 engage one clutch at a time to control one drive motion at a time, various scenarios are contemplated in which more than one clutch may be engaged to control more than one drive motion at a time.

In view of the foregoing, the reader will appreciate that the control system 1800 is configured to: first, operating the motor system 1600 to rotate the drive shaft system 2700 in the proper direction, and second, operating the clutch system 6000 to transfer the rotation of the drive shaft system 2700 to the proper function of the end effector 7000. Further, as described above, the control system 1800 is responsive to inputs from the grip trigger system 2600 of the shaft assembly 2000 and the input system 1400 of the handle 1000. As described above, when the grip trigger system 2600 is actuated, the control system 1800 activates the first clutch assembly 6100 and deactivates the second clutch assembly 6200 and the third clutch assembly 6300. In such instances, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the first direction to clamp the jaw assembly 7100 of the end effector 7000. When the control system 1800 detects that the jaw assembly 7100 is in its clamped configuration, the control system 1800 stops supplying power to the motor assembly 1600 and deactivates the first clutch assembly 6100. When the control system 1800 detects that the clamp trigger system 2600 has been moved or is about to be moved to its unactuated position, the control system 1800 activates or maintains activation of the first clutch assembly 6100, and deactivates or maintains deactivation of the second and third clutch assemblies 6200, 6300. In such instances, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the second direction to open the jaw assembly 7100 of the end effector 7000.

When the rotary actuator 1420 is actuated in the first direction, the control system 1800 activates the second clutch assembly 6200, and deactivates the first clutch assembly 6100 and the third clutch assembly 6300, in addition to the above. In such instances, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the first direction to rotate the end effector 7000 in the first direction. When the control system 1800 detects that the rotary brake 1420 has been actuated in the second direction, the control system 1800 activates or maintains activation of the second clutch assembly 6200 and deactivates or maintains deactivation of the first clutch assembly 6100 and the third clutch assembly 6300. In such instances, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the second direction to rotate the end effector 7000 in the second direction. When the control system 1800 detects that the rotary actuator 1420 is not actuated, the control system 1800 deactivates the second clutch assembly 6200.

When the first articulation actuator 1432 is depressed, the control system 1800 actuates the third clutch assembly 6300 and deactivates the first clutch assembly 6100 and the second clutch assembly 6200, in addition to the above. In such instances, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the first direction to articulate the end effector 7000 in the first direction. When the control system 1800 detects that the second articulation actuator 1434 is depressed, the control system 1800 activates or maintains activation of the third clutch assembly 6200, and deactivates or maintains deactivation of the first and second clutch assemblies 6100 and 6200. In such instances, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the second direction to articulate the end effector 7000 in the second direction. When the control system 1800 detects that neither the first articulation actuator 1432 nor the second articulation actuator 1434 are actuated, the control system 1800 deactivates the third clutch assembly 6200.

In addition to the above, the control system 1800 is configured to change the operating mode of the suturing system based on inputs it receives from the clamp trigger system 2600 of the shaft assembly 2000 and the input system 1400 of the handle 1000. Control system 1800 is configured to switch clutch system 6000 before rotating shaft drive system 2700 to perform the corresponding end effector function. Further, control system 1800 is configured to stop rotation of shaft drive system 2700 prior to switching clutch system 6000. Such an arrangement may prevent abrupt movement in the end effector 7000. Alternatively, control system 1800 can cause switching clutch system 600 to rotate as shaft drive system 2700 rotates. Such an arrangement may allow the control system 1800 to quickly switch between modes of operation.

As described above, referring to fig. 34, the distal attachment portion 2400 of the shaft assembly 2000 includes the end effector lock 6400 configured to prevent the end effector 7000 from being accidentally disengaged from the shaft assembly 2000. The end effector lock 6400 includes: a locking end 6410 that is selectively annularly engageable with an array of locking notches 7410 defined on the proximal attachment portion 7400 of the end effector 7000, a proximal end 6420, and a pivot 6430 that rotatably connects the end effector lock 6400 to the articulation link 2320. When the third clutch 6310 of the third clutch assembly 6300 is in its disengaged position, as shown in fig. 34, the third clutch 6310 is in contact with the proximal end 6420 of the end effector lock 6400 such that the locking end 6410 of the end effector lock 6400 engages the array of locking notches 7410. In such cases, the end effector 7000 can rotate relative to the end effector lock 6400, but cannot translate relative to the distal attachment portion 2400. When the third clutch 6310 is moved to its engaged position, as shown in fig. 35, the third clutch 6310 is no longer engaged with the proximal end 6420 of the end effector lock 6400. In such circumstances, the end effector lock 6400 may be free to pivot upward and allow the end effector 7000 to be disengaged from the shaft assembly 2000.

As noted above, referring again to fig. 34, when the clinician disengages or attempts to disengage the shaft assembly 2000 from the end effector 7000, the second clutch 6210 of the second clutch assembly 6200 may be in its disengaged position. As described above, when the second clutch 6210 is in its disengaged position, the second clutch 6210 is engaged with the second clutch lock 6250, and in such circumstances the second clutch lock 6250 is urged into engagement with the articulation link 2340. More specifically, when second clutch 6210 is engaged with second clutch lock 6250, second clutch lock 6250 is positioned in a channel 2345 defined in articulation link 2340, which may prevent, or at least hinder, end effector 7000 from being decoupled from shaft assembly 2000. To facilitate release of the end effector 7000 from the shaft assembly 2000, the control system 1800, in addition to moving the third clutch 6310 to its engaged position, may also move the second clutch 6210 to its engaged position. In such instances, when the end effector 7000 is removed, the end effector 7000 can clear the end effector lock 6400 and the second clutch lock 6250.

In at least one instance, in addition to the above, the drive module 1100 includes input switches and/or sensors that communicate directly with the control system 1800 via the input system 1400 and/or the control system 1800 that, when actuated, cause the control system 1800 to unlock the end effector 7000. In various instances, the drive module 1100 includes an input screen 1440 in communication with the plate 1410 of the input system 1400, the input screen configured to receive an unlock input from a clinician. In response to the unlock input, the control system 1800 may stop the motor system 1600 if it is running and unlock the end effector 7000 as described above. The input screen 1440 is further configured to receive a lock input from a clinician, wherein the input system 1800 moves the second clutch assembly 6200 and/or the third clutch assembly 6300 to their unactuated state to lock the end effector 7000 to the shaft assembly 2000.

Fig. 37 illustrates a shaft assembly 2000' according to at least one alternative embodiment. The shaft assembly 2000' is similar in many respects to the shaft assembly 2000 and for the sake of brevity, much of it will not be repeated here. Similar to shaft assembly 2000, shaft assembly 2000 'includes a shaft frame, i.e., shaft frame 2530'. The shaft frame 2530 'includes a longitudinal channel 2535' and, in addition, a plurality of clutch position sensors, namely a first sensor 6180', a second sensor 6280' and a third sensor 6380 'positioned in the shaft frame 2530'. As part of the first sensing circuit, a first sensor 6180' is in signal communication with control system 1800. The first sensing circuit includes a signal line extending through the longitudinal passage 2535'; however, the first sensing circuit can include a wireless signal transmitter and receiver to place the first sensor 6180' in signal communication with the control system 1800. The first sensor 6180' is positioned and arranged to detect the position of the first clutch 6110 of the first clutch assembly 6100. Based on the data received from first sensor 6180', control system 1800 may determine whether first clutch 6110 is in its engaged position, its disengaged position, or somewhere between the engaged and disengaged positions. With this information, the control system 1800 can evaluate whether the first clutch 6110 is in the correct position under the operating conditions of the surgical instrument. For example, if the surgical instrument is in its jaw clamping/opening operating state, the control system 1800 can verify that the first clutch 6110 is properly positioned in its engaged position. In such cases, the control system 1800 may verify that the second clutch 6210 is in its disengaged position by means of the second sensor 6280 'and that the third clutch 6310 is in its disengaged position by means of the third sensor 6380', in addition to the description below. Accordingly, if the surgical instrument is not in its jaw clamping/opening state, the control system 1800 can verify that the first clutch 6110 is properly positioned in its disengaged position. In the event that the first clutch 6110 is not in its proper position, the control system 1800 may actuate the first electromagnetic actuator 6140 in an attempt to properly position the first clutch 6110. Likewise, if desired, the control system 1800 can actuate the electromagnetic actuators 6240 and/or 6340 to properly position the clutches 6210 and/or 6310.

As part of the second sensing circuit, a second sensor 6280' is in signal communication with the control system 1800. The second sensing circuit includes a signal line extending through the longitudinal passage 2535'; however, the second sensing circuit can include a wireless signal transmitter and receiver to place the second sensor 6280' in signal communication with the control system 1800. The second sensor 6280' is positioned and arranged to detect the position of the second clutch 6210 of the first clutch assembly 6200. Based on the data received from the second sensor 6280', the control system 1800 can determine whether the second clutch 6210 is in its engaged position, its disengaged position, or somewhere in between. With this information, the control system 1800 can evaluate whether the second clutch 6210 is in the correct position under the operating conditions of the surgical instrument. For example, if the surgical instrument is in its end effector rotational operating state, the control system 1800 can verify that the second clutch 6210 is properly positioned in its engaged position. In such cases, control system 1800 may also verify that first clutch 6110 is in its disengaged position via first sensor 6180', and control system 1800 may also verify that third clutch 6310 is in its disengaged position via third sensor 6380', in addition to the following. Accordingly, if the surgical instrument is not in its end effector rotational state, the control system 1800 can verify that the second clutch 6110 is properly positioned in its disengaged position. In the event that the second clutch 6210 is not in its correct position, the control system 1800 may actuate the second electromagnetic actuator 6240 in an attempt to properly position the second clutch 6210. Likewise, if desired, the control system 1800 may actuate the electromagnetic actuators 6140 and/or 6340 to properly position the clutches 6110 and/or 6310.

As part of the third sensing circuit, a third sensor 6380' is in signal communication with the control system 1800. The third sensing circuit includes a signal line extending through the longitudinal passage 2535'; however, the third sensing circuit may include a wireless signal transmitter and receiver to place the third sensor 6380' in signal communication with the control system 1800. The third sensor 6380' is positioned and arranged to detect the position of the third clutch 6310 of the third clutch assembly 6300. Based on data received from the third sensor 6380', the control system 1800 may determine whether the third clutch 6310 is in its engaged position, its disengaged position, or somewhere between the engaged and disengaged positions. With this information, the control system 1800 may evaluate whether the third clutch 6310 is in the correct position under the operating state of the surgical instrument. For example, if the surgical instrument is in its end effector rotational operating state, the control system 1800 may verify that the third clutch 6310 is properly positioned in its engaged position. In such cases, the control system 1800 can also verify that the first clutch 6110 is in its disengaged position by the first sensor 6180 'and that the second clutch 6210 is in its disengaged position by the second sensor 6280'. Accordingly, if the surgical instrument is not in its end effector articulation state, the control system 1800 may verify that the third clutch 6310 is properly positioned in its disengaged position. In the event that the third clutch 6310 is not in its correct position, the control system 1800 may actuate the third electromagnetic actuator 6340 in an attempt to properly position the third clutch 6310. Likewise, if desired, the control system 1800 can actuate the electromagnetic actuator 6140 and/or 6240 to properly position the clutch 6110 and/or 6210.

In addition to the above, the clutch position sensors, i.e., the first sensor 6180', the second sensor 6280' and the third sensor 6380' may comprise any suitable type of sensor. In various instances, the first sensor 6180', the second sensor 6280' and the third sensor 6380' each comprise a proximity sensor. In this arrangement, the sensors 6180', 6280' and 6380' are configured to detect whether the clutches 6110, 6210 and 6310 are in their engaged positions, respectively. In various instances, the first sensor 6180', the second sensor 6280' and the third sensor 6380' each comprise, for example, a hall effect sensor. In this arrangement, the sensors 6180', 6280' and 6380' can not only detect whether the clutches 6110, 6210 and 6310 are in their engaged positions, respectively, but the sensors 6180', 6280' and 6380 can also detect how close the clutches 6110, 6210 and 6310 are with respect to their engaged or disengaged positions.

Fig. 38 shows a shaft assembly 2000 "and end effector 7000" in accordance with at least one alternative embodiment. The end effector 7000 "is similar in many respects to the end effector 7000 and for the sake of brevity, most of them will not be repeated here. Similar to end effector 7000, end effector 7000 "includes jaw assembly 7100 and a jaw assembly driver configured to move jaw assembly 7100 between its open and closed configurations. The jaw assembly driver includes a drive connection 7140, a drive nut 7150 ", and a drive screw 6130". The drive nut 7150 "includes a sensor 7190" positioned therein that is configured to detect the position of the magnetic element 6190 "positioned in the drive screw 6130". The magnetic element 6190 "is positioned in an elongated aperture 6134" defined in the drive screw 6130 "and can comprise, for example, a permanent magnet and/or can be composed of, for example, iron, nickel, and/or any suitable metal. In various instances, the sensors 7190 "include, for example, proximity sensors in signal communication with the control system 1800. In some cases, sensor 7190 "comprises, for example, a hall effect sensor in signal communication with control system 1800. For example, in some cases, sensor 7190 "comprises, for example, an optical sensor, and detectable element 6190" comprises an optically detectable element, such as a reflective element. In either case, the sensor 7190 "is configured to communicate wirelessly with the control system 1800, for example via a wireless signal transmitter and receiver and/or via a wired connection extending through the shaft frame passage 2532'.

In addition to the above, the sensor 7190 "is configured to detect when the magnetic element 6190" is adjacent to the sensor 7190 "such that the control system 1800 can use this data to determine that the jaw assembly 7100 has reached the end of its jaw clamping stroke. At this point, the control system 1800 may stop the motor assembly 1600. The sensor 7190 "and the control system 1800 are further configured to determine the distance between the position at which the drive screw 6130" is currently positioned and the position at which the drive screw 6130 "should be positioned at the end of its closing stroke in order to calculate the amount of closing stroke of the drive screw 6130", which still requires the jaw assembly 7100 to be closed. Further, the control system 1800 can use such information to assess the current configuration of the jaw assembly 7100, i.e., whether the jaw assembly 7100 is in its open configuration, its closed configuration, or a partially closed configuration. The sensor system can be used to determine when the jaw assembly 7100 reaches its fully open position and stop the motor assembly 1600 at that time. In various circumstances, the control system 1800 can use the sensor system to confirm that the first clutch assembly 6100 is in its actuated state by confirming that the jaw assembly 7100 is moving while the motor assembly 1600 is rotating. Similarly, the control system 1800 can use the sensor system to confirm that the first clutch assembly 6100 is in its unactuated state by confirming that the jaw assembly 7100 is not moving while the motor assembly 1600 is rotating.

Fig. 39 illustrates a shaft assembly 2000 "'and end effector 7000"' according to at least one alternative embodiment. The shaft assembly 2000 '"is similar in many respects to the shaft assemblies 2000 and 2000', and for the sake of brevity, much of it will not be repeated here. The end effector 7000 "' is similar in many respects to the end effectors 7000 and 7000" and for the sake of brevity most of them will not be repeated here. Similar to end effector 7000, end effector 7000 "' includes jaw assembly 7100 and a jaw assembly driver configured to move jaw assembly 7100 between its open and closed configurations, and further, the end effector rotation driver rotates end effector 7000" ' relative to distal attachment portion 2400 of shaft assembly 2000 '. The end effector rotary drive includes an outer housing 6230 "' that rotates relative to a shaft frame 2530" ' of the end effector 7000 "' via a second clutch assembly 6200. The shaft frame 2530 "' includes a sensor 6290" ' positioned therein that is configured to detect the position of a magnetic element 6190 "' positioned in and/or on the drive outer housing 6230" ". The magnetic element 6190' ″ may include, for example, a permanent magnet and/or may be composed of, for example, iron, nickel, and/or any suitable metal. In various instances, sensor 6290' "comprises a proximity sensor in signal communication with control system 1800, for example. In some cases, sensor 6290' "comprises, for example, a hall effect sensor in signal communication with control system 1800. In either case, the sensors 6290 '"are configured to communicate wirelessly with the control system 1800, e.g., via wireless signal transmitters and receivers and/or via a wired connection extending through the shaft frame channel 2532'. In various circumstances, the control system 1800 can use the sensor 6290 '″ to confirm whether the magnetic element 6190' is rotating, and thus that the second clutch assembly 6200 is in its actuated state. Similarly, the control system 1800 may use the sensor 6290 "'to confirm that the magnetic element 6190' is not rotating, and thus that the second clutch assembly 6200 is in its unactuated state. Control system 1800 may also use sensor 6290 "'to confirm that second clutch assembly 6200 is in its unactuated state by confirming that second clutch 6210 is positioned adjacent sensor 6290"'.

Fig. 40 illustrates a shaft assembly 2000 "", according to at least one alternative embodiment. The shaft assembly 2000 "" is similar in many respects to the shaft assemblies 2000, 2000', and 2000' ", and for the sake of brevity, much of it will not be repeated here. For example, similar to the shaft assembly 2000, the shaft assembly 2000 "" includes, among other things, an elongate shaft 2200, an articulation joint 2300, and a distal attachment portion 2400 configured to receive an end effector, such as end effector 7000'. Similar to the shaft assembly 2000, the shaft assembly 2000 "" includes an articulation driver, i.e., articulation driver 6330 "" configured to rotate the distal attachment portion 2400 and the end effector 7000' about the articulation joint 2300. Similar to the above, the shaft frame 2530 "", includes a sensor positioned therein that is configured to detect the position and/or rotation of a magnetic element 6390 "", positioned in and/or on the articulation driver 6330 "". The magnetic elements 6390 "" "may include, for example, permanent magnets and/or may be composed of, for example, iron, nickel, and/or any suitable metal. In various instances, the sensors include, for example, proximity sensors in signal communication with the control system 1800. In some cases, the sensors include, for example, hall effect sensors in signal communication with the control system 1800. In either case, the sensors are configured to be capable of wireless communication with the control system 1800, for example via wireless signal transmitters and receivers and/or via a wired connection extending through the pedestal passageway 2532'. In various circumstances, the control system 1800 may use the sensor to confirm whether the magnetic element 6390 "" "is rotating, and thus confirm that the third clutch assembly 6300 is in its actuated state. Similarly, the control system 1800 may use the sensor to confirm whether the magnetic element 6390 "" "is not rotating, and thus confirm that the third clutch assembly 6300 is in its unactuated state. In some cases, the control system 1800 may use the sensor to confirm that the third clutch assembly 6300 is in its unactuated state by confirming that the third clutch 6310 is positioned adjacent to the sensor.

Referring again to fig. 40, the shaft assembly 2000 "" includes an end effector lock 6400 'configured to releasably lock the end effector 7000' to the shaft assembly 2000 "" for example. The end effector lock 6400' is similar in many respects to the end effector lock 6400, and for the sake of brevity, much of it will not be discussed herein. Notably, however, the proximal end 6420' of the lock 6400' includes teeth 6422' configured to engage the annular slot 6312 of the third clutch 6310 and releasably retain the third clutch 6310 in its disengaged position. That is, actuation of the third solenoid assembly 6340 may disengage the third clutch 6310 from the end effector lock 6400'. Further, in such instances, proximal movement of the third clutch 6310 to its engaged position rotates the end effector lock 6400 'to the locked position and into engagement with the locking notch 7410 to lock the end effector 7000' to the shaft assembly 2000 "". Accordingly, distal movement of the third clutch 6310 to its disengaged position unlocks the end effector 7000 'and allows the end effector 7000' to be detached from the shaft assembly 2000 "".

In addition to the above, the instrument system including the handle and shaft assembly attached thereto is configured to perform a diagnostic check to assess the status of the clutch assemblies 6100, 6200, and 6300. In at least one instance, control system 1800 sequentially actuates electromagnetic actuators 6140, 6240, and/or 6340 in any suitable order to verify the position of clutches 6110, 6210, and/or 6310, respectively, and/or to confirm that the clutches are responsive to the electromagnetic brakes, and thus not stuck. The control system 1800 can use sensors, including any of the sensors disclosed herein, to verify movement of the clutches 6110, 6120, and 6130 in response to electromagnetic fields generated by the electromagnetic brakes 6140, 6240, and/or 6340. Additionally, the diagnostic check may also include verifying the motion of the drive system. In at least one instance, the control system 1800 sequentially actuates the electromagnetic actuators 6140, 6240, and/or 6340 in any suitable sequence to verify, for example, that the jaw driver opens and/or closes the jaw assembly 7100, that the rotary driver rotates the end effector 7000, and/or that the articulation driver articulates the end effector 7000. The control system 1800 may use sensors to verify the movement of the jaw assembly 7100 and the end effector 7000.

For example, the control system 1800 may perform a diagnostic test at any suitable time, such as when the shaft assembly is attached to the handle and/or when the handle is energized, if the control system 1800 determines that the instrument system passes the diagnostic test, the control system 1800 may allow normal operation of the instrument system, in at least one instance, the handle may include an indicator, such as a green color L ED., that indicates that the diagnostic test has passed, if the control system 1800 determines that the instrument system fails the diagnostic test, the control system 1800 may prevent and/or alter operation of the instrument system.

Fig. 41-43 illustrate a clutch system 6000' according to at least one embodiment. The clutch system 6000' is similar in many respects to the clutch system 6000, most of which will not be repeated herein for the sake of brevity. Similar to clutch system 6000, clutch system 6000 'includes a clutch assembly 6100' that is actuatable to selectively couple rotatable drive input 6030 'with rotatable drive output 6130'. The clutch assembly 6100' includes a clutch plate 6110' and a drive ring 6120 '. The clutch plate 6110' is constructed of a magnetic material such as iron and/or nickel, for example, and may include a permanent magnet. As described in more detail below, the clutch plate 6110 'is movable between an unactuated position (fig. 42) and an actuated position (fig. 43) within the drive output 6130'. The clutch plate 6110' is slidably positioned in an aperture defined in the drive output 6130' such that the clutch plate 6110' rotates with the drive output 6130', whether the clutch plate 6110' is in its unactuated or actuated position.

When the clutch plate 6110' is in its unactuated position, as shown in fig. 42, rotation of the drive input 6030' is not transferred to the drive output 6130 '. More specifically, when the drive input 6030 'is rotated, in such circumstances, the drive input 6030' slips through and rotates relative to the drive ring 6120', and thus the drive ring 6120' does not drive the clutch plate 6110 'and the drive output 6130'. When the clutch plate 6110 'is in its actuated position, as shown in fig. 43, the clutch plate 6110' resiliently presses the drive ring 6120 'against the drive input 6030'. For example, the drive ring 6120' is constructed of any suitable compressible material, such as rubber. In any event, in such cases, rotation of the drive input 6030 'is transmitted to the drive output 6130' through the drive ring 6120 'and clutch plate 6110'. The clutch system 6000' includes a clutch actuator 6140' configured to move the clutch plate 6110' to its actuated position. The clutch stop 6140' is constructed of a magnetic material such as iron and/or nickel, for example, and may include a permanent magnet. The clutch actuator 6140 'is slidably positioned in a longitudinal shaft frame 6050' extending through the drive input 6030 'and is movable between an unactuated position (fig. 42) and an actuated position (fig. 43) by a clutch shaft 6060'. In at least one instance, the clutch shaft 6060' comprises, for example, a polymer cable. When the clutch actuator 6140 'is in its actuated position, as shown in fig. 43, the clutch actuator 6140' pulls the clutch plates 6110 'inward to compress the drive ring 6120', as described above. When the clutch actuator 6140 'is moved to its unactuated position, as shown in fig. 42, the drive ring 6120' resiliently expands and pushes the clutch plate 6110 'away from the drive input 6030'. In various alternative embodiments, the clutch actuator 6140' may include an electromagnet. In such an arrangement, the clutch actuator 6140 'may be actuated, for example, by a circuit extending through a longitudinal aperture defined in the clutch shaft 6060'. In various instances, the clutch system 6000 'also includes an electrical wire 6040' that extends through the longitudinal bore, for example.

Fig. 44 illustrates an end effector 7000a including a jaw assembly 7100a, a jaw assembly driver, and a clutch system 6000a, according to at least one alternative embodiment. The jaw assembly 7100a includes a first jaw 7110a and a second jaw 7120a that are selectively rotatable about a pivot 7130 a. The jaw assembly driver includes a translatable actuator bar 7160a pivotably coupled to the actuator bar 7160a about a pivot 7150a and a drive link 7140 a. The drive link 7140a is also pivotably coupled to the jaws 7110a and 7120a such that when the actuator bar 7160a is pulled proximally, the jaws 7110a and 7120a rotate closed, and when the actuator bar 7160a is pushed distally, both jaws rotate open. The clutch system 6000a is similar in many respects to the clutch systems 6000 and 6000', and for the sake of brevity, much of it will not be repeated here. Clutch system 6000a includes first and second clutch assemblies 6100a, 6200a configured to selectively transmit rotation of drive input 6030a to rotate jaw assembly 7100a about a longitudinal axis and articulate jaw assembly 7100a about articulation joint 7300a, respectively, as described in more detail below.

The first clutch assembly 6100a includes a clutch plate 6110a and a drive ring 6120a and operates in a similar manner to the clutch plate 6110 'and drive ring 6120' described above. When the clutch plate 6110a is actuated by the electromagnetic actuator 6140a, rotation of the drive input 6030a is transmitted to the outer shaft housing 7200 a. More specifically, the outer shaft housing 7200a includes a proximal outer housing 7210a and a distal outer housing 7220a that is rotatably supported by the proximal outer housing 7210a and that is rotated relative to the proximal outer housing 7210a by the drive input 6030a when the clutch plate 6110a is in its actuated position. With the pivot 7130a of the jaw assembly 7100a mounted to the distal outer housing 7220a, rotation of the distal outer housing 7220a rotates the jaw assembly 7100a about the longitudinal axis. Thus, when the outer shaft housing 7200a is rotated in a first direction by the drive input 6030a, the outer shaft housing 7200a rotates the jaw assembly 7100a in the first direction. Similarly, when the outer shaft housing 7200a is rotated in a second direction by the drive input 6030a, the outer shaft housing 7200a rotates the jaw assembly 7100a in the second direction. When the electromagnetic actuator 6140a is de-energized, the drive ring 6120a expands and the clutch plate 6110a moves to its unactuated position, thereby disengaging the end effector rotational drive from the drive input 6030 a.

The second clutch assembly 6200a includes a clutch plate 6210a and a drive ring 6220a and operates in a similar manner to the clutch plate 6110 'and drive ring 6120' described above. When the clutch plate 6210a is actuated by the electromagnetic actuator 6240a, rotation of the drive input 6030a is transmitted to the articulation drive 6230 a. The articulation driver 6230a is rotatably supported within the outer shaft housing 7410a of the end effector attachment portion 7400a and is rotatably supported by a shaft frame 6050a that extends through the outer shaft housing 7410 a. The articulation driver 6230a includes a gear face defined thereon that operatively intermeshes with a fixed gear face 7230a defined on the proximal outer housing 7210a of the outer shaft housing 7200 a. Thus, when the articulation driver 6230a is rotated in a first direction via the drive input 6030a, the articulation driver 6230a articulates the outer shaft housing 7200a and the jaw assembly 7100a in the first direction. Similarly, when the articulation driver 6230a is rotated in a second direction via the drive input 6030a, the articulation driver 6230a articulates the outer shaft housing 7200a and the jaw assembly 7100a in the second direction. When the electromagnetic actuator 6240a is de-energized, the drive ring 6220a expands and the clutch plate 6210a moves to its unactuated position, thereby disengaging the end effector articulation drive from the drive input 6030 a.

In addition to the above, a shaft assembly 4000 is shown in fig. 45-49. The shaft assembly 4000 is similar in many respects to the shaft assemblies 2000, 2000', 2000 "' and 2000" ", most of which will not be repeated here for the sake of brevity. The shaft assembly 4000 includes a proximal portion 4100, an elongate shaft 4200, a distal attachment portion 2400, and an articulation joint 2300 that rotatably connects the distal attachment portion 2040 to the elongate shaft 4200. Similar to the proximal portion 2100, the proximal portion 4100 is operatively attached to the drive module 1100 of the handle 1000. The proximal portion 4100 comprises a housing 4110 comprising an attachment interface 4130 configured to mount the shaft assembly 4000 to the attachment interface 1130 of the handle 1000. The shaft assembly 4000 also includes a frame 4500 that includes a shaft 4510 configured to couple to the shaft 1510 of the handle frame 1500 when the shaft assembly 4000 is attached to the handle 1000. The shaft assembly 4000 also includes a drive system 4700 that includes a rotatable drive shaft 4710 configured to be coupled to the drive shaft 1710 of the handle drive system 1700 when the shaft assembly 4000 is attached to the handle 1000. For example, the distal attachment portion 2400 is configured to receive an end effector, such as end effector 8000. The end effector 8000 is similar in many respects to the end effector 7000 and, for the sake of brevity, most of them will not be repeated here. That is, the end effector 8000 includes a jaw assembly 8100 configured to grasp tissue or the like.

As described above, referring primarily to fig. 47-49, frame 4500 of axle assembly 4000 includes frame axle 4510. The frame shaft 4510 includes a notch or cutout 4530 defined therein. As discussed in more detail below, the cutout 4530 is configured to provide clearance for the jaw closure actuation system 4600. The frame 4500 also includes a distal portion 4550 and a bridge 4540 connecting the distal portion 4550 to a frame shaft 4510. The frame 4500 also includes a longitudinal portion 4560 that extends through the elongate shaft 4200 to the distal attachment portion 2400. Similar to the above, frame shaft 4510 includes one or more electrical traces defined thereon and/or therein. The electrical trace extends through the longitudinal portion 4560, the distal portion 4550, the bridge 4540, and/or any suitable portion of the frame shaft 4510 to the electrical contact 2520. Referring primarily to fig. 48, the distal portion 4550 and the longitudinal portion 4560 include longitudinal apertures defined therein that are configured to receive the stem 4660 of the jaw closure actuation system 4600, as described in greater detail below.

As also described above, referring to fig. 48 and 49, the drive system 4700 of the shaft assembly 4000 includes a drive shaft 4710. The drive shaft 4710 is rotatably supported within the proximal shaft housing 4110 by a frame shaft 4510 and is rotatable about a longitudinal axis extending through the frame shaft 4510. The drive system 4700 also includes a transfer shaft 4750 and an output shaft 4780. The transfer shaft 4750 is also rotatably supported within the proximal shaft housing 4110 and is rotatable about a longitudinal axis that extends parallel, or at least substantially parallel, to the frame shaft 4510 and a longitudinal axis defined through the frame shaft. The transfer shaft 4750 includes a proximal spur gear 4740 fixedly mounted thereon such that the proximal spur gear 4740 rotates with the transfer shaft 4750. The proximal spur gear 4740 operatively intermeshes with an annular gear surface 4730 defined about the outer circumference of the drive shaft 4710 such that rotation of the drive shaft 4710 is transmitted to the transfer shaft 4750. The transfer shaft 4750 also includes a distal spur gear 4760 fixedly mounted thereon such that the distal spur gear 4760 rotates with the transfer shaft 4750. The distal spur gear 4760 is operatively intermeshed with a ring gear 4770 defined about the outer circumference of the output shaft 4780 such that rotation of the transfer shaft 4750 is transferred to the output shaft 4780. Similar to the above, the output shaft 4780 is rotatably supported within the proximal shaft housing 4110 by a distal portion 4550 of the shaft frame 4500 such that the output shaft 4780 rotates about a longitudinal shaft axis. Notably, the output shaft 4780 is not directly coupled to the input shaft 4710; conversely, the output shaft 4780 is operatively coupled to the input shaft 4710 by the transfer shaft 4750. This arrangement provides space for a manually actuated jaw closure actuation system 4600 discussed below.

In addition to the above, referring primarily to fig. 47-48, the jaw closure actuation system 4600 includes an actuation or scissors trigger 4610 rotatably coupled to a proximal shaft housing 4110 about a pivot 4620. The activation trigger 4610 includes an elongate portion 4612, a proximal end 4614, and a grip aperture 4616 defined in the proximal end 4614 configured to be gripped by a clinician. The shaft assembly 4000 also includes a fixed grip 4160 extending from the proximal housing 4110. The fixed grip 4160 includes an elongated portion 4162, a proximal end 4164, and a grip aperture 4166 defined in the proximal end 4164 that is configured to be gripped by a clinician. In use, as described in more detail below, the activation trigger 4610 may be rotated between an unactuated position and an actuated position (fig. 48), i.e., toward the fixed grip 4160, to close the jaw assembly 8100 of the end effector 8000.

Referring primarily to fig. 48, the jaw closure actuation system 4600 also includes a drive connection 4640 and an actuation lever 4660; the drive connection is rotatably coupled to the proximal shaft housing 4110 about a pivot 4650, and in addition, the actuation lever is operatively coupled to the drive connection 4640. The actuation rod 4660 extends through an aperture defined in the longitudinal frame portion 4560 and is translatable along the longitudinal axis of the shaft frame 4500. The actuation rod 4660 includes a distal end operatively coupled to the jaw assembly 8100 and a proximal end 4665 positioned in a drive slot 4645 defined in the drive link 4640 such that as the drive link 4640 rotates about the pivot 4650, the actuation rod 4660 longitudinally translates. Notably, the proximal end 4665 is rotatably supported within the drive slot 4645 such that the actuation rod 4660 may rotate with the end effector 8000.

In addition to the above, activation trigger 4610 further includes a drive arm 4615 configured to proximally engage and rotate drive link 4640 and proximally translate actuation rod 4660 when activation trigger 4610 is activated (i.e., moved closer to proximal shaft housing 4110). In such instances, proximal rotation of the drive connection 4640 resiliently compresses a biasing member, such as a coil spring 4670, positioned, for example, intermediate the drive connection 4640 and the frame shaft 4510. When the activation trigger 4610 is released, the compressed coil spring 4670 re-expands and pushes the drive link 4640 and the actuation rod 4660 distally to open the jaw assembly 8100 of the end effector 8000. Further, distal rotation of the drive connection 4640 drives and automatically rotates the activation trigger 4610 back to its unactuated position. That is, the clinician may manually return the activation trigger 4610 to its unactuated position. In such cases, the activation trigger 4610 may be slowly opened. In either case, shaft assembly 4000 also includes a lock configured to releasably retain actuation trigger 4610 in its actuated position so that the clinician can perform another task with their hands without jaw assembly 8100 inadvertently opening.

In various alternative embodiments, in addition to the above, the actuation rod 4660 can be pushed distally to close the jaw assembly 8100. In at least one such instance, the actuation rod 4660 is directly mounted to the actuation trigger 4610 such that when the actuation trigger 4610 is actuated, the actuation trigger 4610 drives the actuation rod 4660 distally. Similar to the above, when the activation trigger 4610 is closed, the activation trigger 4610 may compress the spring such that when the activation trigger 4610 is released, the actuation rod 4660 is pushed proximally.

In addition to the above, the shaft assembly 4000 has three functions: opening/closing the jaw assembly of the end effector, rotating the end effector about the longitudinal axis, and articulating the end effector about the articulation axis. The end effector rotation and articulation functions of the shaft assembly 4000 are driven by the motor assembly 1600 and the control system 1800 of the drive module 1100, while the jaw actuation functions are manually driven by the jaw closure actuation system 4600. The jaw closure actuation system 4600 can be a motor-driven system, but, in contrast, the jaw closure actuation system 4600 has been maintained as a manually driven system so that the clinician can have a better feel for the tissue being grasped within the end effector. While motorized end effector rotation and actuation systems provide certain advantages for controlling the position of the end effector, motorized jaw closure actuation system 4600 may cause the clinician to lose the tactile feel of the force applied to the tissue and may not be able to assess whether the force is insufficient or excessive. Thus, even if the end effector rotation and articulation system is motor driven, the jaw closure actuation system 4600 is manually driven.

FIG. 50 is a logic diagram of a control system 1800 of the surgical system shown in FIG. 1 according to at least one embodiment, the control system 1800 includes control circuitry including a microcontroller 1840 including a processor 1820 AND a memory 1830. one or more sensors such as sensors 1880, 1890, 6180', 6280', 6380', 7190 "AND/or 6290'" provide real-time feedback to the processor 1820. FOR example, the control system 1800 also includes a tracking system 1850 configured to control the electric motor 1610 AND a tracking system 1860 configured to determine the position of one or more longitudinally movable components in the surgical INSTRUMENT (such as the clutches 6110, 6120 AND 6130 AND/or the longitudinally movable drive nut 7150 of the jaw assembly driver.) FOR example, the tracking system 1800 0 is also configured to determine the position of one or more longitudinally movable components in the surgical INSTRUMENT (such as the drive shafts 6130, outer shafts 6230 AND/or joint movement drivers 6330) FOR example, the tracking system 1850 provides position information to the processor 1820, or the tracking system 3610, the tracking system 3610 may be easily identified by the teachings of the patent application FOR example, the location of the patent application FOR example upright 7135. the location of the patent publication No. upright 7120, the location of upright 7170-upright 7130, the patent publication No. 8-upright 3610, the location information may be easily incorporated by the patent publication No. 8 et 7 patent publication.

In at least one case, the microprocessor 1840 is an on-chip memory such as L M4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments, including for example 256KB of single-cycle flash memory or other non-volatile memory (up to 40MHZ), a prefetch buffer for performance improvement over 40MHz, 32KB of single-cycle Serial Random Access Memory (SRAM) loaded, a processor core such as those provided by Texas Instruments under the trade name ARM CortexInternal Read Only Memory (ROM) for software, Electrically Erasable Programmable Read Only Memory (EEPROM) for 2KB, one or more Pulse Width Modulation (PWM) and/or Frequency Modulation (FM) modules, one or more Quadrature Encoder Input (QEI) analog, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, the details of which can be found in the product data sheet.

In each case, microcontroller 1840 includes a safety controller that includes two series of controller-based controllers (such as TMS570 and RM4x), known under the trade name HerculesARM Cortex R4, also manufactured by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, etc., to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options.

For example, the microcontroller 1840 is programmed to perform various functions, such as precisely controlling the speed and/or position of the drive nut 7150 of the jaw closure assembly. The microcontroller 1840 is also programmed to precisely control the rotational speed and position of the end effector 7000, as well as the articulation speed and position of the end effector 7000. In various instances, microcontroller 1840 calculates a response in the software of microcontroller 1840. The calculated response is compared to the measured response of the actual system to obtain an "observed" response, which is used for the actual feedback decision. The observed response is a favorable tuning value that equalizes the smooth continuous nature of the simulated response with the measured response, which can sense external influences on the system.

The motor 1610 is controlled by an electric driver 1850. In various forms, the motor 1610 is a DC brushed driving motor, for example, having a maximum rotational speed of about 25,000 RPM. In other arrangements, the motor 1610 includes a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. Motor driver 1850 can comprise, for example, an H-bridge driver comprising Field Effect Transistors (FETs). The motor driver 1850 may be, for example, a3941 available from Allegro Microsystems, inc. The a3941 driver 1850 is a full-bridge controller for use with an external N-channel power Metal Oxide Semiconductor Field Effect Transistor (MOSFET) specifically designed for inductive loads, such as brushed DC motors. In each case, driver 1850 includes a unique charge pump regulator that provides a full (>10V) gate drive for battery voltages as low as 7V and allows a3941 to operate with a reduced gate drive as low as 5.5V. A bootstrap capacitor may be employed to provide the aforementioned battery supply voltage required for the N-channel MOSFET. The internal charge pump of the high-side drive allows for direct current (100% duty cycle) operation. The full bridge may be driven in fast decay mode or slow decay mode using diodes or synchronous rectification. In slow decay mode, current recirculation can pass through either the high-side or low-side FETs. The power FET is protected from breakdown by a resistor adjustable dead time. The overall diagnostics indicate undervoltage, overheating, and power bridge faults, and may be configured to protect the power MOSFETs in most short circuit situations. Other motor drives can be easily substituted.

For example, tracking system 1860 includes a controlled motor drive circuit arrangement including one or more position sensors, such as sensors 1880, 1890, 6180', 6280', 6380', 7190 ", and/or 6290'". the position sensors for the absolute positioning system provide unique position signals corresponding to the position of the displacement member as used herein, the term displacement member is generally used to refer to any movable member of the surgical system.

The position sensors 1880, 1890, 6180', 6280', 6380', 7190 "and/or 6290'" may, for example, include any number of magnetic sensing elements, such as magnetic sensors that are classified according to whether they measure the total or vector components of the magnetic field. The techniques for producing the two types of magnetic sensors described above encompass a number of aspects of physics and electronics. Technologies for magnetic field sensing include detection coils, flux gates, optical pumps, nuclear spins, superconducting quantum interferometers (SQUIDs), hall effects, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedances, magnetostrictive/piezoelectric composites, magnetodiodes, magnetotransistors, optical fibers, magneto-optical, and magnetic sensors based on micro-electromechanical systems, among others.

In various instances, one or more position sensors in the tracking system 1860 include a magnetic rotating absolute positioning system such position sensors may be implemented AS AS5055EQFT single-chip magnetic rotating position sensors available from Austria Microsystems (AG) and may interface with the controller 1840 to provide an absolute positioning system in some cases, the position sensors include low voltage and low power components and include four Hall effect elements located in the area of the position sensor adjacent the magnet.

Other examples include Pulse Width Modulation (PWM) OF voltage, current AND force AND/or Frequency Modulation (FM) other SENSORs may be provided in addition to position to measure physical parameters OF the physical SYSTEM in each case, other SENSORs may include SENSOR arrangements such as those described in U.S. patent 9,345,481 entitled "STAP L E CARTRIDGE SENSOR SYSTEM publication SYSTEM FOR SYSTEM.

The absolute positioning system provides the absolute position of the displacement member upon power-up of the instrument without retracting or advancing the displacement member to a reset (zero or home) position as may be required by conventional rotary encoders that simply count the number of forward or backward steps taken by the motor 1610 to infer the position of the device actuator, drive rod, knife, etc.

For example, the sensors 1880, including strain gauges or micro-strain gauges, are configured to measure one or more parameters of the end effector, such as the strain experienced by the jaws 7110 and 7120 during a clamping operation. The measured strain is converted to a digital signal and provided to the processor 1820. In addition to or in lieu of sensor 1880, a sensor 1890, e.g., including a load sensor, may measure the closing force applied to the jaws 7110 and 7120 by the closure drive system. In various instances, a current sensor 1870 may be employed to measure the current drawn by the motor 1610. The force required to clamp jaw member 7100 can correspond to, for example, the current consumed by motor 1610. The measured force is converted to a digital signal and provided to the processor 1820. A magnetic field sensor may be employed to measure the thickness of the trapped tissue. The measurements of the magnetic field sensors may also be converted to digital signals and provided to the processor 1820.

Controller 1840 may use measurements of tissue compression, tissue thickness, and/or force required to close the end effector on the tissue measured by the sensors to characterize the position and/or velocity of the tracked movable member. In at least one instance, the memory 1830 can store techniques, formulas, and/or look-up tables that can be employed by the controller 1840 in the evaluation. In various instances, the controller 1840 may provide a user of the surgical instrument with a selection as to the manner in which the surgical instrument should be operated. To this end, the display 1440 may display various operating conditions of the instrument and may include touch screen functionality for data entry. In addition, the information displayed on the display 1440 may be overlaid with images acquired via the imaging module of one or more endoscopes and/or one or more additional surgical instruments used during the surgical procedure.

As described above, the drive module 1100 of the handle 1000 and/or the shaft assemblies 2000, 3000, 4000, and/or 5000 attached thereto, for example, comprise a control system. Each of the control systems may include a circuit board having one or more processors and/or memory devices. In addition to this, the control system is configured to be able to store, for example, sensor data. The control system is further configured to store data identifying the shaft assembly as the handle 1000. In addition, the control system is further configured to store data including whether the shaft assembly has been previously used and/or how many times the shaft assembly has been used. For example, this information may be acquired by the handle 1000 to assess whether the shaft assembly is suitable for use and/or has been used less than a predetermined number of times.

In addition to the above, the first module connector 1120 of the drive module 1100 includes a side battery port defined in a side surface of the drive module 1100. Similarly, the second module connector 1120' includes a proximal battery port defined in a proximal end of the drive module 1100. That is, the drive module may include a battery port in any suitable location. In any case, the power module 1200 may be operatively attached to the drive module 1100 at the side battery port 1120 (as shown in fig. 54-58) or operatively attached to the drive module at the proximal battery port 1120' (as shown in fig. 67 and 68). This is possible because the connector 1220 of the power module 1200 is compatible with the side battery port 1120 and the proximal battery port 1120'. In addition, the connector 1220 includes a substantially circular or substantially cylindrical configuration that matches, or at least substantially matches, the substantially circular or substantially cylindrical configuration of the battery ports 1120 and 1120'. In various instances, the connector 1220 includes a frustoconical, or at least substantially frustoconical, shape having a larger bottom portion than a top portion and angled or tapered sides extending therebetween. As noted above, the connector 1220 of the power module 1200 does not include keys or protrusions extending therefrom that interfere with assembly of the power module 1200 to the battery ports 1120 and 1120'.

Referring primarily to fig. 55 and 56, connector 1220 includes two latches 1240 extending therefrom. These latches 1240 are positioned on opposite sides of the connector 1220 such that they include opposing latch shoulders that releasably retain the power module 1200 to the handle module 1100. Side battery port 1120 includes a latch opening 1125 defined in housing 1100 that is configured to receive a latch 1240 of power module 1200, and similarly, proximal battery port 1120 'includes a latch opening 1125' defined in housing 1100 that is also configured to receive a latch 1240 of power module 1200. Although latch openings 1125 in side battery port 1120 and 1125 'in proximal battery port 1120' limit the orientations in which power module 1200 may be assembled to each battery port 1120 and 1120 '(i.e., two orientations per battery port), power module 1200 is still operatively attached to both battery ports 1120 and 1120'.

In addition to the above, the latch 1240 of the power module 1200 is configured to engage the drive module 1100 in a snap-fit manner. In various instances, when the power module 1200 is assembled to the drive module 1100, the latch 1240 resiliently flexes radially outward and then resiliently moves or snaps radially inward once the power module 1200 is fully seated within one of the ports 1120 and 1120' to lock the power module 1200 to the drive module 1100. In various instances, the latch 1240 comprises a flexible arm that deflects radially inward and outward as described above, while in some instances, the latch 1240 comprises one or more biasing members, such as springs, for example, configured to resiliently urge the latch 1240 into its inward or locked position. In various embodiments, the power module 1200 may include a member that is press-fit into apertures defined in the ports 1120 and 1120' to retain the power module 1200 to the drive module 1100.

In addition to the above, the electrical contacts of the power module 1200 are defined on a top portion or surface of the connector 1220. As described above, when the power module 1200 is attached to the drive module 1100, the electrical contacts of the power module 1200 engage corresponding electrical contacts defined in the ports 1120 and 1120' to place the power module 1200 in electrical communication with the drive module 1100. In various instances, when the power module 1200 is attached to the drive module 1100, the electrical contacts of the power module 1200 are compressed against the electrical contacts of the drive module 1100. In at least one such case, the power module contacts and/or the drive module contacts comprise resilient members configured to resiliently deflect when the power module 1200 is attached to the drive module 1100. Such resilient members, together with the latch 1240, may ensure that there is an adequate electrical interface between the power module 1200 and the drive module 1100. In alternative embodiments, the power module 1200 may include annular electrical contacts extending around its periphery that engage electrical contacts on the sides of the ports 1120 and 1120'. Such an arrangement may allow for relative rotation between the power module 1200 and the drive module 1100.

In addition to the above, the power module 1300 is operatively attached to the drive module 1100 at the proximal battery port 1120' (as shown in fig. 59-66), but not at the side battery port 1120 (as shown in fig. 69 and 70). This is because the connector 1320 of the power module 1300 is compatible with the proximal battery port 1120', but not the side battery port 1120'. Although the connector 1320 includes a substantially circular or substantially cylindrical configuration that matches or at least substantially matches the substantially circular or substantially cylindrical configuration of the battery ports 1120 and 1120', the connector 1320 of the power module 1300 includes a key or protrusion 1315 extending therefrom that interferes with assembly of the power module 1300 to the side battery port 1120, but does not interfere with assembly of the proximal battery port 1120'. When a clinician attempts to assemble the power module 1300 to the side battery port 1120', the protrusion 1315 contacts the housing 1110 and prevents the latch 1340 of the power module 1300 from locking the power module 1300 to the drive module 1100, and prevents the power module 1300 from electrically coupling with the drive module 1100. That is, referring primarily to fig. 63 and 64, the proximal battery port 1120' includes a clearance aperture 1115' defined therein that is configured to receive the protrusion 1315 of the power module 1300 and allow the power module 1300 to be assembled to the proximal battery port 1120 '. Similar to the above, latch openings 1125 'and clearance apertures 1115' in proximal battery port 1120 'limit the orientations in which power module 1300 may be assembled to proximal battery port 1120' to two orientations.

In addition to the above, other circumstances may also prevent the power module from being attached to one of the battery ports 1120 and 1120'. For example, one of the battery ports may have an asymmetric geometry configured to be able to receive a complementary geometry of only one of the power modules. In at least one such case, the side battery port 1120 can comprise a semi-circular cavity and the proximal battery port 1120' can comprise a circular cavity, wherein the connector 1220 of the power module 1200 comprises a semi-circular geometry that can be received in both battery ports 1120 and 1120', while the connector 1320 of the power module 1300 comprises a circular geometry that can be received in the proximal battery port 1120', but not in the side battery port 1120. In some cases, the configuration of the shaft assembly attached to the drive module 1100 may prevent one of the power modules from being assembled to the drive module 1100. For example, referring to fig. 59, the shaft assembly 4000 may prevent assembly of the power module 1300 to the side battery port 1120 because actuation of the trigger 4610 interferes with assembly of the power module thereto. Notably, this arrangement will also prevent the power module 1200 from being assembled to the side battery port 1120. Thus, when using the shaft assembly 4000, the clinician would be required to couple the power module to the drive module 1100 using the proximal battery port 1120'. Referring to fig. 71 and 72, certain shaft assembly configurations will allow both power modules 1200 and 1300 to be assembled to drive module 1100 simultaneously. For example, referring to fig. 51, the shaft assembly 3000 of fig. 1 would allow both power modules 1200 and 1300 to be used to simultaneously power the drive module 1100.

The power modules 1200 and 1300 are configured to be able to supply the drive module 1100 with the same, or at least substantially the same, voltage. For example, each power module 1200 and 1300 is configured to power the drive module 1100 with, for example, 3V dc. For example, the control system 1800 of the drive module 1100 includes one or more power inverters configured to convert direct current to alternating current if alternating current is required. That is, the power modules 1200 and 1300 may be configured to deliver power to the drive module 1100 at any suitable voltage. In at least one instance, the power modules 1200 and/or 1300 are configured to deliver ac power to the drive module. In at least one such case, power modules 1200 and/or 1300 each include one or more power inverters. In an alternative embodiment, the power modules 1200 and 1300 are configured to be able to supply power to the drive module 1100 at different voltages. In such embodiments, the configuration of ports 1120 and 1120' as described above may prevent power modules having higher voltages from attaching to lower voltage ports. Also, the configuration of ports 1120 and 1120' may prevent power modules having lower voltages from being attached to higher voltage ports, if desired.

In various instances, the power modules 1200 and 1300 are configured to provide the same, or at least substantially the same, current to the drive module. In at least one case, the power modules 1200 and 1300 provide the same, or at least substantially the same, amount of current to the drive module 1100. In alternative embodiments, the power modules 1200 and 1300 are configured to provide different currents to the drive module 1100. In at least one case, for example, the power module 1200 provides the drive module 1100 with a current magnitude that is twice the current magnitude provided by the power module 1300. In at least one such case, the battery cells of power module 1200 are arranged in parallel to provide the same voltage as that provided by power module 1300, but to provide twice the current that is provided by that power module. Similar to the above, the configuration of ports 1120 and 1120' as described above may prevent power modules with higher currents from attaching to lower current ports. Also, the configuration of ports 1120 and 1120' may prevent power modules with lower currents from attaching to higher current ports, if desired.

In addition to the above, control system 1800 is configured to adaptively manage the power provided by power modules 1200 and 1300. In various instances, the control system 1800 includes one or more transformer circuits configured to step up and/or step down the voltage provided to the one or more transformers by the power module. For example, if a higher voltage power module is attached to a lower voltage port, control system 1800 may activate or turn on a transformer circuit to step down the voltage from the higher voltage power module. Similarly, if a lower voltage power module is attached to the higher voltage port, the control system 1800 may activate or turn on a transformer circuit to step up the voltage from the lower voltage power module. In various embodiments, the control system 1800 is configured to shut down a power module having an improper voltage when the power module is attached to a port in the drive module 1100. In at least one instance, control system 1800 includes one or more voltmeter circuits configured to evaluate the voltage of a power module attached to a drive module, and when the voltage of the power module is incorrect or in an improper voltage range, control system 1800 can shut down the power module such that the power module does not supply power to drive module 1100. In at least one such case, the driver module 1100 has a voltmeter circuit for each port 1120 and 1120'. In at least one instance, control system 1800 includes one or more ammeter circuits configured to assess current of a power module attached to the drive module, and when the current of the power module is incorrect or in an improper current range, control system 1800 can shut down the power module so that the power module does not supply power to drive module 1100. In at least one such case, the driver module 1100 has an ammeter circuit for each port 1120 and 1120'. In at least one instance, each power module 1200 and 1300 includes a switching circuit that prevents power from being supplied to the drive module 1100 when disconnected by the control system 1800. If the power module includes the correct voltage or a voltage within the appropriate voltage range for the port to which the power module is attached, the switching circuit remains closed and/or is closed by the control system 1800. In at least one such case, the drive module 1100 has a switching circuit for each port 1120 and 1120'.

In various instances, the power module may include a switch that is selectively actuatable by a clinician to prevent the power module from supplying power to the drive module 1100. In at least one case, the switch comprises a mechanical switch, for example in the supply circuit of the power module. However, a powered down power module may still provide other benefits. For example, the closed power module 1200 may still provide a pistol grip, and the closed power module 1300 may still provide a wand grip. Further, in some cases, a powered down power module may provide a power reserve that may be selectively actuated by a clinician.

In addition to or instead of the above, each of the power modules 1200 and 1300 includes an identification storage device. The identification storage device may comprise, for example, a solid state chip having stored thereon data that may be accessed by and/or transmitted to the control system 1800 when the power module is assembled to the drive module 1100. In at least one instance, the data stored on the identification storage device can include data regarding the voltage that the power module is configured to supply to the drive module 1100, for example.

For example, in addition to the above, each of the shaft assemblies 2000, 3000, 4000, and/or 5000 includes an identification storage device, such as storage device 2830. The identification storage device of the axle assembly may comprise, for example, a solid state chip having stored thereon data that may be accessed by and/or transmitted to the control system 1800 when the axle assembly is assembled to the drive module 1100. In at least one case, the data stored on the identification memory device can include data regarding the power required to operate the drive system of the axle assembly. The shaft assembly 2000 includes three systems driven by the drive module 1100: an end effector articulation drive system, an end effector rotation drive system, and a jaw drive system, each of which has its own power requirements. For example, the jaw drive system may require more power than the end effector articulation drive system and the end effector rotation drive system. To this end, the control system 1800 is configured to verify that the power provided by the one or more power modules attached to the drive module 1100 is sufficient to power all of the drive systems (including the jaw drive system) of the shaft assembly 2000 assembled to the drive module 1100. Thus, the control system 1800 is configured to ensure that the power module arrangement attached to the drive module 1100 is properly paired with the shaft assembly attached to the drive module 1100. If the power provided by the power module arrangement is insufficient, or below a desired power threshold, the control system 1800 may notify the clinician that a different and/or additional power module is needed. In at least one case, for example, the driver module 1100 includes a low power indicator on the housing 1110 and/or on the display screen 1440. Notably, the jaw drive system of shaft assembly 4000 is not driven by drive module 1100; instead, the shaft assembly is manually powered by the clinician. Thus, for example, the power required to operate the shaft assembly 4000 may be less than the power required to operate the shaft assembly 2000, and the control system 1800 may reduce the power threshold required for the shaft assembly 4000 when evaluating the power module arrangement.

In addition to the above, an end effector configured to grasp and/or dissect tissue may require less power than an end effector configured to grasp tissue of a patient. Thus, an end effector and/or shaft assembly including a clip applier may have greater power requirements than an end effector and/or shaft assembly including grasping and/or dissecting jaws. In such cases, the control system 1800 of the drive module 1100 is configured to verify that one or more power modules attached to the drive module 1100 can provide sufficient power to the drive module 1100. Control system 1800 can be configured to query an identification chip on a power module attached to drive module 1100 and/or evaluate a power source within the power module to assess whether the power module includes sufficient available voltage and/or current to properly power drive module 1100 to operate the clip applier.

In addition to the above, an end effector configured to grasp and/or dissect tissue may require less power than an end effector configured to staple tissue of a patient, for example. Thus, an end effector and/or shaft assembly including a stapling apparatus may have greater power requirements than an end effector and/or shaft assembly including grasping and/or dissecting jaws. In such cases, the control system 1800 of the drive module 1100 is configured to verify that one or more power modules attached to the drive module 1100 can provide sufficient power to the drive module 1100 based on the shaft assembly attached to the drive module 1100. The control system 1800 can be configured to query an identification chip on a power module attached to the drive module 1100 and/or evaluate a power source within the power module to assess whether the power module includes sufficient available voltage and/or current to properly power the drive module 1100 to operate the stapling apparatus.

In addition to or in lieu of the above, an end effector such as end effector 7000, for example, includes an identification storage device. For example, the identification storage device of the end effector can comprise a solid state chip having stored thereon data that can be accessed by and/or transmitted to the control system 1800 when the end effector is assembled to the drive module 1100 by the shaft assembly. In at least one instance, the data stored on the identification storage device can include data regarding the power required to operate the drive system of the end effector. The end effector may communicate with the drive module 1100 through an electrical pathway or circuit extending through the shaft assembly. Similar to the above, the end effector can identify itself to the drive module 1100, and with this information, the drive module 1100 can adjust its operation to properly operate the end effector.

As described above, each of the power modules 1200 and 1300 includes one or more battery cells. That is, power modules 1200 and 1300 may include any suitable means for storing and delivering power. In at least one instance, the power modules 1200 and 1300 include capacitors and/or ultracapacitors configured to store and deliver energy to the drive module 1100. The capacitor and/or supercapacitor may be the same circuit as the battery cell or a different part of the battery cell. The supercapacitor may include an electrostatic double layer capacitance and/or an electrochemical pseudo-capacitance, both of which may contribute to the overall capacitance of the supercapacitor. In various instances, electrostatic double layer capacitors use carbon electrodes or derivatives with electrostatic double layer capacitance much higher than the electrochemical pseudo-capacitance to achieve charge separation in the helmholtz double layer at the interface between the surface of the conductive electrode and the electrolyte. This charge separation is typically on the order of a few angstroms (0.3nm-0.8nm), much smaller than in conventional capacitors. Electrochemical pseudo-capacitors use metal oxide or conductive polymer electrodes to add a large amount of electrochemical pseudo-capacitance based on double layer capacitance. Pseudo-capacitance is achieved by redox reaction, embedded and/or electro-adsorbed faraday electron charge transfer. For example, hybrid capacitors, such as lithium ion capacitors, may also be used, which comprise electrodes with different characteristics: one electrode behaves mainly as an electrostatic capacitance and the other electrode behaves as an electrochemical capacitance.

In various instances, the drain includes a resistive circuit internal to the POWER module, the resistive circuit including a battery cell, the drain slowly discharges the battery cell of the POWER module once actuated, but at a rate that still allows the POWER module to provide sufficient POWER to the drive module 1100 during surgery, however, the drain continues to discharge the battery cell even though the POWER module may no longer be assembled to the drive module 1100 after the surgery is completed, thus, the UMdrain discharges the battery cell whether or not the POWER module supplies POWER to the drive module 1100 or is attached to the drive module 1100. UMdrain discharges the battery cell in a manner disclosed in U.S. patent publication No. 3, entitled "POWER INS35 INSTANTS L ARRANGEMENTS FORSURGICA L, incorporated by reference in U.S. patent application Ser. No. 7, 35, incorporated by reference herein as SUMER, incorporated by reference, FOR example, 3, incorporated by reference, FOR example, 35, incorporated by reference, 35, 7, 3632, published in U.S. 1/21.

During a particular surgical procedure, clinicians use a variety of surgical instruments (including various hand-held instruments) to perform different functions. Each surgical instrument may include a different handle and/or gripping configuration in addition to a different user control mechanism. Switching between the various handheld instruments may cause delays and/or discomfort as the clinician regains control of the surgical instrument and actuates the user control mechanism. The use of many powered surgical instruments may require a user to ensure that many power sources are charged and/or functioning properly before each surgical procedure is initiated, as the power sources may be different and/or may not be compatible with all powered surgical instruments.

A modular surgical instrument including a universal handle and a power source may provide a clinician with familiarity with using the universal handle configuration. The modular surgical instrument is configured to be used with a number of surgical tool attachments. Instead of having to charge multiple different power sources, modular surgical instruments are configured to be used with an alternative power source that can be discarded after each surgical procedure. Further, the use of one universal handle with multiple surgical tool attachments may reduce clutter and/or bulk of surgical instruments within the surgical field.

Fig. 73 shows a portion of a modular surgical instrument 80000, and fig. 74 shows a modular surgical instrument 80000 electrical architecture. The configuration of modular surgical instrument 80000 is similar in many respects to surgical instrument 1000 in fig. 1, described above. The modular surgical instrument 80000 includes a plurality of modular components, including, for example: a drive block 80010, a shaft 80020, an end effector 80030, and a power supply 80040. In various instances, the drive block 80010 includes a handle. The drive block 80010 includes one or more control switches 80012 and a motor 80015.

The shaft 80020 includes control circuitry 80022 configured to facilitate communication between the modular components 80010, 80020, 80030, 80040 of the surgical instrument 80000. The operation and function of the modular components 80010, 80020, 80030, 80040 of the surgical instrument 80000 are described in greater detail above in connection with other surgical instruments.

In various instances, the one or more control switches 80012 correspond to the rotary actuator 1420 and articulation actuator 1430 of the input system 1400, as described in greater detail above with respect to fig. 7 and 8. As shown in fig. 7 and 8, the articulation brake 1430 includes a first push button 1432 and a second push button 1434. The first push-down button 1432 includes a first switch that closes when the first push-down button 1434 is pressed. Similar in many respects to the articulation actuator 1430 and the rotation actuator 1420 of fig. 7 and 8, the one or more control switches 80012 may include a push button. When the user input presses the push button, the switch is closed, and a signal indicating a user command is transmitted to the control circuit 80022. In various instances, a first push button can initiate articulation or rotation in a first direction, while a second push button can initiate articulation or rotation in a second direction. The operation and function of these control switches 80012 are described in more detail above.

In various instances, the shaft 80020 is configured to be disposable after use to treat a patient. In such cases, the shaft 80020 can be used multiple times on the same patient. As discussed in more detail below, shaft 80020 includes a processor 80024 and memory storing instructions for one or more control programs. The disposable shaft 80020 includes any signal processing circuitry needed to connect with the end effector 80030, the power source 80040, and/or the drive block 80010 when the modular surgical instrument 80000 is fully configured or assembled. The end effector 80030 includes a sensor array 80035 configured to monitor a parameter of the end effector 80030. For example, such a sensor array 80035 may detect information related to, for example, the identity of the end effector 80030, the operational status of the end effector 80030, and/or information related to the environment of the surgical site, such as tissue characteristics. In various instances, the power supply 80040 includes a replaceable battery pack configured to be directly attachable to the drive block 80010 to power the surgical instrument 80000. Power supply 80040 includes battery 80042 and display 80044. In various instances, display 80044 includes, for example, a touch-sensitive display in which user inputs are sent to processor 80024.

In various instances, the drive module 80010 includes a power interface for attaching the modular power supply 80040 thereto. The replaceable connection between the power supply 80040 and the drive module 80010 allows a user to easily replace the power supply 80040 without having to disassemble the housing of the drive module 80010. The battery 80042 within the modular power supply 80040 includes a primary battery, but may also include a secondary battery. The primary battery 80042 is configured to be capable of being fully charged at a time. In other words, primary battery 80042 is configured to be disposable after each surgical procedure. In addition, the use of a disposable power source may provide the clinician with assurance that the battery 80042 is fully charged at the beginning of each surgical procedure.

The power interface provides interconnection between the connection of the battery 80042 and the display 80044 when the power supply 80040 is attached to the drive module 80010. In other words, there is no continuous circuit within the power supply 80040 until the power supply 80040 is replaceably attached to the power interface on the drive block 80010. Thus, power supply 80040 can be dispensed and sterilized in an uncoupled state. The ability to be in an uncoupled state allows each power supply 80040 to be easily sterilized. For example, the modular power supply 80040 is compatible with ethylene oxide and gamma sterilization because there is no continuous circuitry in the unattached power supply 80040.

Similar to the power supply 80040, the drive block 80010 does not have any continuous circuitry when not attached to the shaft 80020 and the power supply 80040. For at least this reason, the drive module 80010 can be sterilized after each use using any desired sterilization protocol. In its unattached configuration, the drive module 80010 is configured to be fully submerged during the cleaning process.

In addition to the above, the control circuit 80022 of the shaft 80020 includes a processor 80024 configured to receive user input from one or more control switches 80012 on the drive block 80010. The shaft 80020 also includes a motor controller 80028 configured to control a motor 80015 within the drive block 80010 when the shaft 80020 is assembled to the drive block 80010. In each case, the control circuit 80022 also includes a safety processor 80024, which includes two series of controller-based controllers (such as TMS570 and RM4x), known under the trade name Hercules ARM Cortex R4 also produced by Texas Instruments. The security processor 80026 may be configured to be dedicated to IEC 61508 and ISO 26262 security critical applications, among others, to provide advanced integrated security features while delivering scalable performance, connectivity, and memory options. Safety processor 80026 is configured to be in signal communication with processor 80024 and motor controller 80028. The motor controller 80028 is configured to be in signal communication with the sensor array 80035 of the end effector 80030 and the motor 80015 within the handle 80010. The motor controller 80028 is configured to send an electrical signal, such as a voltage signal, indicative of the voltage (or power) to be supplied to the motor 80015. The electrical signal may be determined based on, for example, user input from one or more control switches 80012, input received from sensor array 80035, user input from display 80044, and/or feedback from motor 80015. In various circumstances, the motor controller 80028 can output a PWM control signal to the motor 80015 to control the motor 80015.

The shaft 80020 also includes memory configured to store a control program that, when executed, prompts the processor to command the motor controller 80028 to activate the motor 80015 at a predetermined level the memory within the control circuitry 80022 of each shaft 80020 is configured to store one or more control programs to allow the modular surgical INSTRUMENT 80000 to perform a desired function when fully configured, in various cases, the shaft 80020 may include a default control program when the attached shaft 80020 does not include a control program and/or cannot read or detect the stored control program, in various cases, the shaft 80020 may include a control program that allows the motor 80015 to run at a minimum level to allow the clinician to perform the basic functions of the modular surgical INSTRUMENT 80000, in various cases, only the basic functions of the modular surgical INSTRUMENT 80000 are available in the default control program and executed in a manner that minimizes the amount of information that needs to be stored in each replaceable shaft 80020, thereby reducing the risk of damage to the surgical site and/or surrounding tissue in the surgical site, if the driver module is not included in the first surgical INSTRUMENT 80010, the driver module 80010 may include a more recent control program, and/or a more recent control program may be updated in a more recent control program that the second axis 80080010 may include a more recent control program that the surgical INSTRUMENT 80080080080010, if the clinician program may include a more recently modified control program that the first axis 80080080080010 may include a more recently stored control program, a more recently stored control program may be updated, and/or a more recently stored control program may be updated in each time such as compared to perform a more recently stored control program that the clinical INSTRUMENT 80010 may be updated such as the clinical INSTRUMENT 80010 may be stored control program that the clinical INSTRUMENT 80010 may be updated, and/or a more recently stored control program may be updated in each time the surgeon's clinical INSTRUMENT 80010 may be used in each time as the surgeon's clinical INSTRUMENT 80010 may be updated such as the clinical INSTRUMENT 80010 may be used in each time the clinical INSTRUMENT 80010 may include a more recently stored control program may be used in each time the clinical INSTRUMENT 80010 may be updated, and/or a more recently stored control program may be updated, a more recently stored control program may be used in each time the clinical INSTRUMENT 80010 may include a more recently modified surgical INSTRUMENT 80010 may be used in each time the clinical INSTRUMENT 80010 may include a more recently modified surgical INSTRUMENT 80010 may be updated, and/or a more recently modified surgical INSTRUMENT 80010 may include a more recently modified.

Fig. 75 illustrates a drive module 80110 that includes a plurality of drivers configured to interact with corresponding drivers in the attachment shafts to produce a desired function, such as rotation and/or articulation of the end effector. For example, the drive module 80110 includes a rotary drive 80120 that is configured to rotate the end effector upon actuation. The drive module 80110 of fig. 75 is configured to be operable based on the type of handle attached to the modular shaft. When a low functionality handle (such as a scissor grip handle) is attached to the modular shaft, one or more of the plurality of drives disengage. For example, during attachment of the low functionality handle to the modular shaft, an extending lug on the low functionality handle may advance the rotary driver 80120 distally out of engagement with the low functionality handle. Such distal advancement causes rotation driver 80120 to disengage from the handle, effectively locking the function of rotation driver 80120. Upon separation of the scissor grip from the modular shaft, a resilient member 80125 (such as a spring) biases the rotary driver 80120 proximally to its original position. In each case, all of the drivers disengage when the low functionality handle is mounted onto the modular shaft. In other cases, a first driver, such as rotary driver 80120, may be disengaged when attaching the low functionality handle to the modular shaft, while a second driver 80130 remains engaged for use with the low functionality handle.

In various instances, the rotary drive 80120 is in communication with a manual rotary actuator, such as the rotary actuator 1420 described in more detail above with respect to fig. 8, 10, and 11. As the clinician rotates the rotary actuator, the position of the rotary actuator may be monitored. For example, the surgical instrument can include an encoder system configured to monitor a position of the rotary actuator. In addition to or instead of an encoder system, the drive module 80110 may include a sensor system configured to detect an angle of rotation of the rotary actuator. In any case, the position detected by the rotary actuator is communicated to a processor and motor controller, such as processor 80024 and motor controller 80028 within shaft 80020. In various instances, the drive module 80110 includes a handle.

Processor 80024 and motor controller 80028 are configured as a system capable of driving shaft 80020 in response to movement of rotary drive 80120, rather than a system manually driven by rotary drive 80120. In at least one instance, the surgical instrument has a first rotary joint and a second rotary joint, wherein rotation of the surgical instrument about the first rotary joint is manually driven and rotation of the surgical instrument about the second rotary joint is driven by an electric motor. In this case, for example, the processor 80024 can monitor the rotation of the surgical instrument about the first rotational joint using the encoder and rotate the surgical instrument about the second rotational joint using the motor controller 80028 to maintain the alignment of the rotatable components of the surgical instrument.

Fig. 76 shows the handle 80210 prior to engagement with the interchangeable shaft 80220. The handle 80210 may be used with a plurality of interchangeable shafts, and may be referred to as a universal handle. The shaft 80220 includes a drive rod 80250 configured to mechanically engage with the distal nut 80255 of the handle 80210. The proximal end 80251 of the drive bar 80250 includes a particular geometry configured to fit within a notch 80256 defined in the distal end of the distal nut 80255. The geometry of the notch 80256 in the distal nut 80255 is complementary to the geometry of the proximal end 80251 of the drive bar 80250. In other words, once the clinician and/or assistant has oriented the shaft 80220 in a manner that allows the drive rod 80250 to fit within the recess on the distal nut 80255 of the handle 80210, the interchangeable shaft 80220 is successfully aligned with the universal handle 80210 such that there is little, if any, relative lateral movement between the distal nut 80255 and the drive rod 80250.

In various instances, in addition to or in lieu of the mechanical alignment system described above, the distal end 80211 of the drive nut 80255 and the proximal end 80223 of the drive rod 80250 include a plurality of magnetic elements 80260, 80265, 80270 configured to facilitate alignment of the shaft 80220 with the handle 80210. The system of magnetic elements 80260, 80265, 80270 allows the shaft 80220 to self-align with the handle 80210. In various instances, the plurality of magnetic elements 80260, 80265, 80270 are permanent magnets. As shown in fig. 75, the proximal end 80223 of the shaft 80220 includes a plurality of magnetic elements 80260, 80265 that are asymmetrically oriented, although the magnetic elements 80260, 80265 can be arranged in any suitable manner. The magnetic elements 80260, 80265 are positioned with opposing poles facing outward relative to the proximal end 80223 of the shaft 80220. More specifically, the magnetic element 80260 positioned on a first portion of the shaft 80220 is positioned with its positive pole facing outward relative to the proximal end 80223, while the magnetic element 80265 positioned on a second or opposing portion of the shaft 80220 is positioned with its negative pole facing outward relative to the proximal end 80223. The distal end 80211 of the drive nut 80255 includes a plurality of magnetic elements 80270 positioned with their negative poles facing outward relative to the distal end 80211 of the handle 80210. Such asymmetric patterns of magnetic elements 80260, 80265 on shaft 80220 may allow shaft 80220 and handle 80210 to be aligned in one or more predetermined positions, as described in more detail below. The use of the magnetic elements 80260, 80265, 80270 eliminates the need for a spring mechanism for biasing the handle 80210 and shaft 80220 to a predetermined position.

In addition to the above, if the clinician attempts to align the handle 80210 with the shaft 80220 such that the magnetic element 80270 positioned on the handle 80210 is within proximity of the magnetic element 80260 positioned on the first portion of the shaft 80220, the magnetic elements 80260, 80270 create an attractive magnetic force, pulling the modular components 80210, 80220 into alignment. However, if the clinician attempts to align the handle 80210 with the shaft 80220 such that the magnetic element 80270 positioned on the handle 80210 is closer to the vicinity of the magnetic element 80265 positioned on the second portion of the shaft 80220, the repulsive magnetic force will push the modular assemblies 80210, 80220 apart, preventing an incorrect connection between the handle 80210 and the shaft 80220.

In some cases, there will be only one stable position between the modular components other than that described above. In various instances, the plurality of magnetic elements are positioned such that their magnetic poles alternate in a repeating pattern along the outer circumference of the distal end of the handle 80210 and the proximal end of the shaft 80220. Such a pattern may be formed so as to provide a plurality of stable alignment positions. The repeating pattern of magnetic elements allows for a series of stable alignments between the shaft and handle as the attractive magnetic force pulls modular components 80210, 80220 together in many locations. In each case, the plurality of magnetic elements are oriented in a manner to form a bistable magnetic network. This bistable network ensures that the module parts 80210, 80220 end up in stable alignment even when the module parts 80210, 80220 are initially misaligned. In other words, when the handle 80210 and shaft 80220 are misaligned, the magnetic fields formed by the plurality of magnetic elements interact with each other to initiate rotation out of the misaligned position and into the next closest stable alignment. Thus, the repulsive magnetic force experienced by the misaligned module part 80210, 80220 helps to transition the module part 80210, 80220 into alignment. When the modular components 80210, 80220 are pushed apart by the repulsive magnetic force, they rotate to attract a magnetic field, thereby aligning the handle 80210 and the shaft 80220. In each case, the repulsive magnetic force initiates rotation of the handle relative to the shaft and vice versa. The pattern of orientations of the magnetic elements can guide the modular components 80210, 80220 to rotate in a particular direction relative to one another while also preventing rotation in the opposite direction. For example, in various instances, the magnetic elements are oriented in a pattern that allows the shaft 80220 and the handle 80210 to be aligned by rotating relative to each other only in a clockwise direction when experiencing a repulsive magnetic force. In other instances, the magnetic elements are oriented in a pattern that allows the shaft 80220 and the handle 80210 to be brought into alignment by rotating relative to each other only in a counterclockwise direction when experiencing a repulsive magnetic force. In various cases, the magnetic elements may affect the speed of alignment of the modular components. For example, the magnetic elements may be arranged based on their magnetic field strength to accelerate or decelerate into or out of alignment. Although the plurality of magnetic elements 80260, 80265, 80270 are described above as permanent magnets, in some cases the plurality of magnetic elements 80260, 80265, 80270 are electromagnets. In such cases, the repulsive and attractive magnetic forces may be generated by selectively energizing the plurality of magnetic elements 80260, 80265, 80270.

In various instances, the handle 80210 and shaft 80220 include a leading magnetic element that provides an initial attractive magnetic force, wherein the leading magnetic element is configured to pull the modular components 80210, 80220 together. After the modular assemblies 80210, 80220 are drawn together by the leading magnetic element, the plurality of magnetic elements 80260, 80265, 80270 are configured to enable fine adjustment of the orientation of the handle 80210 and shaft 80220.

The proximal end of the shaft further includes a frame and a shaft magnetic element 80324 positioned in the frame with its positive pole facing outward, the distal end 80311 of the handle 80310 further includes a first magnetic element and a second magnetic element, the first magnetic element is oriented with its positive pole facing outward, and the second magnetic element is oriented with its negative pole facing outward, when the clinician begins to align the pins of the shaft with the shaped slots 80312 in its corresponding handle 80310, the first magnetic element and the shaft magnetic element 80324 interact to generate a repelling magnetic force, so as to cause the shaft to move within the shaped magnetic elements 80312, and to cause the shaft magnetic elements to move relative to each other within a predetermined distance, or range, as described above.

The magnetic elements described above may comprise electromagnets, permanent magnets, or combinations thereof. In cases such as those described above, the permanent magnet element system may align the shaft and the shank in multiple positions. In such cases, electromagnets may be added to the system of permanent magnet elements. The electromagnet is configured to apply a magnetic field that is stronger than a magnetic field within the permanent magnet system when activated. In other words, electromagnets may be incorporated in order to interrupt, obstruct and/or change the fit between the systems of permanent magnets. Such interruptions result in the ability to selectively control the alignment of modular components of the surgical instrument. For example, when a system of magnetic elements (such as magnetic elements 80260, 80265, 82070 in fig. 76) has pulled the shaft 80220 and handle 80210 together into a properly aligned position, the clinician can selectively activate an electromagnet to generate a magnetic field strong enough to overcome the attractive magnetic force of the permanent magnet and repel the shaft away from the handle. In each case, activation of the electromagnet repels the handle away from the shaft, thereby releasing or unlocking the shaft from the handle. In various circumstances, activation of the electromagnet is configured to not only break the attractive magnetic force generated by the permanent magnet, but also disengage the module assembly 80210, 80220.

A modular surgical instrument, such as surgical instrument 80000 shown in fig. 73, includes a plurality of components configured to communicate with one another to perform the intended function of the surgical instrument. The communication paths between the components of the modular surgical instrument are described in detail above. Although such communication paths may be wireless in nature, wired connections are also suitable. In various instances, the end effector and/or shaft of the surgical instrument is configured to be insertable into a patient through a trocar or cannula, for example, and may have any suitable diameter, such as approximately 5mm, 8mm, and/or 12 mm. In addition to size limitations, various modular surgical instruments (such as clip appliers) include end effectors and/or shafts that are configured to rotate and/or articulate. Thus, any wired communication path must be compact and flexible in order to maintain functionality as the end effector and/or shaft rotates and/or articulates. To reduce the size of the operative elements within the shaft and/or end effector of the surgical instrument, various microelectromechanical functional elements may be utilized. Incorporating microelectronics (such as a piezoworm drive or a key tooth motor) into a surgical instrument helps reduce the space required for operating elements because, for example, the key tooth motor is configured to deliver linear motion without the need for gears or cams.

In each case, the flexibility is built into the wired communication path by mounting various electrical traces onto a flexible substrate. In each case, the electrical traces are supported on the flexible substrate in any suitable manner. For example, fig. 79 illustrates a flexible circuit 80400 for use in a modular surgical instrument, such as surgical instrument 1000. The flexible circuit 80400 is configured to extend within a housing of a shaft, such as the shaft 80020 of fig. 73. The distal end 80401 of the flexible circuit 80400 is configured to electrically couple with electrical traces within the end effector. For example, in at least one instance, the electrical traces are comprised of copper and/or silver. The distal end 80401 is wrapped into the first ring 80402, and the electrical traces 80405 extend around the first ring 80402. The proximal end 80403 of the flexible circuit 80400 is configured to electrically couple with electrical traces within the handle. The proximal end 80403 is wrapped into a second ring 80404, and an electrical trace 80405 extends around the second ring 80404.

When supporting the various electrical traces on the flexible substrate to provide flexibility, additional features may be added to increase the life of the flexible circuit 80400 and/or to protect the integrity of the flexible circuit, etc. As shown in fig. 79 and 79A, the primary strain relief area 80410 is configured to be positioned proximal to an articulation joint. The primary strain relief area 80410 of the flexible circuit 80400 experiences the greatest displacement and/or torsion in response to articulation of the surgical instrument. To relieve strain on the flexible circuit 80400, for example, when the surgical instrument is articulated and/or to help the portion of the flexible circuit 80400 within the primary strain relief area 80410 return to its original orientation after the surgical instrument is not articulated, one or more biasing and/or resilient members 80412 are present for resiliency and/or flexibility. The one or more biasing members 80412 are configured to transition between a flexed and unflexed state as the surgical instrument is articulated and/or rotated. In various instances, the biasing member 80412 comprises a spring. The biasing member 80412 may be incorporated into the substrate of the flexible circuit 80400, for example, to accommodate movement of surrounding parts. The portion of the flexible circuit 80400 within the primary strain relief area 80410 includes a pattern that includes a first leg 80414, a base portion 80416, and a second leg 80418. The base 80416 extends between the first leg 80414 and the second leg 80418. The biasing member 80412 extends between and connects the first leg 80414 and the second leg 80418. In addition, the biasing member 80412 allows the first leg 80414 to deflect relative to the second leg 80418 and then resiliently return to its undeflected state. The biasing member 80412 is configured to flex into a flexed state when the end effector is articulated, and the biasing member 80412 is configured to resiliently return to an unflexed state when the end effector is no longer articulated.

As shown in fig. 79 and 79B, flex circuit 80400 is fabricated with secondary strain relief regions 80420 whose conductive elements 80405 are separate and not interconnected. Such orientation of the conductive element 80405 allows the flexible circuit 80400 to be folded. The inflexible and flexible portions of flexible circuit 80400 are positioned perpendicular to flexible circuit 80400 within primary strain relief region 80410. The secondary strain relief region 80420 includes one or more biasing members 80422 similar to the biasing members 80412 described in more detail above. For example, the presence of the biasing member 80412 within the primary strain relief region 80410 and the presence of the biasing member 80422 within the secondary strain relief portion 80320 allows the flexible circuit 80400 to have stretchable portions in at least two separate planes relative to the longitudinal axis of the shaft, such as the shaft 80020 of fig. 73. The presence of the primary strain relief portion 80410 in the first plane and the secondary strain relief portion 80320 in the second plane allows communication between an end effector, a shaft assembly, and a handle of a surgical instrument configured to articulate the end effector, rotate the end effector, and rotate the shaft assembly. In another instance, the flexible circuit 80400 can be manufactured flat and then twisted over a portion, such as the primary strain relief area 80410 associated with the articulating or actuating portion of the surgical instrument. Such a design may generally eliminate the need for stress relief of the flexible circuit 80400.

Fig. 79C shows a portion of the flexible circuit 80400 of fig. 79 featuring a Printed Circuit Board (PCB) integrally formed with the flexible substrate 80430 of the flexible circuit 80400. As shown in fig. 79C, a flexible plastic is molded over the conductive element 80405, and the various control circuit elements 80432, 80434, 80436 are integrally formed with the flexible substrate 80430 of the flexible circuit 80400.

Fig. 80 illustrates an end effector flex circuit 80500 configured to extend within an end effector. The end effector flex circuit 80500 is configured to be used with a shaft flex circuit, such as flex circuit 80400 shown in fig. 79-79C. The end effector flex circuit 80500 includes electrical traces 80505 supported on a flexible substrate. The distal end 80503 of the end effector flexible circuit 80500 is wrapped into a loop 80504. The electrical trace 80505 extends around the ring 80504. As shown in fig. 81A and 81B, the ring 80504 is configured to be electrically coupled with the shaft flex circuit, e.g., via a first ring 80402 on the distal end 80401 of the flex circuit 80400. One or both of the flexible circuits 80400 and 80500 include biasing members to maintain electrical contact between the traces at the interface between the flexible circuits 80400, 80500. In various instances, the end effector flex circuit 80500 includes one or more sensors, such as a clip feed sensor 80510 and/or a clip cam sensor 80520. Such sensors may sense parameters of the end effector and communicate the sensed parameters to the control circuit assemblies 80432, 80434, 80436 on the shaft flex circuit 80400. In various instances, the control circuit is positioned within a handle of the surgical instrument.

FIG. 82 illustrates a surgical stapling INSTRUMENT 94000 configured to staple patient tissue, the surgical stapling INSTRUMENT 94000 includes a handle 94100, a shaft 94200 extending distally from the handle 94100, and an end effector 94300 attached to the shaft 94200 by way of an articulation joint 94210. the handle 94100 includes a firing trigger 94110 configured to DRIVE a firing DRIVE of the surgical stapling INSTRUMENT 94000, a first rotary actuator 94130 configured to articulate the end effector 94300 about an articulation axis AA defined by the articulation joint 94210, and a second rotary actuator 94130 configured to rotate the end effector 94300 about a longitudinal axis L A defined by the end effector 94300. the surgical stapling INSTRUMENT 94000 also includes an irrigation port 94140. examples of surgical stapling apparatus, systems, and methods are disclosed in U.S. patent application number 13/832,786, now U.S. patent application Ser. No. 94124, currently incorporated by reference to SUCU L AR NEED L APP 5 IEUMNEED L E ANDCARRIER TRACKS, "incorporated by reference, as incorporated by reference, for all three patents, including SUTURE patent application number 941 found 941, found in serial number 5928, incorporated by reference, cited as US patent application number 86598,8656.

In various embodiments, the surgical stapling instrument can accommodate different sized needles and sutures for different stapling procedures. Such instruments may include means for detecting the size of the needle and/or suture loaded into the instrument. This information may be communicated to the instrument so that the instrument can adjust the control program accordingly. The large diameter needle may rotate at a slower rate than the small diameter needle. Different length needles may also be used with a single instrument. In such cases, the surgical instrument may include a means for detecting the length of the needle. For example, this information may be communicated to the surgical instrument to modify the path of the needle driver. Longer needles may require a smaller stroke path from the needle driver to adequately advance the longer needles through their firing strokes, while smaller needles in the same needle track may require a longer stroke path from the needle driver to adequately advance the shorter needles through their firing strokes.

FIG. 83 illustrates a logic diagram of a process 94100 for a control program for controlling a surgical instrument. Process 94100 includes detecting 94101 the type of staple cartridge installed in the surgical stapling instrument. In various circumstances, for example, different suture magazines may have different suture lengths, needle diameters, and/or suture materials. The type of suture cartridge and/or characteristics thereof may be communicated to the control circuitry by an identification chip positioned within the suture cartridge such that when the suture cartridge is installed within the surgical instrument, the control circuitry may identify the installed cartridge type and evaluate the characteristics of the suture cartridge. To accommodate different cartridge types, the control circuitry can adjust the control motion to be applied to the suture cartridge. For example, the firing speed may be different for different sized needles. Another example may include adjusting the range of needle rotation angles based on different needle lengths or sizes. To accommodate such differences, the process 94100 implemented by the process includes, for example: the motor control program of the instrument is adjusted 94103 based on the type of suture cartridge installed.

In at least one embodiment, the surgical instrument is configured to apply a suture to tissue of a patient, the tissue including a closure system. The latching system includes a locked configuration and an unlocked configuration. The surgical instrument further includes a control circuit and is configured to identify whether a cartridge is installed within an end effector of the surgical instrument. The control circuit is configured to place the lockout system in the locked state when the cartridge is not installed in the end effector and to place the lockout system in the unlocked state when the cartridge is installed in the end effector. Such a latching system may include an electrical sensing circuit that may be completed when the installation indicates that the cartridge has been installed. In at least one instance, the actuator includes an electric motor, and the lockout system may prevent power from being supplied to the electric motor. In at least one instance, the actuator includes a mechanical trigger, and the lockout system prevents the mechanical trigger from being pulled to actuate the suture needle. The lockout system prevents the actuator from being actuated when the lockout system is in the locked configuration. The lockout system allows the actuator to deploy a suture positioned within the cartridge when the lockout system is in the unlocked configuration. In one embodiment, the control circuit provides tactile feedback to a user of the surgical instrument when the electrical sensing circuit places the surgical instrument in the locked configuration. In one embodiment, the control circuit prevents actuation of an electric motor configured to actuate the actuator when the electrical sensing circuit determines that the latching system is in the locked configuration. In one embodiment, the latching system is in the unlocked configuration when the cartridge is positioned in the end effector and the cartridge is not fully expanded.

Fig. 84 and 85 illustrate a handle assembly 95200 operable to use a surgical stapling instrument. Handle assembly 95200 is connected to the proximal end of the shaft. Handle assembly 95200 includes a motor 95202 and a transmission assembly 95210. The motor 95202 is configured to articulate the end effector by way of a needle driver actuating a needle of a surgical stapling end effector and to rotate the end effector via the transmission assembly 95210. The transmission assembly 95210 is switched between three states, such as by a double-acting solenoid, to allow the motor 95202 to be used to actuate a needle of a surgical stapling end effector, articulate the end effector, and/or rotate the end effector. In at least one embodiment, for example, handle assembly 95200 can take the form of a robotic interface or housing that includes gears, pulleys, and/or servomechanisms. This arrangement may be used with a robotic surgical system.

Fig. 86 illustrates a suture cartridge 93590 including a lower body 93581, an upper body 93582, and a needle cover 93583. Cartridge 93590 further includes a drive system that includes needle driver 93586, rotational input 93594, and connector 93585 that connects needle driver 93586 and rotational input 93594. Needle driver 93586, rotational input 93594, and connector 93585 are captured between lower body 93581 and upper body 93582. For example, needle driver 93586, link 93585, and rotary input 93594 are configured to be actuated by a motor drive system, a manually driven hand held system, and/or a robotic system to drive needle 93570 through a needle firing stroke. The lower body 93581 and the upper body 93582 are attached to one another using any suitable technique, such as welding, pins, adhesives, etc., to form a cartridge body. Needle 93570 includes a leading end 93571 configured to pierce tissue, a trailing end 93572, and a length of suture 93573 extending from and attached to trailing end 93572. The needle 93570 is configured to rotate in a circular path defined by the needle track 93584. A needle track 93584 is defined in the cartridge body. The needle 93570 is configured to exit one of the first arm 95393a and the second arm 95393B of the cartridge body and enter the other of the first arm 95393a and the second arm 95393B during a needle firing stroke. The recessed feature 93574 is provided to enable the needle driver 93586 to engage the needle 93570 in a ratchet-like motion and drive the needle through a needle firing stroke. Needle 93570 is positioned between needle track 93584 and needle cover 93583. The suture cartridge 953590 also includes a holder 93587 configured to slide on the cartridge body to attach the needle cover 93583 to the lower body 93581.

The apparatus, systems, and methods disclosed in the subject application may be used WITH the apparatus, systems, and methods disclosed in U.S. patent application serial No. 13/832,786, now U.S. patent 9,398,905, entitled "CIRCU L AR new L E APP L IER WITH OFFSET new L E AND CARRIERTRACKS", U.S. patent application serial No. 14/721,244, entitled "SURGICA L new L E WITH RECESSED patents", now U.S. patent 10,022,120, and U.S. patent application serial No. 14/740,724, now U.S. patent 9,888,914, entitled "surging inertia WITH MOTORIZED connected L E DRIVE", which are incorporated herein by reference in their entirety.

The devices, SYSTEMS, AND METHODs disclosed in the subject application may be used WITH the devices, SYSTEMS, AND METHODs disclosed in the following patent application entitled "METHOD OF HUB COMMUNICATION" filed on 19.4.2018, the U.S. provisional patent application serial number entitled "P ATFORM" filed on 28.12.2017, the U.S. provisional patent application serial number entitled "C0-BASE MEDIA 1 ANA 2 ICS" filed on 28.12.2017, the U.S. provisional patent application serial number entitled "ROBOT ASSISTED SURGICAL 3P 4 ATFORM" filed on 28.12.2017, the disclosures OF these applications are incorporated herein in their entireties WITH the devices, SYSTEMS, AND METHODs disclosed in the subject application filed on 28.2018, the devices, SYSTEMS, AND METHODs disclosed in the present subject application may also be used WITH the devices, SYSTEMS, AND METHODs disclosed in the patent application filed on 2018.8, the U.S. SUTURBO INSTRU SYSTEM filed on 6. the patent application serial number entitled "TRANSFORM APPARATUS, the patent application serial number entitled" TRANSFORM.