阅读说明：本技术 带有用于将关节运动驱动系统关联到击发驱动系统的离合器和锁定布置结构的电动可关节运动外科器械 (Electrically powered articulatable surgical instrument with clutch and lockout arrangement for associating articulation drive system to firing drive system ) 是由 F·E·谢尔顿四世 J·L·哈里斯 于 2019-08-14 设计创作，主要内容包括：本发明公开了一种外科器械,该外科器械包括外科端部执行器以及第一驱动构件和第二驱动构件,该第一驱动构件和第二驱动构件被构造成能够向外科端部执行器施加致动动作。驱动离合器组件与第一驱动构件和第二驱动构件可操作地交接,并且被构造成能够在接合位置和第二脱离接合位置之间运动,在接合位置,第二驱动构件关联到第一驱动构件,在第二脱离接合位置,第一驱动构件能够独立地运动。锁组件被构造成能够在锁定位置和解锁位置之间运动,在锁定位置,防止第二驱动构件运动,在解锁位置,第二驱动构件能够运动。(A surgical instrument includes a surgical end effector and first and second drive members configured to apply actuation motions to the surgical end effector. The drive clutch assembly operably interfaces with the first and second drive members and is configured to be movable between an engaged position, in which the second drive member is associated with the first drive member, and a second disengaged position, in which the first drive member is independently movable. The lock assembly is configured to be movable between a locked position, in which the second drive member is prevented from moving, and an unlocked position, in which the second drive member is movable.)

1. A surgical instrument, comprising:

a surgical end effector;

An elongate shaft operably coupled to the surgical end effector, the elongate shaft comprising:

a first axially movable drive member configured to apply a first actuation motion to the surgical end effector;

a second axially movable drive member configured to apply a second actuation motion to the surgical end effector, and wherein the surgical instrument further comprises:

a first drive system configured to apply a first axial control action to the first axially movable drive member;

a drive clutch assembly operably interfacing with the first and second axially movable drive members and configured to be movable between an engaged position, wherein the drive clutch assembly associates the second axially movable drive member to the first axially movable drive member, and a second disengaged position, wherein the first axially movable drive member is independently movable relative to the second axially movable drive member;

A lock assembly configured to be movable between a locked position, in which the lock assembly prevents axial movement of the second axially movable drive member, and an unlocked position, in which the second axially movable drive member is free to move axially in response to actuation of the first drive system; and

an actuator assembly configured to move the drive clutch assembly between the engaged and disengaged positions and to interface with the lock assembly to move the lock assembly to the locked position when the actuator assembly moves the drive clutch assembly to the disengaged position.

2. The surgical instrument of claim 1, wherein the actuator assembly comprises a third axially movable drive member configured to apply a third actuation motion to the surgical end effector.

3. The surgical instrument of claim 2, wherein said surgical end effector comprises first and second jaws movably supported relative to one another and selectively movable between a closed position and an open position, and wherein said third axially movable drive member is configured to apply closing and opening motions to at least one of said first and second jaws to move said first and second jaws between said closed and open positions.

4. The surgical instrument of claim 1 wherein said surgical end effector is operably coupled to said elongate shaft for selective articulation relative thereto and wherein said second axially movable drive member is configured to apply articulation motions to said surgical end effector.

5. The surgical instrument of claim 3 wherein said elongate shaft defines a shaft axis and wherein said surgical end effector is operably coupled to said elongate shaft for selective articulation about an articulation axis that is transverse to said shaft axis and wherein said second axially movable drive member is configured to apply articulation motions to said surgical end effector.

6. The surgical instrument of claim 1, further comprising means for selectively locking the drive clutch assembly in the disengaged position.

7. The surgical instrument of claim 1, wherein the first drive system comprises a motor configured to apply a rotary drive motion to an axially movable firing drive shaft that operably interfaces with the first axially movable drive member to apply an axial drive motion thereto.

8. The surgical instrument of claim 1, wherein the actuator assembly further comprises a manually actuatable trigger operably interfacing with the third axially movable drive member such that movement of the manually actuatable trigger causes the third axially movable drive member to move the drive clutch assembly from the engaged position to the disengaged position and to move the lock assembly to the locked position.

9. The surgical instrument of claim 1, wherein the elongate shaft assembly is operably coupled to a housing that operably supports at least a portion of the first drive system.

10. The surgical instrument of claim 9, wherein the housing comprises a handle.

11. The surgical instrument of claim 3, wherein the first jaw comprises a surgical staple cartridge, and wherein the second jaw comprises an anvil.

12. The surgical instrument of claim 11, wherein the first jaw is configured to removably support a replaceable surgical staple cartridge.

13. The surgical instrument of claim 11 wherein said first axially movable drive member interfaces with a firing member supported by said surgical end effector and configured to drive surgical staples stored in said surgical staple cartridge into forming contact with said anvil and cut tissue clamped between said surgical staple cartridge and said anvil as said firing member is driven axially through said surgical end effector.

14. A surgical instrument, comprising:

a surgical end effector comprising first and second jaws movably supported relative to one another and selectively movable between closed and open positions;

an elongate shaft operably coupled to the surgical end effector such that the surgical end effector is selectively articulatable relative to the elongate shaft, the elongate shaft comprising:

a first axially movable drive member configured to apply a first actuation motion to the surgical end effector;

an axially movable articulation drive member operably coupled to the surgical end effector and configured to apply articulation motions thereto, and wherein the surgical instrument further comprises:

a first drive system configured to apply a first axial control motion to the first axially movable articulation drive member;

a drive clutch assembly operably interfacing with the first axially movable drive member and the axially movable articulation drive member and configured to be movable between an engaged position, wherein the drive clutch assembly associates the first axially movable drive member to the axially movable articulation drive member, and a second disengaged position, wherein the first axially movable drive member is independently movable relative to the axially movable articulation drive member;

A lock assembly configured to move between a locked position, in which the lock assembly prevents axial movement of the axially movable articulation drive member, and an unlocked position, in which the axially movable articulation drive member is free to move axially in response to actuation of the first drive system; and

an axially movable closure member assembly configured to apply a closing motion and an opening motion to at least one of the first jaw and the second jaw to move the first jaw and the second jaw between the closed position and the open position, the axially movable closure member assembly operably interfacing with the drive clutch assembly to move the drive clutch assembly between the engaged position and the disengaged position and interfacing with the lock assembly to move the lock assembly to the locked position when the axially movable closure member assembly moves the drive clutch assembly to the disengaged position.

15. The surgical instrument of claim 14, wherein the elongate shaft assembly is operably coupled to a housing that operably supports at least a portion of the first drive system.

16. The surgical instrument of claim 15, wherein the housing comprises a handle.

17. The surgical instrument of claim 14, wherein the first jaw comprises a surgical staple cartridge, and wherein the second jaw comprises an anvil.

18. The surgical instrument of claim 16, wherein the first drive system comprises a motor associated with the handle and configured to apply a rotary drive motion to an axially movable firing drive shaft operably interfacing with the first axially movable drive member to apply an axial drive motion thereto.

19. The surgical instrument of claim 18, wherein the actuator assembly further comprises a manually actuatable trigger supported by the handle and operably interfacing with the axially movable closure member assembly such that movement of the manually actuatable trigger causes the axially movable closure member assembly to move the drive clutch assembly from the engaged position to the disengaged position and the lock assembly to the locked position.

20. A surgical instrument, comprising:

a surgical end effector comprising first and second jaws movably supported relative to one another and selectively movable between closed and open positions;

an elongate shaft assembly operably coupled to the surgical end effector such that the surgical end effector is selectively articulatable relative to the elongate shaft assembly, the elongate shaft comprising:

an axially movable drive member configured to apply a first actuation motion to the surgical end effector;

means for articulating the surgical end effector relative to the elongate shaft assembly, and wherein the surgical instrument further comprises:

means for applying an axial control action to the axially movable drive member;

means for engaging the axially movable drive member with the means for articulating in an engaged position in which actuation of the means for applying an axial control action actuates the means for articulating, the means for engaging further configured to disengage the means for articulating from the axially movable drive member into a disengaged position such that actuation of the means for applying an axial control action does not actuate the means for articulating;

Means for locking the means for articulating in a locked position; and

means for applying a closing motion and an opening motion to at least one of the first jaw and the second jaw to move the first jaw and the second jaw between the closed position and the open position, the means for applying operably interfacing with the means for engaging such that: when the means for applying closing and opening motions are actuated to apply the closing motion, the means for applying moves the means for engaging into the disengaged position and the means for applying closing and opening motions moves the means for locking into the locked position.

Background

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

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 is a perspective view of a powered surgical stapling system;

FIG. 2 is an exploded assembly view of a shaft assembly of the powered surgical stapling system of FIG. 1;

FIG. 3 is a cross-sectional view of a portion of the shaft assembly and surgical end effector of the powered surgical stapling system of FIG. 1 with an anvil of the surgical end effector in an open position;

FIG. 4 is a top view of a portion of the shaft assembly and surgical end effector of FIG. 3 in an unarticulated position;

FIG. 5 is another top view of a portion of the shaft assembly and surgical end effector of FIG. 3 in an articulated position;

FIG. 6 is an exploded assembly view of a handle or housing of the powered surgical stapling system of FIG. 1;

FIG. 7 is a cross-sectional view of the handle of FIG. 6 with portions of the shaft assembly omitted for clarity;

FIG. 8 is an enlarged cross-sectional view of the handle and shaft assembly of FIG. 7;

FIG. 9 is another enlarged cross-sectional view of the handle and shaft assembly of FIG. 7;

FIG. 10 is another cross-sectional side view of the handle and shaft assembly of FIG. 7 in a position that causes jaws of a surgical end effector to be oriented in an open position;

FIG. 11 is another cross-sectional side view of the handle and shaft assembly of FIG. 7 in a position causing closure of the jaws of the end effector;

FIG. 12 is a graphical comparison of a closing force between a surgical instrument embodiment employing a progressive closure drive system and two previous surgical instruments employing different closure drive system arrangements;

FIG. 13A is a graphical depiction of the firing force (FTF) and closing Force (FTC) experienced by a prior surgical instrument embodiment employing a camming surface on the anvil as its firing member or knife travels through the anvil from a proximal-most starting position to a distal-most ending position in the anvil (cartridge head distance in inches);

FIG. 13B is a graphical depiction of firing force (FTF) and closing Force (FTC), anvil height, and spring height experienced by a surgical instrument embodiment employing a progressive closure drive system;

FIG. 14 is a partial perspective view of a portion of the shaft assembly;

FIG. 15 is a side elevational view of a portion of another powered surgical instrument;

FIG. 16 is a partial perspective view of a portion of the powered surgical instrument of FIG. 15 with portions thereof omitted for clarity;

FIG. 17 is another partial perspective view of a portion of the powered surgical instrument of FIG. 15 with portions thereof omitted for clarity;

FIG. 18 is another partial perspective view of a portion of the powered surgical instrument of FIG. 15 with portions thereof omitted for clarity;

FIG. 19 is a perspective view of the motor switch system of the powered surgical instrument of FIG. 15 with portions thereof omitted for clarity;

FIG. 20 is a perspective view of a proximal nozzle end or fin segment of the nozzle assembly of the powered surgical instrument of FIG. 15;

FIG. 21 is a partial perspective view of portions of the powered surgical instrument of FIG. 15 with the distal nozzle portion omitted for clarity;

FIG. 22 is a side elevational view of a base portion and a portion of a proximal nozzle segment of the powered surgical instrument of FIG. 15 with portions of a nozzle assembly thereof omitted for clarity;

FIG. 23 is a graphical depiction of the position of a switch of the switch system of FIG. 19 relative to the position of a switch slide thereof with respect to the articulation position of the end effector of the powered surgical instrument of FIG. 15;

FIG. 24 is another graphical depiction of a position of a switch of the switch system of FIG. 19 relative to another position of a switch slide with respect to an articulation position of an end effector of the powered surgical instrument of FIG. 15;

FIG. 25 is another graphical depiction of a position of a switch of the switch system of FIG. 19 relative to another position of a switch slide with respect to an articulation position of an end effector of the powered surgical instrument of FIG. 15;

FIG. 26 is another graphical depiction of a position of a switch of the switch system of FIG. 19 relative to another position of a switch slide with respect to an articulation position of an end effector of the powered surgical instrument of FIG. 15;

FIG. 27 illustrates the shape of portions of three different switch slider embodiments that may be used in the switch system of FIG. 19;

FIG. 28 is a graphical comparison of motor speed for each of the geometry switch slider shapes shown in FIG. 27 with the articulation angle of the surgical end effector coupled thereto;

FIG. 28A illustrates one form of a control circuit that may be used to control the articulation motor of the powered surgical instrument of FIG. 16;

FIG. 29 is a perspective view of another powered surgical stapling system;

FIG. 30 is an exploded assembly view of a shaft assembly of the powered surgical stapling system of FIG. 29;

FIG. 31 is a perspective view of a portion of a shaft assembly of the powered surgical stapling system of FIG. 29 with portions thereof omitted for clarity;

FIG. 32A is a top cross-sectional view of a portion of the shaft assembly of FIG. 31 with the closure members thereof in a retracted position;

FIG. 32B is another top cross-sectional view of the portion of the shaft assembly shown in FIG. 32A with the closure members thereof in the advanced closed position;

FIG. 33 is a partial cutaway perspective view of the articulation lock arrangement;

FIG. 34 is a perspective view of a prior motorized surgical stapling system employing a removable shaft assembly;

FIG. 35 is a perspective view of the previously removable shaft assembly shown in FIG. 34;

FIG. 36 is an exploded assembly view of a housing or handle portion of the powered surgical stapling system of FIG. 34;

FIG. 37 is a partially exploded assembly view of the shaft assembly of FIG. 35;

FIG. 38 is another partially exploded assembly view of a portion of the shaft assembly of FIG. 35;

FIG. 39 is a perspective view of a portion of another shaft assembly that may be used with the handle portion of FIG. 36;

FIG. 40 is a side view of the proximal portion of the shaft assembly of FIG. 39 with portions thereof omitted for clarity and portions thereof shown in cross-section;

FIG. 41 is an end cross-sectional view of the shaft assembly of FIG. 40 taken along line 41-41 of FIG. 40;

FIG. 42 is an exploded assembly view of a portion of the shaft assembly of FIG. 39;

FIG. 43 is another exploded assembly view of a portion of the axle assembly of FIG. 39;

FIG. 44 is a cross-sectional view of a portion of the shaft assembly of FIG. 39 showing the attachment between the articulation driver and the clutch connection of the shaft assembly;

FIG. 45 is an exploded perspective view of a portion of the shaft assembly of FIG. 39;

FIG. 46 is a perspective view of a portion of the shaft assembly of FIG. 45;

FIG. 47 is a perspective view of a portion of a spine shaft insert of the shaft assembly of FIG. 39;

FIG. 48 is another perspective view, partially in section, of a portion of the shaft assembly of FIG. 39;

FIG. 49 is a cross-sectional view of a drive clutch assembly of the shaft assembly of FIG. 39 in an engaged position;

FIG. 50 is an end view of the shaft assembly of FIG. 39 with the drive clutch assembly in an engaged position;

FIG. 51 is a rear perspective view of a portion of the shaft assembly of FIG. 39, showing the position of the drive clutch assembly of the shaft assembly corresponding to the right articulation position of the surgical end effector attached to the shaft assembly;

FIG. 52 is a perspective view of a portion of the shaft assembly of FIG. 39 showing the position of the drive clutch assembly of the shaft assembly corresponding to the left articulation position of the surgical end effector attached to the shaft assembly;

FIG. 53 is another cross-sectional view of the drive clutch assembly of the shaft assembly of FIG. 39 in a disengaged position;

FIG. 54 is an end view of the shaft assembly of FIG. 39 with the drive clutch assembly in a disengaged position;

FIG. 55 is a perspective view, partially in section, of a portion of an embodiment of an interchangeable shaft assembly;

FIG. 56 is a partial perspective view of a portion of the interchangeable shaft assembly of FIG. 55;

FIG. 57 is a partially exploded assembly view of a portion of the interchangeable shaft assembly of FIGS. 55 and 56;

FIG. 58 is a chart depicting various operational steps and parameters during operation of the interchangeable shaft assembly of FIGS. 55 and 56;

FIG. 59 is another chart depicting additional operational steps and parameters during operation of the interchangeable shaft assembly of FIGS. 55 and 56;

FIG. 60 is a partial perspective view of a shift cartridge assembly in a position wherein its articulation system is engaged with the firing drive system of the shaft assembly of FIGS. 55 and 56;

FIG. 61 is another partial perspective view of the displacement cartridge assembly in the position shown in FIG. 60 with the proximal closure tube segment in a partially advanced position;

FIG. 62 is another partial perspective view of the shift barrel assembly of FIGS. 60 and 61 in a position wherein the articulation system is engaged with the firing drive system;

FIG. 63 is another partial perspective view of the displacement cartridge assembly in the position shown in FIG. 62 with the proximal closure tube segment in a fully retracted position;

FIG. 64 is another partial perspective view of the displacement cartridge assembly in the position illustrated in FIG. 62 with the proximal closure tube segment in a fully retracted position;

FIG. 65 is another partial perspective view of the shift barrel assembly biased proximally by a return spring;

FIG. 66 is another partial perspective view of the shifter assembly with the articulation system engaged with the firing drive system and the proximal closure tube segment in a fully retracted position;

FIG. 67 is a partial side elevational view of the shaft assembly and handle assembly of the powered surgical instrument, illustrating actuation of the nozzle assembly thereof to disengage the articulation system thereof from the firing system thereof;

FIG. 68 is a partial perspective view of a portion of the shaft assembly of FIG. 67 with the articulation system engaged with the firing drive system;

FIG. 69 is another partial perspective view of a portion of the shaft assembly of FIG. 68 with the articulation system disengaged from the firing drive system;

FIG. 70 is a side elevational view of a portion of another shaft assembly embodiment with its proximal closure tube segment in a fully retracted position and its articulation system engaged with its firing system;

FIG. 71 is a cross-sectional view of a portion of the shaft assembly of FIG. 70 taken along line 71-71 in FIG. 70;

FIG. 72 is a partial side view of a portion of the proximal closure tube segment of the shaft assembly of FIGS. 70 and 71;

FIG. 73 is another side view of a portion of the proximal closure tube segment of the shaft assembly of FIGS. 70 and 71 with the cartridge shifter pin shown in the closure slot in the closure tube segment;

FIG. 74 is another side view of a portion of the proximal closure tube segment of the shaft assembly of FIGS. 70-72 with the cartridge displacer pin shown partway in the closure slot in the closure tube segment;

FIG. 75 is a side elevational view of a portion of another shaft assembly embodiment in which the proximal closure tube segment thereof has been advanced distally to the point where the tabs thereon contact the displacement cartridge assembly thereof;

FIG. 76 is a partial side view of a portion of the proximal closure tube segment of the shaft assembly of FIG. 75;

FIG. 77 is a sectional end view through a portion of the shaft assembly of FIG. 75;

FIG. 78 is another side elevational view of the shaft assembly of FIG. 75 with its shifter key in the "ride mode" position;

FIG. 79 is a perspective view of a portion of another powered surgical instrument;

FIG. 80 is a partial top view of a portion of the flexible circuit assembly of the powered surgical instrument of FIG. 79;

FIG. 81 is a cross-sectional view of a portion of the flexible circuit assembly of FIG. 80 taken along line 81-81 in FIG. 80;

FIG. 82 is another cross-sectional view of a portion of the flexible circuit assembly of FIG. 80 taken along line 82-82 of FIG. 80;

FIG. 83 is a partially exploded assembly view of a portion of the flex circuit assembly of FIG. 80 and a portion of the spinal shaft of the powered surgical instrument of FIG. 79;

FIG. 84 is a partial perspective view of a portion of the shaft assembly embodiment with a portion of the nozzle assembly omitted for clarity and with its proximal closure tube segment in a fully retracted position;

FIG. 85 is another partial perspective view of a portion of the shaft assembly embodiment of FIG. 84 with the proximal closure tube segment in a fully advanced position;

FIG. 86 is an exploded assembly view of a portion of the shaft assembly of FIGS. 84 and 85;

FIG. 87 is a cross-sectional end view of a portion of the shaft assembly of FIGS. 84-86 with its lock sleeve engaged with its intermediate firing member;

FIG. 88 is a cross-sectional side elevational view of a portion of the shaft assembly of FIGS. 84 and 85 with the proximal articulation driver thereof in an unactuated position;

FIG. 89 is another cross-sectional side elevational view of a portion of the shaft assembly of FIGS. 84 and 85 with the proximal articulation driver thereof in a fully actuated position;

FIG. 90 is another cross-sectional end view of a portion of the shaft assembly of FIGS. 84-86 with its lock sleeve disengaged from its intermediate firing member; and is

FIG. 91 is a partial perspective view of the shaft assembly of FIGS. 84 and 85 with portions thereof omitted for clarity.

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 applicant of the present application owns the following U.S. patent applications filed on even date herewith and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. ________ entitled "METHOD FOR FABRICATING SURGICAL STAPLER ANVILS" (attorney docket number END8577USNP/180088 m);

U.S. patent application Ser. No. ________ entitled "REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL" (attorney docket number END8578 USNP/180393);

U.S. patent application Ser. No. ________ entitled "SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSION AND TISSUE STATIONITY FEATURES" (attorney docket number END8579 USNP/180089);

U.S. patent application Ser. No. ________ entitled "FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS" (attorney docket number END8580 USNP/180090);

U.S. patent application Ser. No. ________ entitled "SURGICAL STAPLING DEVICES WITH IMPROVED CLOSURE MEMBERS" (attorney docket number END8581 USNP/180091);

U.S. patent application Ser. No. ________ entitled "SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONGURED TO AVOID TISSUE PINCH" (attorney docket No. END8582 USNP/180092);

U.S. patent application Ser. No. ________ entitled "METHOD FOR OPERATING A POWER ARTICULATABLE SURGICAL INSTRUMENT" (attorney docket number END8583 USNP/180093M);

U.S. patent application Ser. No. ________ entitled "SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS" (attorney docket number END8584 USNP/180094);

U.S. patent application Ser. No. ________ entitled "POWER SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT LINEAR DRIVE MOTIONS TO ROTARY DRIVES" (attorney docket number END8585 USNP/180095);

U.S. patent application Ser. No. ________ entitled "ARTICULATABLE MOTOR POWER SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS" (attorney docket number END8587 USNP/180097);

U.S. patent application Ser. No. ________ entitled "SWITCHING ARRANGEMENTS FOR MOTOR POWER ARTICULATABLE SURGICAL INSTRUMENTS" (attorney docket number END8588 USNP/180098); and

U.S. patent application Ser. No. ________ entitled "SURGICAL INSTRUMENT ANVIL" (attorney docket number END8581 USDP/180099D).

The applicant of the present application owns the following U.S. patent applications and U.S. patents, each incorporated herein by reference in their entirety:

-U.S. patent application serial No. 15/386,185 entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF," U.S. patent application publication 2018/-0168642;

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-U.S. patent application serial No. 15/386,221 entitled "LOCKOUT arragements FOR SURGICAL END effiectors," U.S. patent application publication 2018/-01686;

U.S. patent application Ser. No. 15/386,209, U.S. patent application publication 2018 and 0168645, entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF";

U.S. patent application Ser. No. 15/386,198, U.S. patent application publication 2018-0168644, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES";

U.S. patent application Ser. No. 15/386,240 entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR", U.S. patent application publication 2018-;

-us patent application serial No. 15/385,939 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN", us patent application publication 2018 and 0168629;

U.S. patent application Ser. No. 15/385,941, U.S. patent application publication No. 2018 AND 0168630 entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,943, U.S. patent application publication 2018 and 0168631 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application serial No. 15/385,950, U.S. patent application publication 2018-;

-U.S. patent application serial No. 15/385,945 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; U.S. patent application publication 2018-0168632;

U.S. patent application Ser. No. 15/385,946, U.S. patent application publication 2018 and 0168633, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,951, U.S. patent application publication 2018-0168636, entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE";

-U.S. patent application serial No. 15/385,953 entitled "METHODS OF laminating TISSUEs", U.S. patent application publication 2018/-0168637;

-U.S. patent application serial No. 15/385,954 entitled "fire MEMBERS WITH NON-para-wall JAW ENGAGEMENT FEATURES FOR minor END effects", U.S. patent application publication 2018-;

-U.S. patent application serial No. 15/385,955, U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,948, U.S. patent application publication 2018-0168584, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,956 entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES", U.S. patent application publication 2018-0168640;

U.S. patent application Ser. No. 15/385,958, U.S. patent application publication 2018-;

-us patent application serial No. 15/385,947 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN", us patent application publication 2018 and 0168634;

U.S. patent application Ser. No. 15/385,896, U.S. patent application publication 2018-0168597 entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";

U.S. patent application Ser. No. 15/385,898 entitled "STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,899 entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL", U.S. patent application publication 2018 and 0168600;

-U.S. patent application serial No. 15/385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL comprisingwindows DEFINED THEREIN", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,902 entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER", U.S. patent application publication 2018 and 0168603;

-U.S. patent application Ser. No. 15/385,904 entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT", U.S. patent application publication 2018 and 0168605;

-U.S. patent application serial No. 15/385,905 entitled "filing association composition a LOCKOUT," U.S. patent application publication 2018-0168606;

U.S. patent application Ser. No. 15/385,907, U.S. patent application publication 2018-0168608, entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTS FOR EFFECTOR LOCKOUT AND A FIRING ASSEMBLY";

-U.S. patent application serial No. 15/385,908 entitled "fire assessment composition a FUSE", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,909 entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE", U.S. patent application publication 2018-;

-U.S. patent application serial No. 15/385,920 entitled "STAPLE-FORMING POCKET ARRANGEMENTS", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,913, U.S. patent application publication 2018-0168614, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS";

U.S. patent application Ser. No. 15/385,914, U.S. patent application publication 2018-0168615 entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT";

-U.S. patent application serial No. 15/385,893, U.S. patent application publication 2018-0168594, entitled "bilierally ASYMMETRIC STAPLE-formatting POCKET pair;

-U.S. patent application No. 15/385,929 entitled "close measure WITH CAM SURFACE area FOR SURFACE measuring INSTRUMENTS WITH SEPARATE AND DISTINCT close AND FIRING SYSTEMS", U.S. patent application publication 2018-;

U.S. patent application serial No. 15/385,911 entitled "SURGICAL STAPLERS WITH INDEPENDENTLY ACTITABLE CLOSING AND FIRING SYSTEMS", now U.S. patent application publication 2018 and 0168612;

-U.S. patent application serial No. 15/385,927 entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES," U.S. patent application publication 2018/-0168625;

-U.S. patent application serial No. 15/385,917 entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING bredths", now U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,900, U.S. patent application publication 2018-0168601 entitled "STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS";

U.S. patent application Ser. No. 15/385,931, U.S. patent application publication 2018 and 0168627 entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS";

U.S. patent application serial No. 15/385,915 entitled "fixing MEMBER PIN ANGLE", U.S. patent application publication 2018-;

-U.S. patent application serial No. 15/385,897 entitled "stable-formatting POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACace GROOVES", U.S. patent application publication 2018-0168598;

U.S. patent application Ser. No. 15/385,922 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,924 entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,910 entitled "ANVIL HAVING A KNIFE SLOT WIDTH," U.S. patent application publication 2018 and 0168611;

-U.S. patent application serial No. 15/385,903 entitled "close measure armagent FOR minor INSTRUMENTS," U.S. patent application publication 2018/-0168604;

-U.S. patent application serial No. 15/385,906 entitled "fixing MEMBER PIN CONFIGURATIONS", U.S. patent application publication 2018-;

-U.S. patent application serial No. 15/386,188 entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES", U.S. patent application publication 2018-;

-us patent application serial No. 15/386,192 entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES", us patent application publication 2018-;

-U.S. patent application No. 15/386,206 entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION featurs", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/386,226, U.S. patent application publication 2018-0168648 entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/386,222, U.S. patent application publication 2018 and 0168647, entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES";

-U.S. patent application serial No. 15/386,236, U.S. patent application publication 2018-0168650, entitled "CONNECTION ports FOR floor LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/385,887, U.S. patent application publication 2018-;

U.S. patent application No. 15/385,889 entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM", U.S. patent application publication 2018-0168590;

-U.S. patent application serial No. 15/385,890, U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,891 entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS", U.S. patent application publication 2018-0168592;

U.S. patent application No. 15/385,892 entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO A ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM", U.S. patent application publication 2018-;

-U.S. patent application serial No. 15/385,894 entitled "SHAFT assay comprisinga LOCKOUT," U.S. patent application publication 2018-;

-U.S. patent application serial No. 15/385,895 entitled "SHAFT application composition FIRST AND SECOND application creation LOCKOUTS", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,916 entitled "SURGICAL STAPLING SYSTEMS," U.S. patent application publication 2018-;

U.S. patent application No. 15/385,918 entitled "SURGICAL STAPLING SYSTEMS," U.S. patent application publication 2018 and 0168618;

U.S. patent application Ser. No. 15/385,919 entitled "SURGICAL STAPLING SYSTEMS," U.S. patent application publication 2018 and 0168619;

U.S. patent application No. 15/385,921, U.S. patent application publication 2018-0168621 entitled "SURGICAL STAPLE CARTRIDGE WITH Movable CAMMING MEMBER CONGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES";

U.S. patent application No. 15/385,923 entitled "SURGICAL STAPLING SYSTEMS," U.S. patent application publication 2018 and 0168623;

-U.S. patent application Ser. No. 15/385,925, U.S. patent application publication 2018-0168576, entitled "JAW ACTITED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNFILES AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR";

U.S. patent application Ser. No. 15/385,926, U.S. patent application publication 2018-0168577, entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 15/385,928 entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOBILE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT", U.S. patent application publication 2018-0168578;

U.S. patent application No. 15/385,930 entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,932, U.S. patent application publication 2018 and 0168628 entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT";

U.S. patent application Ser. No. 15/385,933, U.S. patent application publication 2018-0168580 entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK";

U.S. patent application No. 15/385,934 entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTION OF A JAW CLOSURE SYSTEM", U.S. patent application publication No. 2018-0168581;

-U.S. patent application serial No. 15/385,935 entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION", U.S. patent application publication 2018-;

U.S. patent application Ser. No. 15/385,936 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES", U.S. patent application publication 2018-0168583;

-U.S. patent application No. 14/318,996 entitled "FASTENER CARTRIDGES filing experiments HAVING DIFFERENT constructs", U.S. patent application publication 2015-0297228;

-U.S. patent application serial No. 14/319,006 entitled "FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES includingfastener CONTROL patents", now U.S. patent 10,010,324;

-U.S. patent application serial No. 14/318,991 entitled "SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS", now U.S. patent 9,833,241;

-U.S. patent application serial No. 14/319,004 entitled "SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS", now U.S. patent 9,844,369;

U.S. patent application Ser. No. 14/319,008, U.S. patent application publication 2015-0297232, entitled "FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS";

U.S. patent application Ser. No. 14/318,997 entitled "FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS", now U.S. patent application publication 2015-0297229;

-U.S. patent application serial No. 14/319,002 entitled "FASTENER CARTRIDGE compring TISSUE CONTROL patents", now U.S. patent 9,877,721;

U.S. patent application Ser. No. 14/319,013 entitled "FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS," U.S. patent application publication 2015-; and

U.S. patent application Ser. No. 14/319,016 entitled "FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO," U.S. patent application publication 2015-0297235.

The applicants of the present application have the following U.S. patent applications filed on 24/6/2016 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/191,775 entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES";

-U.S. patent application serial No. 15/191,807 entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES";

-U.S. patent application serial No. 15/191,834 entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING SAME";

-U.S. patent application serial No. 15/191,788 entitled "STAPLE CARTRIDGE comprisingoverdriven stamps"; and

U.S. patent application Ser. No. 15/191,818 entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS".

The applicants of the present application have the following U.S. patent applications filed on 24/6/2016 and each of which is incorporated herein by reference in its entirety:

-U.S. design patent application serial No. 29/569,218 entitled "SURGICAL FASTENER";

-U.S. design patent application serial No. 29/569,227 entitled "SURGICAL FASTENER";

-U.S. design patent application serial No. 29/569,259 entitled "SURGICAL FASTENER CARTRIDGE"; and

U.S. design patent application serial No. 29/569,264 entitled "SURGICAL FASTENER CARTRIDGE".

The applicants of the present application have the following patent applications filed on 1/4/2016 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application Ser. No. 15/089,325 entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM";

-U.S. patent application Ser. No. 15/089,321 entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY";

-U.S. patent application serial No. 15/089,326 entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";

-U.S. patent application serial No. 15/089,263 entitled "minor entering HANDLE association WITH robust GRIP support";

-U.S. patent application serial No. 15/089,262 entitled "rolling POWERED minor inserting WITH manual active ballout SYSTEM";

U.S. patent application Ser. No. 15/089,277 entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER";

-U.S. patent application Ser. No. 15/089,296 entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS";

-U.S. patent application serial No. 15/089,258 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION";

U.S. patent application Ser. No. 15/089,278 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE selection OF recording OF TISSUE";

-U.S. patent application Ser. No. 15/089,284 entitled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT";

-U.S. patent application Ser. No. 15/089,295 entitled "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT";

-U.S. patent application Ser. No. 15/089,300 entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT";

-U.S. patent application Ser. No. 15/089,196 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT";

-U.S. patent application Ser. No. 15/089,203 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT";

-U.S. patent application serial No. 15/089,210 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT";

-U.S. patent application serial No. 15/089,324 entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM";

-U.S. patent application Ser. No. 15/089,335 entitled "SURGICAL STAPLING INSTRUMENTS COMPLEMENTING MULTIPLE LOCKOUTS";

-U.S. patent application serial No. 15/089,339 entitled "SURGICAL STAPLING INSTRUMENT";

-U.S. patent application serial No. 15/089,253 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO applied annual ROWS OF STAPLES HAVING DIFFERENT HEIGHTS";

U.S. patent application Ser. No. 15/089,304 entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET";

-U.S. patent application serial No. 15/089,331 entitled "artificial MODIFICATION machinery FOR minor platform";

-U.S. patent application serial No. 15/089,336 entitled "STAPLE CARTRIDGES WITH atraumatc featurs";

-U.S. patent application Ser. No. 15/089,312 entitled "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT";

-U.S. patent application serial No. 15/089,309 entitled "CIRCULAR STAPLING SYSTEM comprisingrotary FIRING SYSTEM"; and

U.S. patent application Ser. No. 15/089,349 entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL".

The applicant of the present application also has the following identified U.S. patent applications filed on 31/12/2015 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/984,488 entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 14/984,525 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 14/984,552 entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CICUITS".

The applicant of the present application also owns the following identified U.S. patent applications filed on 9/2/2016 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/019,220 entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR";

U.S. patent application Ser. No. 15/019,228 entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";

-U.S. patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";

-U.S. patent application serial No. 15/019,206 entitled "minor appliances WITH AN END effet THAT IS HIGHLY artificial tooth related TO AN elengated SHAFT assistant" and;

U.S. patent application Ser. No. 15/019,215 entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";

-U.S. patent application serial No. 15/019,227 entitled "article minor filing WITH SINGLE article LINK ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,235 entitled "SURGICAL INSTRUMENTS WITH TESTIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS";

U.S. patent application Ser. No. 15/019,230 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; and

U.S. patent application Ser. No. 15/019,245 entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

The applicant of the present application also owns the following identified U.S. patent applications filed on 12.2.2016, each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/043,254 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,259 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,275 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 15/043,289 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicants of the present application have the following patent applications filed on 18/6/2015 and each incorporated herein by reference in its entirety:

-U.S. patent application Ser. No. 14/742,925 entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS";

U.S. patent application Ser. No. 14/742,941 entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES";

-U.S. patent application serial No. 14/742,914 entitled "MOVABLE filing bed SUPPORT FOR easy maintenance letters";

U.S. patent application Ser. No. 14/742,900 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT";

U.S. patent application Ser. No. 14/742,885 entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 14/742,876 entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS".

The applicants of the present application have the following patent applications filed 3/6/2015 and each incorporated herein by reference in its entirety:

U.S. patent application serial No. 14/640,746 entitled "POWERED minor instroment," now U.S. patent application publication 2016/0256184;

U.S. patent application Ser. No. 14/640,795 entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWER SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/02561185;

U.S. patent application Ser. No. 14/640,832 entitled "ADAPTIVE time composition testing FOR ADAPTIVE close circuit testing FOR MULTIPLE time property TYPES", now U.S. patent application publication 2016/0256154;

U.S. patent application Ser. No. 14/640,935 entitled "OVERAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION", now U.S. patent application publication 2016/0256071;

U.S. patent application Ser. No. 14/640,831 entitled "MONITORING SPEED CONTROL AND PRECISION INCREASING OF MOTOR FOR POWER SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0256153;

-U.S. patent application Ser. No. 14/640,859 entitled "TIME DEPENDENT EVALTION OF SENSOR DATA TO DETERMINE STATIONITY, CREPE, AND VISCELATIC ELEMENTS OF MEASURES", now U.S. patent application publication 2016/0256187;

-U.S. patent application serial No. 14/640,817 entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0256186;

U.S. patent application Ser. No. 14/640,844 entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE", now U.S. patent application publication 2016/0256155;

U.S. patent application Ser. No. 14/640,837 entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING", now U.S. patent application publication 2016/0256163;

U.S. patent application Ser. No. 14/640,765 entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER," now U.S. patent application publication 2016/0256160;

-U.S. patent application Ser. No. 14/640,799 entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", now U.S. patent application publication 2016/0256162; and

U.S. patent application Ser. No. 14/640,780 entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING", now U.S. patent application publication 2016/0256161.

The applicants of the present application have the following patent applications filed on day 27 of month 2 of 2015 and each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/633,576 entitled "SURGICAL INSTRUMENT SYSTEM COMPLISING AN INSPECTION STATION", now U.S. patent application publication 2016/0249919;

U.S. patent application Ser. No. 14/633,546 entitled "SURGICAL APPATUS CONFIRED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND", now U.S. patent application publication 2016/0249915;

U.S. patent application Ser. No. 14/633,560 entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES," now U.S. patent application publication 2016/0249910;

-U.S. patent application serial No. 14/633,566 entitled "CHARGING SYSTEM THAT energy EMERGENCY resolution FOR CHARGING A BATTERY," now U.S. patent application publication No. 2016/0249918;

U.S. patent application Ser. No. 14/633,555 entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENTS NEEDS TO BE SERVICED," now U.S. patent application publication 2016/0249916;

U.S. patent application Ser. No. 14/633,542 entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249908;

U.S. patent application Ser. No. 14/633,548 entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249909;

-U.S. patent application serial No. 14/633,526 entitled "adaptive minor insert HANDLE", now U.S. patent application publication 2016/0249945;

U.S. patent application serial No. 14/633,541 entitled "MODULAR station association" and now U.S. patent application publication 2016/0249927; and

U.S. patent application Ser. No. 14/633,562 entitled "SURGICAL APPATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER," now U.S. patent application publication 2016/0249917.

The applicants of the present application own the following patent applications filed on 12/18/2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/574,478 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTS SYSTEM END EFFECTOR AND MEANS FOR ADJUSE THE FIRING STROKE OF A FIRING MEMBER", now U.S. patent application publication 2016/0174977;

U.S. patent application Ser. No. 14/574,483 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLEMENTING LOCKABLE SYSTEMS", now U.S. patent application publication 2016/0174969;

-U.S. patent application serial No. 14/575,139 entitled "DRIVE ARRANGEMENTS FOR article minor applications," now U.S. patent application publication 2016/0174978;

-U.S. patent application serial No. 14/575,148 entitled "LOCKING argemenets FOR detecting short SHAFT electromagnetic assembly WITH incorporated END effects", now U.S. patent application publication 2016/0174976;

U.S. patent application Ser. No. 14/575,130 entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. patent application publication 2016/0174972;

U.S. patent application Ser. No. 14/575,143 entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS", now U.S. patent application publication 2016/0174983;

U.S. patent application Ser. No. 14/575,117 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FILING BEAM SUPPORT ARRANGEMENTS", now U.S. patent application publication 2016/0174975;

U.S. patent application Ser. No. 14/575,154 entitled "SURGICAL INSTRUMENTS WITH ARTICULATED END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS", now U.S. patent application publication 2016/0174973;

-U.S. patent application Ser. No. 14/574,493 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLEMENTING A FLEXIBLE ARTICULATION SYSTEM"; now U.S. patent application publication 2016/0174970; and

U.S. patent application Ser. No. 14/574,500 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLISING A LOCKABLE ARTICULATION SYSTEM," now U.S. patent application publication 2016/0174971.

The applicant of the present application owns the following patent applications filed 2013, 3, 1 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/782,295 entitled "Integrated Surgical Instruments With reduced Pathways For Signal Communication," now U.S. patent application publication 2014/0246471;

U.S. patent application Ser. No. 13/782,323 entitled "Rotary Power engineering Joints For scientific Instruments," now U.S. patent application publication 2014/0246472;

U.S. patent application Ser. No. 13/782,338 entitled "thumb Switch arrays For Surgical Instruments," now U.S. patent application publication 2014/0249557;

U.S. patent application Ser. No. 13/782,499 entitled "Electrical scientific Device with Signal Relay Arrangement", now U.S. patent application publication 9,358,003;

U.S. patent application Ser. No. 13/782,460 entitled "Multiple Processor Motor Control for Modular Surgical Instruments," now U.S. patent application publication 2014/0246478;

U.S. patent application Ser. No. 13/782,358 entitled "journal Switch Assemblies For Surgical Instruments," now U.S. patent application publication 9,326,767;

U.S. patent application Ser. No. 13/782,481 entitled "Sensor straight End Effect During Removal Through Trocar", now U.S. patent application publication 9,468,438;

U.S. patent application Ser. No. 13/782,518 entitled "Control Methods for scientific Instruments with Removable implementation procedures", now U.S. patent application publication 2014/0246475;

U.S. patent application Ser. No. 13/782,375 entitled "road Power Surgical Instruments With Multiple details of Freedom", now U.S. patent application publication 9,398,911; and

U.S. patent application Ser. No. 13/782,536 entitled "Surgical Instrument Soft Stop", now U.S. patent application publication 9,307,986.

The applicant of the present application also owns the following patent applications filed 2013, month 3, day 14 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/803,097 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. patent application publication 2014/0263542;

U.S. patent application Ser. No. 13/803,193 entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now U.S. patent application publication 9,332,987;

U.S. patent application Ser. No. 13/803,053 entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263564;

U.S. patent application Ser. No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPLISING AN ARTICULATION LOCK," now U.S. patent application publication 2014/0263541;

U.S. patent application Ser. No. 13/803,210 entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263538;

U.S. patent application Ser. No. 13/803,148 entitled "Multi-functional Motor FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263554;

U.S. patent application Ser. No. 13/803,066 entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263565;

U.S. patent application Ser. No. 13/803,117 entitled "ARTICULATION CONTROL FOR ARTICULATE SURGICAL INSTRUMENTS," now U.S. patent application publication 9,351,726;

U.S. patent application Ser. No. 13/803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 9,351,727; and U.S. patent application Ser. No. 13/803,159, now U.S. patent application publication 2014/0277017, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT".

The applicant of the present application also owns the following patent applications filed on 3/7/2014 and incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263539.

The applicant of the present application also owns the following patent applications filed on 26/3/2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/226,106 entitled "POWER MANAGEMENT CONTROL SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272582;

-U.S. patent application serial No. 14/226,099 entitled "serilization version CIRCUIT", now U.S. patent application publication 2015/0272581;

-U.S. patent application Ser. No. 14/226,094 entitled "VERIFICATION OF NUMBER OF Battery improvements/Process COUNT", now U.S. patent application publication 2015/0272580;

U.S. patent application Ser. No. 14/226,117 entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now U.S. patent application publication 2015/0272574;

U.S. patent application Ser. No. 14/226,075 entitled "MODULAR POWER SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES", now U.S. patent application publication 2015/0272579;

U.S. patent application Ser. No. 14/226,093 entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272569;

U.S. patent application Ser. No. 14/226,116 entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now U.S. patent application publication 2015/0272571;

U.S. patent application Ser. No. 14/226,071 entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR," now U.S. patent application publication 2015/0272578;

U.S. patent application Ser. No. 14/226,097 entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS," now U.S. patent application publication 2015/0272570;

U.S. patent application Ser. No. 14/226,126 entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272572;

U.S. patent application Ser. No. 14/226,133 entitled "MODULAR SURGICAL INSTRUMENTS SYSTEM," now U.S. patent application publication 2015/0272557;

-U.S. patent application serial No. 14/226,081 entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED circui", now U.S. patent application publication 2015/0277471;

U.S. patent application Ser. No. 14/226,076 entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION," now U.S. patent application publication 2015/0280424;

U.S. patent application Ser. No. 14/226,111 entitled "SURGICAL STAPLING INSTRUMENTT SYSTEM," now U.S. patent application publication 2015/0272583; and

U.S. patent application Ser. No. 14/226,125 entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT," now U.S. patent application publication 2015/0280384.

The applicant of the present application also owns the following patent applications filed 2014, 9, 5 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/479,103 entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE," now U.S. patent application publication 2016/0066912;

U.S. patent application Ser. No. 14/479,119 entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION," now U.S. patent application publication 2016/0066914;

U.S. patent application Ser. No. 14/478,908 entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION," now U.S. patent application publication 2016/0066910;

-U.S. patent application Ser. No. 14/478,895 entitled "MULTIPLE SENSOR WITH ONE SENSOR AFFECTING A SECOND SENSOR' S OUTPUT OR INTERPRETATION", now U.S. patent application publication 2016/0066909;

-U.S. patent application Ser. No. 14/479,110 entitled "polar OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE", now U.S. patent application publication 2016/0066915;

U.S. patent application Ser. No. 14/479,098 entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION," now U.S. patent application publication 2016/0066911;

U.S. patent application Ser. No. 14/479,115 entitled "MULTIPLE MOTOR CONTROL FOR POWER MEDICAL DEVICE", now U.S. patent application publication 2016/0066916; and

U.S. patent application Ser. No. 14/479,108 entitled "LOCAL DISPLAY OF TIMSSUE PARAMETER STABILIZATION", now U.S. patent application publication 2016/0066913.

The applicant of the present application also owns the following patent applications filed 2014 on month 4 and 9 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/248,590 entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now U.S. patent application publication 2014/0305987;

U.S. patent application Ser. No. 14/248,581 entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now U.S. patent application publication 2014/0305989;

U.S. patent application Ser. No. 14/248,595 entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCH FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305988;

U.S. patent application serial No. 14/248,588 entitled "POWERED LINEAR minor stable", now U.S. patent application publication 2014/0309666;

U.S. patent application Ser. No. 14/248,591 entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305991;

-U.S. patent application Ser. No. 14/248,584 entitled "MODULAR MOTOR DRIN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now U.S. patent application publication 2014/0305994;

U.S. patent application serial No. 14/248,587 entitled "POWERED minor platform," now U.S. patent application publication 2014/0309665;

U.S. patent application Ser. No. 14/248,586 entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305990; and

U.S. patent application Ser. No. 14/248,607 entitled "MODULAR MOTOR DRIN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS," now U.S. patent application publication 2014/0305992.

The applicant of the present application also owns the following patent applications filed on 16.4.2013 and each incorporated herein by reference in its entirety:

U.S. provisional patent application serial No. 61/812,365 entitled "minor entering WITH MULTIPLE functional electronic BY a SINGLE MOTOR";

-U.S. provisional patent application serial No. 61/812,376 entitled "LINEAR CUTTER WITH POWER";

-U.S. provisional patent application serial No. 61/812,382 entitled "LINEAR CUTTER WITH MOTOR AND piston GRIP";

U.S. provisional patent application Ser. No. 61/812,385 entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTION MOTORS AND MOTOR CONTROL"; and

U.S. provisional patent application serial No. 61/812,372 entitled "minor entering WITH MULTIPLE functional PERFORMED BY A SINGLE MOTOR".

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 possesses those one or more elements, but is not limited to possessing 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 has those one or more features, but is not limited to having 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 surgery. 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.

A surgical stapling system may include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. A staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge is not removable or at least easily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to allow rotation or articulation of the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

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

The staples are supported by staple drivers in the cartridge body. The driver is movable between a first, unfired position and a second, fired position to eject the staples from the staple cartridge. The driver is retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and retain the retainer to the cartridge body. The driver is movable between its unfired position and its fired position by the sled. The slider is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramp surfaces configured to slide under and lift the drivers toward the anvil, and the staples are supported on the drivers.

In addition to the above, the sled can be moved distally by the firing member. The firing member is configured to contact the sled and urge the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive a firing member. The anvil also includes a slot configured to receive the firing member. The firing member also includes a first cam that engages the first jaw and a second cam that engages the second jaw. As the firing member advances distally, the first and second cams can control the distance or tissue gap between the deck of the staple cartridge and the anvil. The firing member also includes a knife configured to incise tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially adjacent to the ramp surface so that the staples are ejected prior to the knife.

FIG. 1 illustrates a reusable or non-reusable motor driven surgical cutting and fastening instrument 10. In the illustrated embodiment, the instrument 10 includes a housing 100 including a handle 110 configured to be grasped, manipulated, and actuated by a clinician. In the illustrated example, the dedicated shaft assembly 1000 is operably coupled to the handle 110. However, in alternative embodiments, the handle assembly is configured to be used with a variety of different interchangeable shaft assemblies, each having a surgical end effector operably coupled thereto that is configured to perform one or more surgical tasks or procedures. For example, the interchangeable shaft assemblies disclosed herein may be used WITH various robotic systems, INSTRUMENTS, components, and methods disclosed in U.S. patent application serial No. 13/118,241 (now U.S. patent 9,072,535), entitled "SURGICAL station inserting INSTRUMENTS WITH rotable station disposed angles, filed on 27.5.2011, which is incorporated herein by reference in its entirety.

With continued reference to the present detailed description, it will be appreciated that various aspects of the shaft assembly 1000 may also be usefully employed in connection with robotically-controlled surgical systems. Thus, the term "housing" may also encompass a housing or similar portion of a robotic system that houses or otherwise operably supports or is otherwise associated with at least one drive system configured to generate and apply at least one control action that may be used to actuate the interchangeable shaft assemblies disclosed herein and their corresponding equivalents. The term "frame" may refer to a portion of a hand-held surgical instrument. The term "frame" may also refer to a portion of a robotically-controlled surgical instrument and/or a portion of a robotic system that may be used to operably control a surgical instrument. Further, various components may be "housed" or contained within the housing, or various components may be "associated with" the housing. In such examples, the components may not be housed within or directly supported by the housing.

The illustrated embodiment is an endoscopic instrument, and in general, the embodiments of the instrument 10 described herein are endoscopic surgical cutting and fastening instruments. However, it should be noted that according to various embodiments, the instrument may be, for example, a non-endoscopic surgical cutting and fastening instrument. Various surgical instruments are disclosed in the following patents: U.S. Pat. No. 5, 7,845,537 entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; U.S. Pat. No. 3, 8,608,045 entitled "POWER SURGICAL CUTTING AND STAPLING APPATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM"; and U.S. patent 9,050,083 entitled "MOTORIZED SURGICAL INSTRUMENT," the entire disclosures of which are hereby incorporated by reference.

Turning to fig. 2, in the illustrated example, the shaft assembly 1000 includes an end effector 1500 configured to cut and staple tissue. The end effector 1500 includes a first jaw 1510 and a second jaw 1600 movably supported on the first jaw 1510. The first jaw includes an elongate channel 1520 configured to operably support a surgical staple cartridge 1540 therein. The second jaw 1600 includes an anvil 1610 comprising an elongate anvil body 1612 and an anvil mounting portion 1620. However, alternative arrangements are contemplated wherein the first jaw comprises an anvil and the second jaw comprises a surgical staple cartridge or channel configured to support a surgical staple cartridge. In the illustrated example, the elongate anvil body 1612 includes a staple forming undersurface 1614 thereon that is adapted to be in facing relation with a surgical staple cartridge 1540. The anvil 1610 is pivotally or movably supported on the elongate channel 1520 by a pair of anvil trunnions 1622 formed on the anvil mounting portion 1620. Each trunnion 1622 is pivotally received in a corresponding trunnion bracket 1524 formed in the proximal end portion of the elongate channel 1520. The trunnions 1622 are pivotally retained within their respective brackets 1524 by an anvil retainer 1530.

Still referring to fig. 2, the shaft assembly 1000 includes a spine assembly 1200 including a spine shaft 1210 configured to: slidably supporting the firing member assembly 1900 therein, and (ii) slidably supporting the closure member assembly 2000 extending around the spine assembly 1200. The spine assembly 1200 also includes an upper spine support 1220 and a lower spine support 1230 supported by the spine shaft 1210. As can be seen in fig. 2, the distal end 1212 of the spine shaft 1210 terminates in upper and lower lug mounting features 1240, 1250. The upper lug mounting feature 1240 has formed therein a lug slot 1242 adapted to mountably support the distal end 1222 of the upper spine strut 1220 therein. Similarly, the lower lug mounting feature 1250 has a lug slot 1252 formed therein that is adapted to mountably support the distal end 1232 of the lower spine 1230 therein. The distal end 1222 of the upper spine support 1220 includes a pivot socket 1224 therein that is adapted to rotatably receive a pivot pin 1532 therein that is formed on a channel cover or anvil retainer 1530. The distal end 1232 of the lower spine leg 1230 includes a lower pivot pin 1234 that is adapted to be received within a pivot hole (not shown) formed in the proximal end portion 1522 of the elongate channel 1520. The lower pivot pin 1234 is vertically aligned with the pivot socket 1224 to define an articulation axis AA about which the surgical end effector 1500 may be articulated relative to the shaft 1000. See fig. 3.

In the illustrated arrangement, the closure member assembly 2000 includes a proximal closure tube segment or closure member segment 2010. The proximal closure tube segment 2010 is operably coupled to a double pivot closure sleeve assembly 2020 that defines an articulation joint 2105 about which the end effector 1500 may be articulated relative to the remainder of the shaft assembly 1000. However, other shaft assemblies may not be able to articulate. As can be seen in fig. 2, in one form, the double pivot closure sleeve assembly 2020 includes an intermediate closure tube segment 2030 that is attached to the distal end 2012 of the proximal closure tube segment 2010. In addition, the double pivot closure sleeve assembly 2020 includes an end effector closure tube or distal closure tube 2040 having distally projecting upper and lower tangs 2042, 2044. The upper double pivot link 2060 includes upwardly projecting distal and proximal pivot pins that engage upper distal and proximal pin holes in the upper proximally projecting tang 2042 and 2032, respectively, on the intermediate closure tube segment 2030. Lower double pivot link 2070 includes upwardly projecting distal and proximal pivot pins that engage lower distal pin holes in proximally projecting inferior tang 2044 and lower proximal pin holes in distally projecting inferior tang 2034, respectively. See fig. 2 and 3.

As will be discussed in further detail below, the anvil 1610 is moved from the open position to the closed position by translating the closure member assembly 2000 in the distal direction (direction "DD"). The anvil 1610 is opened by translating the closure member assembly 2000 proximally, which causes the end effector closure sleeve 2020 to interface with the anvil 1610 and pivot the anvil to the open position. Referring to fig. 4 and 5, in at least one arrangement, the distal closure member or end effector closure tube 2040 employs two axially offset proximal and distal positive jaw opening features 2050, 2052. In fig. 4 and 5, the proximal positive jaw opening feature 2050 is located to the right of the shaft axis SA (as viewed by a user of the tool assembly). The positive jaw opening features 2050, 2052 are configured to interface WITH corresponding relief areas (not shown) and step portions (not shown) formed on the anvil mounting portion 1620, as described in further detail in U.S. patent application serial No. 15/635,631 entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER," filed on 28.6.2017, the entire disclosure of which is incorporated herein by reference, as well as other references incorporated herein. Other jaw opening arrangements may also be employed.

In the illustrated example, as well as other anvil configurations disclosed in the references incorporated herein, the anvil mounting portion 1620 has one or more cam surfaces 1624 formed thereon. As the end effector closure tube 2040 is moved distally, the cam surfaces formed on the distal end of the end effector closure tube 2040 interface with the cam surfaces 1624 on the anvil mounting portion 1620 to cam the anvil 1610 to the closed position.

As also described above, the shaft assembly 1000 further includes a firing member assembly 1900 that is supported for axial travel within the spine shaft 1210. The firing member assembly 1900 includes an intermediate firing shaft portion 1910 that is configured for attachment to a distal cutting portion or knife bar 1930. The intermediate firing shaft portion 1910 can include a longitudinal slot 1912 in a distal end thereof that can be configured to receive a tab 1932 on a proximal end of a distal knife bar 1930. The longitudinal slot 1912 and the proximal blade 1932 can be sized and configured to allow relative movement between the longitudinal slot and the proximal blade and can include a slip joint 1940. The slip joint 1940 can, for example, allow the knife bar 1930 to move axially relative to the intermediate firing shaft portion 1910 to accommodate articulation of the end effector 1500. The knife bar 1930 includes a knife portion 1950 that includes a knife blade or tissue cutting edge 1952 and includes an upper anvil engagement tab 1954 and a lower channel engagement tab 1956. Various firing member configurations and operations are disclosed in various other references that are incorporated by reference herein.

In the illustrated example, the surgical end effector 1500 is selectively articulatable about an articulation axis AA by an articulation drive system 2100. In one form, the articulation drive system 2100 includes a proximal articulation driver 2110 that is operably coupled to a middle articulation driver 2120 that is pivotally coupled to a distal articulation link 2130. As can be seen most particularly in fig. 4 and 5, offset attachment lugs 2122 are formed on the distal end of the intermediate articulation driver 2120. A pivot hole 2123 is formed in the offset attachment lug 2122 and is configured to pivotally receive a proximal connector pin 2134 formed on the proximal end 2132 of the distal articulation connector 2130 therein. The distal end 2136 of the articulation link 2120 includes a pivot hole 2138 that is configured to pivotally receive a channel pin 1526 therein that is formed on the proximal end portion 1522 of the elongate channel 1520. Thus, axial movement of the intermediate articulation driver 2120 will thereby apply an articulation motion to the elongate channel 1520, articulating the surgical end effector 1500 relative to the spine assembly 1200 about the articulation axis AA.

Turning now to fig. 6 and 7, the handle 110 includes handle housing segments 116, 118 that cooperate to form a pistol grip portion 119 that can be grasped and manipulated by a clinician. As will be discussed in more detail below, the handle 110 operably supports a plurality of drive systems therein that are configured to generate and apply various control motions to the shaft assembly 1200. Referring now to fig. 2, the handle 110 may further include a frame assembly or chassis 200 that operably supports a plurality of drive systems. For example, frame assembly 200 may operably support a "first" or closure drive system (generally designated 300) that may be used to apply closing and opening motions to end effector 1500 of shaft assembly 1000. In the illustrated example, the frame assembly 200 includes a right frame portion 210 and a frame cover 212 attached thereto by snap features, lugs, screws, or the like to define a shuttle cavity 214 therein. See fig. 6 and 7.

In at least one form, the closure drive system 300 can include an actuator in the form of a closure trigger 332 that is pivotally supported by the frame assembly 200. More specifically, as shown in fig. 6 and 7, the closure trigger 332 is pivotally coupled to the frame assembly 200 by a pin 333. Such an arrangement enables the closure trigger 332 to be manipulated by the clinician such that when the clinician grasps the pistol grip portion 119 of the handle 100, the closure trigger 332 may be easily pivoted by the clinician from the starting or "unactuated" position to the "actuated" position, and more specifically, to the fully compressed or fully actuated position. The closure trigger 332 may be biased into the unactuated position by a spring or other biasing arrangement. In various forms, the closure drive system 300 further includes a closure linkage assembly 340 that is pivotably coupled to the closure trigger 1032. As can be seen in FIG. 6, the closure linkage assembly 340 may include a first closure link 342 and a second closure link 344 that are each pivotably coupled to the closure trigger 332 by a pin 335.

Still referring to fig. 6, it can be observed that the first closure link 342 can have a locking wall or locking end 345 thereon that is configured to mate with a closure release assembly 350 pivotally coupled to the right frame portion 210. In at least one form, closure release assembly 350 can include a release button assembly 352 having a distally projecting locking detent 354 formed thereon. The release button assembly 352 may be pivoted in a counterclockwise direction by a release spring (not shown). When the clinician depresses the closure trigger 332 from its unactuated position toward the pistol grip portion 119 of the handle 100, the first closure link 342 pivots upward to a point where the locking pawl 354 drops into engagement with the locking wall 345 on the first closure link 344, thereby preventing the closure trigger 332 from returning to the unactuated position. Thus, the closure release assembly 350 functions to lock the closure trigger 332 in the fully actuated position. When the clinician desires to unlock the closure trigger 332 to allow it to be biased to the unactuated position, the clinician need only pivot the closure release button assembly 352 such that the locking pawl 354 moves out of engagement with the locking wall 345 on the first closure link 344. When the locking pawl 354 has moved out of engagement with the first closure link 344, the closure trigger 332 may pivot back to the unactuated position. Other closure trigger locking and release arrangements may also be employed.

In the illustrated example, the arm 355 extends from the closure release button 352. A magnetic element 356, such as a permanent magnet, for example, may be mounted to the arm 355. When the closure release button 352 is rotated from its first position to its second position, the magnetic element 356 may move toward the circuit board 400. The circuit board 400 may include at least one sensor configured to detect movement of the magnetic element 356. In at least one embodiment, for example, a "hall effect" sensor (not shown) may be mounted to the bottom surface of the circuit board 400. The hall effect sensor may be configured to detect changes in the magnetic field surrounding the hall effect sensor caused by movement of the magnetic element 356. The Hall Effect sensor may be in signal communication with, for example, a microcontroller that can determine whether the closure release button 352 is in its first position associated with the unactuated position of the closure trigger 332 and the open configuration of the end effector, its second position associated with the actuated position of the closure trigger 332 and the closed configuration of the end effector, and/or any position between the first and second positions.

In at least one form, the handle 100 and frame assembly 200 operably support another drive system, referred to herein as a firing drive system 500, that is configured to apply a firing motion to the firing member assembly 1900 of the shaft assembly 1000. The firing drive system 500 may also be referred to herein as a "secondary drive system". The firing drive system 500 may employ an electric motor 502 positioned in the pistol grip portion 119 of the handle 100. In various forms, the motor 502 may be, for example, a DC brushed driving motor having a maximum rotational speed of about 25,000 RPM. In other arrangements, the motor may comprise a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 502 may be powered by a power supply 510, which in one form may include a removable power pack 512. As seen in fig. 8, for example, the power pack 512 may support a plurality of batteries 514 therein. The batteries 514 may each include, for example, a lithium ion ("LI") or other suitable battery. The power pack 512 is configured for removable operative attachment to a circuit board assembly 400 that is also operatively coupled to the motor 502. A plurality of batteries 514 may be connected in series and may be used as a power source for the surgical instrument 10. Further, the power supply 510 may be replaceable and/or rechargeable.

As outlined above with respect to the other various forms, the electric motor 502 may include a rotatable shaft 506 operably interfacing with a gear reducer assembly 520 mounted on a longitudinally movable drive member 530 in meshing engagement with the drive teeth of a set or a rack. An attachment lug 1916 is formed on the proximal end 1914 of the intermediate firing shaft portion 1910. Attachment lug 1916 is configured to be received within an attachment bracket 536 formed in the distal end of longitudinally movable drive member 530. In use, the polarity of the voltage provided by the power source 510 may operate the electric motor 502 in a clockwise direction, wherein the polarity of the voltage applied by the battery to the electric motor may be reversed to operate the electric motor 502 in a counterclockwise direction. When the electric motor 502 is rotated in one direction, the drive member 530 will be driven axially in the distal direction "DD". When the motor 502 is driven in the opposite rotational direction, the drive member 530 will be driven axially in the proximal direction "PD". The handle 100 may include a switch that may be configured to reverse the polarity applied to the electric motor 502 by the power source 510. As with other versions described herein, the handle 100 may also include a sensor configured to detect the position of the drive member 530 and/or the direction in which the drive member 530 is moving.

Actuation of the motor 502 may be controlled by a firing trigger 540 that is pivotally supported on the handle 100. The firing trigger 540 may be pivotable between an unactuated position and an actuated position. The firing trigger 540 may be biased to an unactuated position by a spring 542 or other biasing arrangement such that when the clinician releases the firing trigger 540, the firing trigger may be pivoted or otherwise returned to the unactuated position by the spring or biasing arrangement. In at least one form, the firing trigger 540 may be positioned "outboard" of the closure trigger 332, as discussed above. In at least one form, a firing trigger safety button 550 can be pivotally mounted to the closure trigger 332. A safety button 550 may be positioned between the firing trigger 540 and the closure trigger 332 and have a pivoting arm protruding therefrom. When the closure trigger 332 is in the unactuated position, the safety button 550 is housed within the handle 100, where it may not be easily accessible to the clinician or moved between a safety position that prevents actuation of the firing trigger 540 and a firing position where the firing trigger 540 may be fired. As the clinician depresses the closure trigger 332, the safety button 550 and the firing trigger 540 pivot downward and may then be manipulated by the clinician.

As mentioned above, in at least one form, the longitudinally movable drive member 530 has the teeth of a rack gear formed thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly 520. At least one form further includes a manually actuatable "panic" assembly 560 configured to enable a clinician to manually retract the longitudinally movable drive member 530 in the event the motor 502 becomes disabled. See fig. 7. The bailout assembly 560 may include a lever or bailout handle assembly 562 configured to be manually pivoted into ratcheting engagement with teeth 532 also provided in the drive member 530. Thus, the clinician may manually retract the drive member 530 by using the emergency handle assembly 562 to ratchet the drive member 530 in the proximal direction PD. U.S. patent application serial No. 12/249,117 (now U.S. patent 8,608,045), entitled "POWERED SURGICAL procedure AND STAPLING applied WITH manual operable function FIRING SYSTEM," filed 10.2008, discloses emergency deployment structures and other components, arrangements, and systems that may also be used WITH the various devices disclosed herein. U.S. patent 8,608,045 is hereby incorporated by reference in its entirety.

A method of attaching the shaft assembly 1000 to the handle will now be described with reference to fig. 6-9. In the illustrated example, shaft assembly 1000 includes a nozzle assembly 2200 that includes a proximal nozzle assembly 2210 and a distal nozzle assembly 2250. The proximal nozzle assembly 2210 includes a right proximal nozzle segment 2220 and a left proximal nozzle segment 2230. The proximal nozzle segments 2220, 2230 may be attached together by snap lugs, screws, adhesives, and the like. The distal nozzle assembly 2250 includes a right distal nozzle section 2260 and a left distal nozzle section 2270. The right distal nozzle section 2260 and the left distal nozzle section 2270 are coupled together by snap features, lugs, screws, adhesives, or the like. The proximal nozzle assembly 2210 and the distal nozzle assembly 2250 may be attached together by adhesive, friction, or the like. Nozzle assembly 2200 is journalled on housing 100 for selective rotation relative to the housing about shaft axis SA. In the example illustrated, distal nozzle assembly 2250 is provided with an inwardly extending proximal mounting flange 2252 that interfaces with frame mounting flange 220 formed on frame portion 210 of frame assembly 200. The proximal nozzle assembly 2210 is formed with fins 2212 to facilitate rotation of the nozzle assembly 2200 about the shaft axis SA.

In the illustrated arrangement, the shaft assembly 1000 including the end effector 1500 attached thereto can be rotated about the shaft axis SA by rotating the nozzle assembly 2200 relative to the handle 100. As can be seen in fig. 8, for example, the distal nozzle assembly 2250 includes a shaft engagement flange 2254 that extends inwardly through a nozzle engagement opening 2016 in the proximal end portion 2014 of the proximal closure tube segment 2010. This arrangement allows the shaft assembly 1000 to rotate about the shaft axis SA as the clinician rotates the nozzle assembly 2200. The nozzle engagement opening 2016 is sized to allow axial movement of the proximal closure tube segment 2010 relative to the shaft engagement flange 2254. Still referring to fig. 8, the distal nozzle assembly 2250 may further include a support sleeve portion 2256 that is configured to movably support the proximal closure tube segment 2010 therein. Further, as seen in fig. 9, the proximal end 1226 of the upper spine strut 1220 and the proximal end 1236 of the lower spine strut 1230 are each supported in spine bearings 1260 that are rotatably supported in the frame assembly 200.

Referring now to fig. 6, 8, and 9, the proximal end portion 2014 of the proximal closure tube segment 2010 is movably supported in a closure shuttle 360 that is associated with the second closure link 344 (fig. 6) of the closure linkage assembly 340. The closure shuttle 360 is slidably supported in the shuttle cavity 214 in the frame assembly 200. The proximal end portion 2014 of the proximal closure tube segment 2010 extends through the U-shaped bracket opening 362 in the closure shuttle 360 to be rotatably supported therein. Such an arrangement allows the proximal end portion 2014 of the proximal closure tube segment 2010 to rotate relative to the closure shuttle 360 as the shaft assembly 1000 rotates relative to the handle 100. Further, when the clinician depresses the closure trigger 332, the closure shuttle moves within the shuttle cavity 214 in the distal direction DD and also causes the closure member assembly 2000 to apply a closure motion to the end effector 1500 in the distal direction.

As seen in fig. 8 and 9, a first spring 370 is journaled on the proximal portion 2014 of the proximal closure tube segment 2010 between the bracket wall 362 of the closure shuttle 360 and the distal end wall 219 formed on the right frame portion 210 (first spring space 221). The axial length of the first spring space is designated X₁. The first spring 370 biases the closure shuttle 360 proximally (arrow PD) into a starting position corresponding to the fully open position of the anvil. See fig. 10. In the illustrated example, the proximal flange 2018 is formed on the proximal end portion 2014 of the proximal closure tube segment 2010. The proximal flange 2018 is configured to slidably travel within a closure or second lumen 364 formed in the closure shuttle 360, as shown. The axial length of the second cavity or second spring space 363 is designated X₂. In at least one arrangement, e.g. X₁>X₂. A second closure spring or biasing member 380 is located within the second spring space 363 to bias a proximal flange 2018 on the proximal closure tube segment 2010 in the distal direction DD against the bracket wall 362 of the closure shuttle 360.

During initial clamping of the target tissue between the anvil 1610 and the surgical staple cartridge 1540, the closure drive system 300 must apply a sufficient amount of axial closure force to the anvil 1610 to pivot the anvil 1610 to the closed position and to hold the anvil 1610 in that position throughout the staple forming process. In at least one application, the term "closure procedure" refers to the process of moving the anvil from a fully open position to a closed position over the target tissue and holding the anvil in the closed position until the staple forming process has been fully completed and the anvil is ready to be reopened to release the target tissue from the end effector. The amount of closure force required to close and hold the anvil in the closed position may vary during the stapling process due to "tissue creep". For example, as the anvil compresses the target tissue, fluid within the clamped target tissue may "creep" or migrate within the tissue and even flow to adjacent undamped tissue. As the knife portion 1950 is driven through the clamped target tissue, additional tissue creep may be experienced. Thus, tissue creep can also affect the amount of firing force required to cut the target tissue and fire the staples within the staple cartridge. As the knife portion 1950 nears completion of its stroke, the amount of firing force required may be reduced because the creeping fluid has migrated into the adjacent undamped tissue.

FIG. 10 illustrates the closure drive system 300 in an unactuated orientation. As can be seen in fig. 10, the first spring 370 has biased the closure shuttle 360 proximally in the direction PD within the shuttle cavity 214 in the frame assembly 200 to its proximal-most or starting position. Because the closure shuttle 360 is attached to the closure trigger 332 by the closure linkage assembly 340, the closure trigger 332 pivots into the unactuated starting position. When the closure drive system 300 is in this unactuated position, the anvil 1610 is in a fully open position. In at least one example, the first spring 370 is "weaker" than the second spring 380. In other words, the second spring 380 is stiffer than the first spring 370. Namely, the spring constant K of the first spring 370₁Is smaller than the spring constant K of the second spring 380₂. Thus, K₂>K₁. In an alternative arrangement, K₂<K₁. In some arrangements, for example, K₂Can be K₁Up to ten times higher. In other arrangements, K₂/K₁>1. The clinician initiates the closing process by depressing the closure trigger 332 toward the pistol grip 119 of the housing 100. This action begins to move the closure shuttle 360 in the distal direction DD, which begins to compress the first spring 370. As the closure shuttle 360 begins to move distally, the closure shuttle 360 also begins to move the proximal closure tube segment 2010 distally. As the proximal closure tube segment 2010 moves distally, the entire closure member assembly 2000 (of which the proximal closure tube segment 2010 is a part) moves distally to apply a closing motion to the anvil A seat 1610. As the clinician continues to pivot the closure trigger 332 toward the pistol grip 119, the closure shuttle 360 continues to move distally and compress the first spring 370. As the anvil 1610 begins to close, the amount of closing force required may begin to increase as the anvil 1610 begins to compress the target tissue. As the target tissue begins to compress, the fluid contained in the target tissue may begin to creep within the target tissue, which may directly affect the amount of closure force required to fully close the anvil. As the closure resistance increases, the closure member assembly 2000 may move in the proximal direction PD against the closure force applied to the proximal closure tube segment 2010 by the second spring 380. FIG. 11 illustrates the closure drive system 300 in a fully closed position, which corresponds to a fully closed position of the anvil 1610. Thus, the final amount of closing force applied to the anvil 1610 by the closure member assembly 2000 may vary due to the ability of the second spring 380 to compress in response to the closure resistance experienced by the anvil during the closing procedure. Thus, the anvil may "progressively close" as it experiences changes in the amount of resistance created by the target tissue. This may also be referred to herein as generating a "progressive closing force".

Once the jaws 1510, 1600 are closed onto the target tissue and locked in position, the clinician can begin the firing process by depressing the firing trigger 540, which causes the knife bar 1910 to drive the knife portion 1950 through the clamped target tissue. As the knife portion 1950 is driven distally through the end effector 1500, the blade 152 of the knife cuts through the target tissue. Further, in at least one arrangement, knife portion 1950 engages and drives a camming assembly, sometimes referred to as a wedge sled 1970, which is slidably supported in surgical staple cartridge 1540 distally. As the wedge sled 1970 is driven distally through the staple cartridge 1540, cams formed on the wedge sled 1970 cammingly engage staple drivers (not shown) movably supported within the staple cartridge 1540. Each staple driver can support one or more surgical staples thereon. The staple drivers are typically supported in axial lines on each side of an elongated slot formed in the staple cartridge. As the wedge sled 1570 contacts the staple drivers, they are driven upwardly (toward closing the anvil) 1610, thereby driving the staples supported thereon through the target tissue and into forming contact with the staple forming undersurface 1614 of the anvil body 1612. The wedge sled 1570 is positioned distal of the tissue cutting knife blade, thus deploying the staples through the target tissue prior to cutting the target tissue.

In addition, as the knife portion 1950 is driven through the target tissue, tabs or flanges formed in the knife portion engage the anvil 1610 and the elongate channel 1510 and hold the anvil 1610 and channel 1510 closed and spaced apart in a desired spaced arrangement during stapling. While such distal advancement of the knife portion can reduce the amount of closure force required by the closure system, the firing system must generate a significant amount of "firing force" to push the knife portion 1950 through the target tissue and overcome the resistance and friction of the system as the wedge sled actuates the staple drivers. Thus, the firing system must be capable of generating sufficient firing forces, and the firing system components must be sufficiently robust to effectively accommodate such forces, while also being sufficiently flexible to accommodate articulation of the end effector. These design requirements for the closure and firing systems may also be exacerbated by the type and composition of the target tissue. In addition, the components of these systems must be small enough to be inserted through a small cannula of a trocar.

Fig. 12 is a graphical comparison between a surgical instrument 10 employing the progressive closure drive system 300 described above and two previous surgical instruments a and B employing different closure drive arrangements. Previous surgical instruments a employed a closure drive system that was directly associated with a closure actuator or closure trigger. While the prior surgical instrument A did employ a spring to bias the closure system to the unactuated position, the prior surgical instrument A did not employ a second biasing member similar to the surgical instrument 10 described above. Further, the anvil of the surgical instrument a lacks one or more camming surfaces similar to the anvil 1610 described above. In contrast, the anvil of the surgical instrument a has a hard edge arranged for contact by the closure member or tube. As the closure member contacts the hard edge, the anvil is pivoted closed.

Still referring to fig. 12, the previous surgical instrument B is similar in some respects to the previous surgical instrument a in that the surgical instrument B has a first biasing member for biasing the closure system to the unactuated position. However, the surgical instrument B does not employ a second biasing member similar to the instrument 10 described above. However, the anvil of the surgical instrument B does employ a camming surface configured to be contacted by the closure member to pivot the anvil to the closed position. Fig. 12 is a view showing a surgical instrument for three: a graph of the amount of time to complete a closure procedure versus the amount of closure force required during the procedure for each of the surgical instrument 10, surgical instrument a, and surgical instrument B. As can be seen in fig. 12, the amount of closure force required throughout the closure procedure of the surgical instrument 10 is less than the amount of closure force required by the surgical instruments a and B. While the closure force required for surgical instrument B is less than the closure force required for surgical instrument a, the closure force required for surgical instrument 10 is significantly less than the closure forces required for both a and B throughout the closure process.

Fig. 13A and 13B compare the firing force (FTF), closing Force (FTC) experienced by the surgical instrument 10 and surgical instrument B (with camming surfaces on the anvil) as the firing member or knife travels through the anvil from a proximal-most starting position to a distal-most ending position (cartridge head distance) in the anvil. Fig. 13A illustrates the FTF, FTC, and anvil heights during the firing procedure of the surgical instrument B. Fig. 13B illustrates the FTF, FTC, anvil height, and spring height of the surgical instrument 10. As can be seen by reference to fig. 13A and 13B, the surgical instrument B has an initial anvil height of 0.0510 inches and the surgical instrument 10 has an initial anvil height of 0.511 inches. The peak closing force FTC (in pounds) of surgical instrument B is 51.5 pounds, and the peak closing force FTC (in pounds) of surgical instrument 10 is 98.7 pounds. Surgical instrument B has a peak FTC (in pounds) of 48.9 pounds, and surgical instrument 10 has a peak FTC (in pounds) of 36.4 pounds. Thus, the surgical instrument 10 experienced a 25.6% reduction in the amount of closure force required by the surgical instrument 10. This reduction in the amount of firing force required may allow firing system components to be made from lighter and/or smaller component arrangements.

As mentioned above, the surgical instrument 10 includes an articulation drive system 2100 configured to enableThe surgical end effector 1500 is selectively articulatable relative to the shaft assembly 1000 about an articulation axis AA that is transverse to the shaft axis SA. See fig. 14. The articulation drive system 2100 includes an articulation drive assembly 2102 that includes a proximal articulation driver 2110 coupled to a middle articulation driver 2120 that is pivotally coupled to a distal articulation link 2130 that is attached to the proximal end of the elongate channel 1520. See fig. 2. In one example, the distal articulation link 2130 is attached to the middle articulation driver 2120 on one side of the shaft axis SA. The distal articulation link 2130 is attached to the elongate channel 1520 on an opposite side of the shaft axis SA such that the distal articulation link 2130 extends laterally across the shaft axis SA. In the illustrated example, the joint between the proximal articulation driver 2110 and the intermediate articulation driver 2120 may also serve as an articulation lock assembly 2121 for maintaining the surgical end effector 1500 in an articulated position after stopping an articulation motion applied to the proximal articulation driver 2110. In the illustrated example, the distal end 2112 of the proximal articulation driver 2110 is threaded. The threaded distal end 2112 of the proximal articulation driver 2110 is threadedly engaged with a threaded socket 2126 in the proximal end 2124 of the intermediate articulation driver 2120. Rotation of the proximal articulation driver 2110 in a first rotational direction will cause the intermediate articulation driver 2120 to move axially in a first or distal direction DD. Movement of the intermediate articulation driver 2120 in the distal direction DD will cause the surgical end effector 1500 to move in the first articulation direction AD ₁Pivoting about an articulation axis AA. Rotation of the proximal articulation driver in the second rotational direction will cause the intermediate articulation driver 2120 to move in the second or proximal direction PD. Axial movement of the mid-articulation driver 2120 in the proximal direction PD will cause the surgical end effector 1500 to move in the second articulation direction AD₂Pivoting about an articulation axis AA.

In the illustrated example, the housing 100 or handle 110 defines a longitudinal axis LA. See fig. 15 and 16.As described above, the shaft assembly 1000 also defines a shaft axis SA. The shaft axis SA and the longitudinal axis LA may be coaxial. The longitudinal articulation drive system 2100 includes an articulation motor 2140 mounted within the distal nozzle assembly 2250 for orbital rotational travel with the distal nozzle assembly about the longitudinal axis LA as the nozzle assembly 2250 is rotated by a user relative to the housing 100. Distal nozzle assembly 2250 may also be referred to herein as a "shaft rotator assembly" configured to rotatably couple shaft assembly 1000 to housing 100. In one arrangement, the articulation motor 2140 includes a gear configuration that includes a motor output gear 2142. The motor output gear 2142 rotates about a motor axis MA that is parallel to and offset from the longitudinal axis LA. See fig. 16. In the illustrated example, the motor output gear 2142 is in meshing engagement with a control switch gear 2152 of a motor switch system 2150. The control switch gear 2152 is in meshing engagement with a proximal articulation drive gear 2118 formed on the proximal end 2116 of the proximal articulation driver 2110. Thus, rotation of the motor output gear 2142 in one direction will cause the proximal articulation driver 2110 to rotate in a first direction, which will articulate the intermediate articulation driver 2120 in a distal direction and the surgical end effector 1500 in a first articulation direction AD ₁The joint movement is performed. Likewise, rotation of the articulation motor in the opposite rotational direction will cause the proximal articulation driver 2110 to rotate in a second rotational direction, thereby causing the intermediate articulation driver 2120 to move in the proximal direction PD. Movement of the mid-articulation driver 2120 in the proximal direction PD will cause the surgical end effector 1500 to move in the second articulation direction AD₂The joint movement is performed. In various embodiments, the articulation motor 2140 and the gear configuration may have a diameter of less than 12mm and a length of less than 1.5 inches, for example. The articulation motor 2140 may be a brushed design with a power output of less than 1.5 watts. In at least some embodiments, the power output of the motor 2140 is between about 0.75 watts and 1.0 watts. The gear configuration may be supported by the motor housing, or it may be separate from the motor housing. In at least one example, the gear configuration has a 100:1Reduction, but gear configurations with greater reduction ratios may be employed. In alternative arrangements, other motor configurations may be employed.

With respect to the articulation lock 2121, the threads on the distal end 2112 of the proximal articulation driver 2110 may, for example, comprise #2 threads with fine (e.g., 64 teeth/inch) or coarse (less than 64 teeth/inch), providing a mechanical advantage sufficient for the articulation motor 2140 to cause articulation of the surgical end effector 1500 while also acting as a lock to prevent movement of the surgical end effector 1500 after the articulation motor 2140 has been de-energized. As can be additionally seen in fig. 2, the proximal articulation driver 2110 may be provided with a support shoulder portion 2119 having a larger diameter than the adjacent portions of the proximal articulation driver 2110. The larger shoulder 2119 slidably interfaces with the spine shaft 1210 to provide additional support when in the locked position.

Still referring to fig. 16-19, the motor switch system 2150 includes a switch slide 2170 that is threaded to a switch drive screw 2160 that is attached to the control switch gear 2152. Rotation of the motor output gear 2142 will cause the control switch gear 2152 to rotate, which ultimately causes the switch drive screw 2160 to rotate. Rotation of the switch drive screw 2160 causes axial movement of the switch slide 2170 relative to the switch housing 2162 mounted in the distal nozzle assembly 2250. The switch housing 2162 operably supports a plurality of limit switches that communicate with a control circuit board 400 supported in or otherwise associated with the housing 100, as will be discussed further below. See fig. 16. In the illustrated example, three limit switches are employed: a center limit switch 2172, a proximal limit switch 2174, and a distal limit switch 2176. The switches 2172, 2174, 2176 are wired to a series of circuit traces or conductors 2222, 2224, 2226, 2228 mounted within the proximal nozzle assembly 2210. See fig. 20. The circuit traces 2222, 2224, 2226, and 2228 are wired to or electrically coupled to the articulation motor 2140 and the switches 2172, 2174, 2176 by wire or flex circuit conductors (not shown). Turning to fig. 21 and 22, the contact block 410 is fixedly mounted to the frame assembly 200 and includes contacts 412, 424, 416, and 418 corresponding to circuit traces 2222, 2224, 2226, and 2228, respectively. The contacts 412, 414, 416, 418 are wired to the control circuit board 400. As the proximal nozzle assembly 2210 rotates about the shaft axis SA relative to the housing 100, power/control signals may be provided between the control circuit board 400 and the articulation motor 2140 and switches 2172, 2174, 2176 by a sliding joint assembly 411 that includes circuit traces 2222, 2224, 2226, 2228 and contacts 412, 414, 416, 418 to facilitate rotation of the articulation motor 2140 and the control switch assembly about the shaft axis SA relative to the housing 100. An articulation control switch 2180 is mounted on each side of the housing 100 and is used to control the rotation of the articulation motor 2140. See fig. 15. Switch 2180 may comprise a "rocker-type" switch, when depressed in one direction (arrow 2182), articulation motor 2140 rotates motor output gear 2142 in one rotational direction, and when switch 2180 is depressed in the opposite direction (arrow 2184), articulation motor rotates motor output gear 2142 in the opposite rotational direction.

Turning now to fig. 19 and 23-26, the position of the switches 2172, 2174, 2176 relative to the path of the switch slide 2170 is used to define the range of articulation of the surgical end effector 1500. The switch 2172 includes a center switch or main switch that corresponds to the unarticulated position of the surgical end effector 1500. When in this position, the central end effector axis EA is generally aligned with the shaft axis SA. For example, when in this position, the end effector 1500 may be inserted through or removed from a trocar cannula. Switch 2174 corresponds to the-60 left articulation boundary and switch 2176 corresponds to the +60 right articulation boundary. The-60 ° left articulation boundary may also be referred to herein as a "first maximum articulation position" of the surgical end effector 1500 located on a "first side" or left side of the shaft axis SA. The left-60 angle (LA in fig. 26) may also be referred to as a "first maximum articulation angle" and includes the angle between the end effector axis EA and the shaft axis SA when the surgical end effector 1500 is in this first maximum articulation position. Similarly, the +60 ° right articulation boundary may also be referred to herein as the "second maximum articulation position" of the surgical end effector 1500 on the "second side" or right side of the shaft axis SA. The right +60 ° angle (RA in fig. 23) may also be referred to as a "second maximum articulation angle" and includes the angle between the end effector axis EA and the shaft axis SA when the surgical end effector 1500 is in this second maximum articulation position. Thus, in the illustrated example, the positions of switches 2174 and 2176 establish a maximum articulation position for each articulation direction (left and right). In an alternative arrangement, only two switches (2174, 2176) may be employed. Switches 2172, 2174, 2176 may include mechanical switches, hall effect switches, and the like.

In at least one example, the central main switch 2172 can also be used to slow the articulation motor 2140 before crossing the home or non-articulated position to allow the user to more easily determine when the end effector 1500 is aligned with the shaft assembly 1000, which can facilitate removal through a trocar, for example.

In one example, the geometry of the switch slider in the area configured to engage the switches 2172, 2174, 2176 is selected to have a width such that it engages the switches at an angle of "X" degrees from the home position and can remain in contact with the switches from-X degrees to-X degrees. In at least one example, X is about 10 degrees, but X may be other values. Fig. 23-26 illustrate the relationship between the switch slide 2170 and switches 2172, 2174, 2176 and the articulated position of the surgical end effector 1500. For example, in fig. 25, when the switch slide 2170 is in this position, the surgical end effector 1500 may be in a first articulated position on a first side of the shaft axis SA, where the surgical end effector axis EA is at a first articulation angle LA relative to the shaft axis SA₁And (6) positioning. Likewise, when the switch slide 2170 is in the position shown in fig. 24, for example, the surgical end effector 1500 may be in a second articulation position on a second side of the shaft axis SA, wherein the surgical end effector axis EA is at a second articulation angle LA relative to the shaft axis SA ₂And (6) positioning. In at least one arrangement, e.g. LA₁＝LA₂About 10 °.

Fig. 27 provides an alternative geometry for the switch slide 2170 when viewed from the free end of the switch slide 2170, which is configured to interface with the switches 2172, 2174, 2176. Fig. 28 is a graphical comparison of motor speed (for each geometry 2170A, 2170B, 2170C) versus articulation angle. Switch slide 2170A is also shown in fig. 23-26. 2170C has an actuator point 21701C formed thereon for more precise actuation of the switches 2172, 2174, 2176. As can be seen in FIG. 28, the motor speed MS_2COnly drops when the actuator point 2171C is in actuating contact with one of the switches 2172, 2174, 2176, which correspond to articulation angles of-60 °, 0 °, +60 °. 2170A has a cross-sectional thickness CT_AThis results in a first motor speed MS in the range of articulation angles between-10 and +10_1A. For articulation angles between-10 ° to-60 ° and +10 ° to +60 °, articulation motor 2140 may be greater than MS_1ASecond motor speed MS_2AAnd (5) operating. 2170B has a cross-sectional thickness CT greater than_ACross-sectional thickness CT of_BAnd generates a first motor speed MS in the range of articulation angles between-20 DEG and +20 DEG _1B. For articulation angles between-20 ° to-50 ° and +20 ° to +50 °, articulation motor 2140 may be greater than MS_1BSecond motor speed MS_2BAnd (5) operating. For articulation angles between-50 to-60 and +50 to +60, articulation motor 2140 may be operated at a third motor speed MS_3BAnd (5) operating. In the illustrated example, the MS_3B＝MS_1B。

In various arrangements, the control circuit board 400 may include switches 420, 422, 424, 426 that define the limits of articulation, and a latchable switch or relay switch 428 that controls the center or home position of the end effector. See fig. 28A. In such an arrangement, as the articulation motor 2140 drives the end effector across the straight or home position, the latchable or relay switch 428 may be activated, which will deactivate the articulation motor 2140. Releasing the articulation control switch 2180 may activate a bypass relay that may deactivate the center or main switch 2172 and press the control switch 2180 again may allow articulation to continue past the original position. See fig. 28A.

Fig. 29-33 illustrate a surgical instrument 3010 that is similar to the surgical instrument 10 except for the differences discussed below. Surgical instrument 3010 includes a shaft assembly 4000 similar to shaft assembly 1000. The elongate shaft assembly 4000 is operably coupled to a housing 3100 that includes a handle 3110. The housing 3100 may be similar to the housing 100 described above, except for the differences discussed below. Portions of an example of an elongate shaft assembly 4000 are shown in fig. 30. Those components that are the same or equivalent to components of shaft assembly 1000 have been identified with similar component numbers. The surgical instrument 3010 includes an end effector 1500 (described above) movably coupled to a spine assembly 5200. The spine assembly 5200 is configured to: first, a firing member assembly 1900 is slidably supported therein; and second, slidably supporting a closure member assembly 6000 extending about the spine axis 5200. The closure member assembly 6000 is similar to the closure member assembly 2000 described above, except for the differences discussed below. The closure member assembly 6000 includes a proximal closure tube segment or proximal closure member segment 6010 that is similar to the proximal closure tube segment 2010. The proximal closure tube segment 6010 interfaces with a closure shuttle that is operably supported in the housing 3100 in the manner described above or in the various references that have been incorporated by reference herein. The surgical instrument further includes a firing drive system 500 configured to apply a firing motion to the firing member assembly 1900 in the shaft assembly 4000. As described above, the firing drive system 500 includes a motor-driven longitudinally movable drive member 530. Actuation of the motor may be controlled by a firing trigger 540 pivotally supported on the handle 3110.

As also discussed above, the shaft assembly 4000 also includes a firing member assembly 1900 that is supported for axial travel within the spine shaft 1210. The firing member assembly 1900 includes an intermediate firing shaft portion 1910 that is configured for attachment to a distal cutting portion or knife bar 1930. The intermediate firing shaft portion 1910 can include a longitudinal slot 1912 in a distal end thereof that can be configured to receive a tab 1932 on a proximal end of a distal knife bar 1930. The longitudinal slot 1912 and the proximal blade 1932 can be sized and configured to allow relative movement between the longitudinal slot and the proximal blade and can include a slip joint 1940. The slip joint 1940 can, for example, allow the knife bar 1930 to move axially relative to the intermediate firing shaft portion 1910 to accommodate articulation of the end effector 1500. Shank 1910 includes a blade portion 1950.

In the illustrated example, the surgical end effector 1500 is selectively articulatable about an articulation axis AA by an articulation drive system 6100. In at least one example, the articulation drive system 6100 is configured to convert linear travel of the intermediate firing shaft portion 1910 into rotary articulation motions that can be used to articulate the surgical end effector 1500 relative to the elongate shaft assembly 4000. In one form, the articulation drive system 6100 includes a proximal articulation driver 6110 operably coupled to an intermediate articulation driver 6120 that is pivotally coupled to a distal articulation link 6130, as will be discussed further below.

Turning now to fig. 31, 32A, and 32B, in at least one form, the articulation drive system includes an articulation clutch assembly 6300 that is operably supported in a nozzle assembly 6250 that is rotatably coupled to the housing 3100, as described above. In the illustrated example, the articulation clutch assembly 6300 includes a clutch mounting member 6302 fixedly attached to the nozzle assembly 6250. A clutch shifter assembly 6310 is movably supported within the clutch mounting member 6302. In one form, the clutch shifter assembly 6310 includes laterally opposed first and second lock assemblies 6320, 6330 that are movable in a direction transverse to the shaft axis SA. This lateral locking movement is indicated by arrow L in fig. 32A and 32B. In the illustrated example, the first lock assembly 6320 includes a first movable lock support 6322 that supports a first clutch lock 6324. The first clutch lock 6324 is configured to lockingly engage a first lock recess 1911 in the intermediate firing shaft portion 1910. A first biasing member or spring 6328 is used to bias the first lock assembly 6320 toward the intermediate firing shaft portion 1910 such that the first clutch lock 6324 lockingly engages the first lock recess 1911 in the intermediate firing shaft portion 1910 as shown in fig. 32A.

Similarly, the second lock assembly 6330 includes a second movable lock support 6332 that supports a second clutch lock 6334. The second clutch lock 6334 is configured to lockingly engage a second locking recess 1913 in the intermediate firing shaft portion 1910. The second biasing member or spring 6338 serves to bias the second lock assembly 6330 toward the intermediate firing shaft portion 1910 such that the second clutch lock 6334 lockingly engages the second lock recess 1913 in the intermediate firing shaft portion 1910 as shown in fig. 32A.

In the illustrated example, the articulation clutch assembly 6300 further includes a clutch driver rack 6340 attached thereto for axial movement with the first and second clutch locks 6324, 6334 while allowing lateral movement of the first and second clutch locks relative to the shaft axis between a "locked" or "engaged" position and an "unlocked" or "disengaged" position. See fig. 31. The clutch driver rack 6340 is in meshing engagement with a clutch gear assembly 6350 that includes a rack gear 6352 that is in meshing engagement with the clutch driver rack 6340 and is attached to meshing first and second clutch bevel gears 6354, 6356 by a first transmission shaft 6353. Still referring to fig. 31, a second clutch bevel gear 6356 is attached to a second transmission shaft 6358 to which the transmission drive gear 6360 is attached. The transfer drive gear 6360 is in meshing engagement with an idler gear 6362 that is in meshing engagement with a proximal articulation drive gear 6118 formed on the proximal end of the proximal articulation driver 6110. Thus, axial movement of the clutch driver rack 6340 will ultimately result in rotation of the proximal articulation driver 6110 through the gear arrangement described above. Such rotation of the proximal articulation driver 6110 in a first direction will cause the intermediate articulation driver 2120 to move in a proximal direction and the surgical end effector 1500 to articulate in a first articulation direction. Likewise, axial movement of the clutch driver rack 6340 in the proximal direction PD will cause the proximal articulation driver 6110 to rotate in a second rotational direction, thereby causing the intermediate articulation driver to move in the distal direction DD. Movement of the intermediate articulation driver 2120 in the distal direction DD articulates the surgical end effector 1500 in a second articulation direction.

Fig. 32A illustrates the articulation clutch assembly 6300 in an engaged or locked position with the intermediate firing shaft portion 1910 of the firing shaft assembly 1900. When in this position, axial movement of the intermediate firing shaft portion 1910 (caused by actuation of the firing trigger 540 as described above) will result in axial movement of the articulation clutch driver rack 6340 and ultimately in articulation of the surgical end effector, as described herein. The first and second biasing members 6328, 6338 bias the clutch assembly 6300 in this normally engaged position. Fig. 32A shows the proximal closure tube segment 6010 in its most proximal, unactuated position, which results in the jaws 1610, 1610 being in an open position. Thus, with the jaws in the open position, actuation of the firing drive system will result in articulation of the surgical end effector 1500.

After the clinician has articulated the surgical end effector at the desired articulated position, the clinician may then actuate the closure system by depressing the closure trigger 332 to actuate the closure system, thereby initiating the jaw closure process. As seen in fig. 32A and 32B, the clutch assembly protrudes through a clutch opening 6011 in the proximal closure tube segment 6010. As discussed above, depressing the closure trigger 332 causes the proximal closure tube segment 6010 to move axially in the distal direction DD. As the proximal closure tube segment 6010 moves distally, it contacts the first cam surface 6323 on the first movable lock support 6322 and the second cam surface 6333 on the second movable lock support 6332 to move the first lock support 6322 and the second lock support 6332 laterally in opposite directions away from the shaft axis. This movement of the first and second movable lock supports 6322, 6332 disengages the first and second clutch locks 6324, 6334 from the first and second lock recesses 1911, 1913 in the intermediate firing shaft portion 1910 as shown in fig. 32B. Thus, the articulation clutch assembly 6300 has disengaged the articulation system from the firing drive system, and the clinician may now actuate the firing drive system while the surgical end effector remains articulated.

In the illustrated example, the articulation drive system further includes an articulation lock arrangement 6400 for maintaining the surgical end effector in an articulated position after the articulation drive system has been deactivated. More specifically and with reference to fig. 33, the distal end portion 6112 of the proximal articulation driver 6110 includes a threaded portion 6114 formed thereon. In one arrangement, the threaded portion 6114 includes ACME threads that can fall into a threaded passage section 6122 in the intermediate articulation driver 6120. The intermediate articulation driver 6120 is slidably supported in a distal driver cavity 5202 in the spine shaft 5200. As described above, the intermediate articulation driver 6120 is pivotally pinned to the distal articulation link 6130. The distal articulation link 6130 extends laterally across the shaft axis SA and is pivotally pinned to the proximal end of the elongate channel 1520. As seen in fig. 33, a shoulder 6119 is formed on the proximal articulation driver 6110 and is rotatably received within a shoulder cavity 5204 in the spine shaft 5200. Rotation of the proximal articulation driver 6110 causes linear or axial motion of the intermediate articulation driver 6120, which causes the distal articulation link 6130 to articulate the elongate channel 1520. The shoulder 6119 serves to support the proximal articulation driver 6110 during operation and to resist motion of the proximal articulation driver 6110 when subjected to external forces that attempt to inadvertently disengage the end effector from articulation. The ACME thread arrangement 6116 creates friction with the threaded passage segment 6122 in the intermediate articulation driver 6120 to act as an articulation lock when the application of rotational articulation motion to the proximal articulation driver 6110 is interrupted. In at least one arrangement, the ACME thread arrangement 6116 may have a thread angle of less than 17 ° and be "self-locking". Other articulation lock arrangements may also be employed.

Fig. 34-38 illustrate a prior motor driven surgical cutting and fastening instrument 11010 that may or may not be reusable. The instrument 11010 includes a housing 11012 that includes a handle 11014 that is configured to be grasped, manipulated and actuated by a clinician. The housing 11012 is configured for operable attachment to an interchangeable shaft assembly 11200 having a surgical end effector 11300 operably coupled thereto that is configured to perform one or more surgical tasks or procedures.

The housing 11012 shown in fig. 34 is shown in conjunction with an interchangeable shaft assembly 11200 (fig. 35, 37 and 38) that includes an end effector 11300 that includes a surgical cutting and fastening device configured to operably support a surgical staple cartridge 4000 therein. The housing 11012 may be configured for use in conjunction with interchangeable shaft assemblies that include end effectors adapted to support different sizes and types of staple cartridges, and that have different shaft lengths, sizes, types, etc. In addition, the housing 11012 may also be effective for use with a variety of other interchangeable shaft assemblies including those configured to apply other motions and forms of energy, such as, for example, Radio Frequency (RF) energy, ultrasonic energy, and/or motions, to end effector arrangements suitable for use in connection with various surgical applications and procedures. Further, the end effector, shaft assembly, handle, surgical instrument, and/or surgical instrument system may utilize any suitable fastener to fasten tissue. For example, a fastener cartridge including a plurality of fasteners removably stored therein can be removably inserted into and/or attached to an end effector of a shaft assembly.

Various aspects of the shaft assembly 11200 can also be effectively used in conjunction with a robotically controlled surgical system. Thus, the term "housing" may also encompass a housing or similar portion of a robotic system that houses or otherwise operably supports at least one drive system configured to generate and apply at least one control action useful for actuating the interchangeable shaft assemblies disclosed herein and their respective equivalents. The term "frame" may refer to a portion of a hand-held surgical instrument. The term "frame" may also refer to a portion of a robotically-controlled surgical instrument and/or a portion of a robotic system that may be used to operably control a surgical instrument. Further, various components may be "housed" or contained within the housing, or various components may be "associated with" the housing. In such examples, the components may not be housed within or directly supported by the housing.

The illustrated embodiment is an endoscopic instrument, and in general, the embodiments of the surgical instrument 11010 described herein are endoscopic surgical cutting and fastening instruments. However, it should be noted that according to various embodiments, the instrument may be, for example, a non-endoscopic surgical cutting and fastening instrument. Various surgical instruments are disclosed in the following patents: U.S. Pat. No. 5, 7,845,537 entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; U.S. Pat. No. 3, 8,608,045 entitled "POWER SURGICAL CUTTING AND STAPLING APPATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM"; and U.S. patent 9,050,083 entitled "MOTORIZED SURGICAL INSTRUMENT," the entire disclosures of which are hereby incorporated by reference.

Fig. 34 illustrates a surgical instrument 11010 with a previous interchangeable shaft assembly 11200 operably coupled thereto. Fig. 35 shows the interchangeable shaft assembly 11200 detached from the housing 11012 or the handle 11014. As seen in fig. 36, the handle 11014 may include a pair of interconnectable handle housing segments 11016 and 11018 that may be interconnected by screws, snap features, adhesives, or the like. In the illustrated arrangement, the handle housing segments 11016 and 11018 cooperate to form a pistol grip 11019 that can be grasped and manipulated by a clinician. As will be discussed in further detail below, the handle 11014 operably supports a plurality of drive systems therein that are configured to be capable of generating and applying various control actions to corresponding portions of the interchangeable shaft assembly operably attached thereto.

Referring now to fig. 36, the handle 11014 may further include a frame 11020 that operably supports a plurality of drive systems. For example, the frame 11020 operably supports a "first" or closure drive system, generally designated 11030, which may be used to apply a closing motion and an opening motion to the interchangeable shaft assembly 11200 operably attached or coupled thereto. In at least one form, the closure drive system 11030 may include an actuator in the form of a closure trigger 11032 pivotally supported by the frame 11020. More specifically, as shown in fig. 36, the closure trigger 11032 is pivotally coupled to the housing 11014 by a pin 11033. Such an arrangement enables the closure trigger 11032 to be manipulated by the clinician such that when the clinician grasps the pistol grip portion 11019 of the handle 11014, the closure trigger 11032 may be easily pivoted by the clinician from the starting or "unactuated" position to the "actuated" position and, more specifically, to the fully compressed or fully actuated position. The closure trigger 11032 may be biased to an unactuated position by a spring or other biasing arrangement (not shown). In various forms, the closure drive system 11030 also includes a closure link assembly 11034 that is pivotally coupled to a closure trigger 11032. As seen in FIG. 36, the closure linkage assembly 11034 may include a first closure link 11036 and a second closure link 11038 that are pivotally coupled to the closure trigger 11032 via a pin 11035. The second closure link 11038 may also be referred to herein as an "attachment member" and includes a lateral attachment pin 11037.

Still referring to fig. 36, it can be observed that the first closure link 11036 can have a locking wall or locking end 11039 thereon that is configured to mate with a closure release assembly 11060 that is pivotally coupled to the frame 11020. In at least one form, the closure release assembly 11060 can include a release button assembly 11062 having a distally projecting locking pawl 11064 formed thereon. The release button assembly 11062 may be pivoted in a counterclockwise direction by a release spring (not shown). As the clinician depresses the closure trigger 11032 from its unactuated position toward the pistol grip portion 11019 of the handle 11014, the first closure link 11036 pivots upward to a point where the locking pawl 11064 drops into retaining engagement with the locking wall 11039 on the first closure link 11036, thereby preventing the closure trigger 11032 from returning to the unactuated position. Thus, the closure release assembly 11060 functions to lock the closure trigger 11032 in the fully actuated position. When the clinician desires to unlock the closure trigger 11032 to allow it to be biased to the unactuated position, the clinician need only pivot the closure release button assembly 11062 such that the locking pawl 11064 moves out of engagement with the locking wall 11039 on the first closure link 11036. When the locking pawl 11064 has moved out of engagement with the first closure link 11036, the closure trigger 11032 may pivot back to the unactuated position. Other closure trigger locking and release arrangements may also be employed.

An arm 11061 may extend from the closure release button 11062. A magnetic element 11063 (such as a permanent magnet) may be mounted to the arm 11061, for example. When the closure release button 11062 is rotated from its first position to its second position, the magnetic element 11063 may move toward the circuit board 11100. The circuit board 11100 may include at least one sensor configured to detect movement of the magnetic element 11063. In at least one embodiment, for example, a "hall effect" sensor (not shown) may be mounted to the bottom surface of the circuit board 11100. The hall effect sensor can be configured to detect changes in the magnetic field surrounding the hall effect sensor caused by movement of the magnetic element 11063. The hall effect sensor may be in signal communication with, for example, a microcontroller that may determine whether the closure release button 11062 is in its first position associated with the unactuated position of the closure trigger 11032 and the open configuration of the end effector, its second position associated with the actuated position of the closure trigger 11032 and the closed configuration of the end effector, and/or any position between the first and second positions.

In at least one form, the handle 11014 and the frame 11020 operably support another drive system, referred to herein as a firing drive system 11080, that is configured to apply a firing motion to corresponding portions of the interchangeable shaft assembly attached thereto. The firing drive system 11080 may also be referred to herein as a "secondary drive system". The firing drive system 11080 may employ an electric motor 11082 positioned in a pistol grip portion 1019 of the handle 1014. In various forms, the motor 11082 may be, for example, a DC brushed driving motor having a maximum rotational speed of about 25,000 RPM. In other arrangements, the motor may comprise a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 11082 may be powered by a power supply 11090, which in one form may include a removable power pack 11092. As seen in fig. 36, for example, the power pack 11092 may include a proximal housing portion 11094 configured for attachment to a distal housing portion 11096. The proximal housing portion 11094 and the distal housing portion 11096 are configured to operably support a plurality of batteries 11098 therein. The batteries 11098 may each include, for example, a lithium ion ("LI") or other suitable battery. The distal housing portion 11096 is configured for removable operable attachment to a circuit board assembly 11100 that is also operably coupled to the motor 11082. Multiple batteries 11098 may be connected in series and may be used as a power source for the surgical instrument 11010. In addition, the power supply 11090 may be replaceable and/or rechargeable.

As outlined above with respect to the other various forms, the electric motor 11082 may include a rotatable shaft (not shown) operably interfacing with a gear reducer assembly 11084 mounted on the longitudinally movable drive member 11120 in meshing engagement with the drive teeth 1122 of a set or rack of gears. In use, the polarity of the voltage provided by the power supply 11090 may operate the electric motor 11082 in a clockwise direction, wherein the polarity of the voltage applied by the batteries to the electric motor may be reversed to operate the electric motor 11082 in a counterclockwise direction. When the electric motor 11082 is rotated in one direction, the drive member 11120 will be driven axially in the distal direction "DD". When the motor 11082 is driven in the opposite rotational direction, the drive member 11120 will be driven axially in the proximal direction "PD". The handle 11014 may include a switch that may be configured to reverse the polarity applied to the electric motor 11082 by the power source 11090. As with other forms described herein, the handle 11014 can also include a sensor configured to detect the position of the drive member 11120 and/or the direction in which the drive member 11120 is moving.

Actuation of the motor 11082 may be controlled by a firing trigger 11130 that is pivotally supported on the handle 11014. The firing trigger 11130 may be pivotable between an unactuated position and an actuated position. The firing trigger 11130 may be biased to an unactuated position by a spring 11132 or other biasing arrangement such that when the clinician releases the firing trigger 11130, the firing trigger may be pivoted or otherwise returned to the unactuated position by the spring 11132 or biasing arrangement. In at least one form, the firing trigger 11130 can be positioned "outboard" of the closure trigger 11032, as discussed above. In at least one form, the firing trigger safety button 11134 may be pivotally mounted to the closure trigger 11032 by a pin 11035. The safety button 11134 may be positioned between the firing trigger 11130 and the closure trigger 11032 and has a pivoting arm 1136 protruding therefrom. When the closure trigger 11032 is in the unactuated position, the safety button 11134 is received in the handle 11014 where it may not be easily accessible to a clinician or moved between a safety position that prevents actuation of the firing trigger 11130 and a firing position where the firing trigger 11130 may be fired. When the clinician depresses the closure trigger 11032, the safety button 1134 and the firing trigger 11130 pivot downward and may then be manipulated by the clinician.

As mentioned above, in at least one form, the longitudinally movable drive member 11120 has rack teeth 11122 formed thereon for meshing engagement with a corresponding drive gear 11086 of the gear reducer assembly 11084. At least one form further includes a manually actuatable "panic" assembly 11140 configured to enable a clinician to manually retract the longitudinally movable drive member 11120 in the event the motor 11082 becomes disabled. The panic assembly 11140 may include a lever or panic handle assembly 11142 configured to be manually pivotable into ratcheting engagement with teeth 11124 also disposed in the drive member 11120. Thus, the clinician may manually retract the drive member 11120 by using the emergency handle assembly 11142 to ratchet the drive member 11120 in the proximal direction "PD". U.S. patent 8608045 entitled "POWERED SURGICAL welding AND STAPLING APPARATUS WITH manual welding FIRING SYSTEM" discloses emergency arrangements and other components, arrangements, and systems that may also be used WITH the various instruments disclosed herein. U.S. patent 8,608,045 is hereby incorporated by reference in its entirety.

Turning now to fig. 35 and 38, the interchangeable shaft assembly 11200 comprises a surgical end effector 11300 comprising an elongate channel 11310 configured to operably support a staple cartridge 4000 therein. The end effector 1300 may also include an anvil 2000 that is pivotally supported relative to the elongate channel 11310. The interchangeable shaft assembly 11200 can further include an articulation joint 13020 and an articulation lock 12140, which can be configured to releasably retain the end effector 11300 in a desired position relative to the shaft axis SA. AN example of various features relating to the end effector 11300, ARTICULATION joint 13020, and at least one form of ARTICULATION LOCK can be found in U.S. patent application serial No. 13/803,086 entitled "article able to be incorporated into a SURGICAL LOCK" filed on 3, 14.2013. The entire disclosure of U.S. patent application serial No. 13/803,086 entitled "article able document compatibility AN article location LOCK", filed on 14/3/2013, is hereby incorporated by reference. As seen in fig. 38, the interchangeable shaft assembly 11200 can also include a proximal housing or nozzle 11201 made up of nozzle portions 11202 and 11203.

The interchangeable shaft assembly 11200 can further comprise a closure system or closure member assembly 13000 that can be used to close and/or open the anvil 12000 of the end effector 11300. Shaft assembly 11200 can include a ridge 11210 configured to: first, a firing member is slidably supported therein; second, the closure member assembly 13000 extending around the spine 11210 is slidably supported. As can be seen in fig. 38, the distal end 11211 of the ridge 11210 terminates in an upper lug mounting feature 11270 and a lower lug mounting feature 11280. The upper lug mounting feature 11270 has formed therein a lug slot 11272 adapted to mount the support upper mounting attachment 11274 therein. Similarly, lower lug mounting feature 11280 has formed therein a lug slot 11282 adapted to mount support lower mounting link 11284 therein. The upper mounting link 11274 includes a pivot socket 11276 therein adapted to rotatably receive a pivot pin 11292 therein formed on a channel cover or anvil retainer 11290 attached to the proximal end portion 11312 of the elongate channel 11310. The lower mounting link 11284 includes a lower pivot pin 11286 that is adapted to be received within a pivot hole 11314 formed in the proximal end portion 11312 of the elongate channel 11310. See fig. 38. The lower pivot pin 11286 is vertically aligned with the pivot socket 11276 to define an articulation axis AA about which the surgical end effector 11300 can articulate relative to the shaft axis SA. See fig. 35.

In the illustrated example, the surgical end effector 11300 is selectively articulatable about an articulation axis AA by an articulation system 12100. In one form, the articulation system 12100 includes a proximal articulation driver 12102 that is pivotally coupled to the articulation link 12120. As can be seen most particularly in fig. 38, offset attachment lugs 12114 are formed on the distal end of the proximal articulation driver 12102. A pivot hole 12116 is formed in the offset attachment lug 12114 and is configured to pivotally receive therein a proximal connector pin 12124 formed on the proximal end 12122 of the articulation connector 12120. The distal end 12126 of the articulation link 12120 includes a pivot hole 12128 configured to pivotally receive therein a channel pin 11316 formed on the proximal end portion 11312 of the elongate channel 11310. Thus, axial movement of the proximal articulation driver 12102 will thereby apply an articulation motion to the elongate channel 11310 to articulate the surgical end effector 11300 relative to the spine assembly 11210 about the articulation axis AA. More details regarding the construction and operation of the articulation system 12100 can be found in various references incorporated by reference herein, including U.S. patent application serial No. 15/635,631 entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER," filed on 28.6.2017, the entire disclosure of which is hereby incorporated by reference. In various circumstances, the proximal articulation driver 12102 may be held in place by the articulation lock 12140 when the proximal articulation driver 12102 is not moved in the proximal or distal direction. Additional details regarding examples of articulation locks 12140 may be found in U.S. patent application serial No. 15/635631 and other references incorporated by reference herein.

In various instances, the spine 11210 can include a proximal end 11211 that is rotatably supported in the base 1240. In one arrangement, for example, the proximal end 11211 of the spine 11210 has threads 11214 formed thereon for threaded attachment to a spine bearing 11216 configured to be supported within the seat 11240. See fig. 4. This arrangement facilitates rotatable attachment of the ridge 11210 to the base 11240 such that the ridge 11210 is selectively rotatable relative to the base 11240 about the shaft axis SA.

Referring primarily to fig. 37, the interchangeable shaft assembly 11200 includes a closure shuttle 11250 slidably supported within the base 11240 such that the closure shuttle is axially movable relative to the base. Closure shuttle 11250 includes a pair of proximally projecting hooks 11252 (fig. 36) configured for attachment to an attachment pin 11037 attached to a second closure connector 11038, as will be discussed in further detail below. In at least one example, the closure member assembly 13000 includes a proximal closure member or proximal closure tube segment 13010 having a proximal end 13012 that is coupled to the closure shuttle 11250 for rotation relative thereto. For example, the U-shaped connector 11263 is inserted into an annular slot 13014 in the proximal end 13012 of the proximal closure member segment 13010 and retained within a vertical slot 11253 in the closure shuttle 11250. This arrangement serves to attach the proximal closure tube segment 13010 to the closure shuttle 11250 for axial travel therewith while enabling the proximal closure tube segment 13010 to rotate relative to the closure shuttle 11250 about the axis SA. A closure spring 11268 is journaled on the proximal closure tube segment 13010 and serves to bias the proximal closure tube segment 13010 in the proximal direction "PD", which can be used to pivot the closure trigger 11032 to an unactuated position when the shaft assembly is operably coupled to the handle 11014.

The interchangeable shaft assembly 11200 also includes an articulation joint 13020. As seen in fig. 38, for example, a distal closure member or distal closure tube segment 3030 is coupled to the distal end of a proximal closure member or proximal closure tube segment 13010. The articulation joint 13020 includes a dual pivot closure sleeve assembly 13022. According to various forms, the double pivot closure sleeve assembly 13022 includes an end effector closure tube 13050 having distally projecting superior and inferior tangs 13052, 13054. The upper double pivot connection 13056 includes upwardly projecting distal and proximal pivot pins that engage upper distal pin holes in the proximally projecting upper tang 13052 and upper proximal pin holes in the distally projecting upper tang 13032, respectively, on the distal closure tube segment 13030. Lower double pivot link 13058 includes upwardly projecting distal and proximal pivot pins that engage lower distal pin holes in proximally projecting inferior tang 13054 and lower proximal pin holes in distally projecting inferior tang 13034, respectively. As will be discussed in further detail below, the closure member or closure tube assembly 13000 is translated distally (direction "DD") to close the anvil 12000, for example, in response to actuation of the closure trigger 11032. The anvil 12000 is opened by translating the closure tube assembly 13000 proximally, which causes the end effector closure sleeve to interact with the anvil 12000 and pivot it to an open position.

Also as described above, the interchangeable shaft assembly 11200 also includes a firing drive assembly 11900 that is supported for axial travel within the shaft spine 11210. The firing drive assembly 11900 includes an intermediate firing shaft portion 11222 configured for attachment to a distal cutting portion or knife bar 11910. The intermediate firing shaft portion 11222 can include a longitudinal slot 11223 in a distal end thereof, which can be configured to receive a tab 11912 on a proximal end of the distal knife bar 11910. The longitudinal slot 11223 and the proximal tab 11912 may be sized and configured to allow relative movement between the longitudinal slot and the proximal tab and may include a sliding joint 11914. The slip joint 11914 can allow the intermediate firing shaft portion 11222 of the firing drive to move to articulate the end effector 11300 without moving, or at least substantially without moving, the knife bar 11910. Once the end effector 11300 has been properly oriented, the intermediate firing shaft portion 11222 can be advanced distally until the proximal side wall of the longitudinal slot 11223 comes into contact with the tab 11912 to advance the knife bar 11910 and fire the staple cartridge 14000 positioned within the channel 11310. Knife bar 11910 includes a knife portion 11920 that includes a knife blade or tissue cutting edge 11922 and includes an upper anvil engagement tab 11924 and a lower channel engagement tab 11926. Various firing member configurations and operations are disclosed in various other references that are incorporated by reference herein.

As can be seen in fig. 37, the shaft assembly 1200 further includes a switch barrel 11500 that is rotatably received on the proximal closure tube segment 13010. The switching barrel 11500 includes a hollow shaft segment 11502 having a shaft boss formed thereon for receiving an outwardly projecting actuator pin therein. In various circumstances, the actuation pin extends through a slot into a longitudinal slot provided in the locking sleeve to facilitate axial movement of the locking sleeve when engaged with the articulation driver. The rotating torsion spring 11420 is configured to engage a boss on the switching barrel 11500 and a portion of the nozzle housing 11203 to apply a biasing force to the switching barrel 11500. The shift barrel 11500 can further include at least a partial peripheral opening defined therein, which can be configured to receive a peripheral mount extending from the nozzle halves 11202, 11203 and allow relative rotation, but not relative translation, between the shift barrel 11500 and the proximal nozzle 11201. The mount also extends through an opening 13011 in the proximal closure tube segment 13010 to be seated in a recess in the spine shaft 11210. Rotation of the switch drum 11500 about the shaft axis SA will ultimately cause rotation of the actuating pin and locking sleeve between their engaged and disengaged positions. In one arrangement, rotation of the switch drum 11500 can be associated with axial advancement of a closure tube or closure member. Thus, actuation of the closure system may essentially operably engage and disengage the articulation drive system with the firing drive system in a variety of ways as described in further detail in the following references: U.S. patent application Ser. No. 13/803,086, and U.S. patent No. 9,913,642 entitled "SURGICAL INSTRUMENTS COMPLISING A SENSOR SYSTEM," the entire disclosures of each of which are hereby incorporated by reference. For example, when the closure tube is in its proximal-most position, corresponding to an "open-jaw" position, the closure tube 13010 will have positioned the switch drum 11500 to associate the articulation system with the firing drive system. When the closure tube has moved to its distal-most position, which corresponds to a "jaw closed" position, the closure tube has rotated the switch drum 1500 to a position in which the articulation system is disassociated from the firing drive system.

As also shown in fig. 37, the shaft assembly 11200 can include a slip ring assembly 11600, which can be configured, for example, to conduct electrical power to and/or from the end effector 11300 and/or to transmit and/or receive signals to and/or from the end effector 11300. The slip ring assembly 11600 may include a proximal connector flange 11604 mounted to a base flange 11242 extending from the base 11240 and a distal connector flange positioned within a slot defined in the shaft housing. The proximal connector flange 11604 can include a first face and the distal connector flange can include a second face positioned adjacent to and movable relative to the first face. The distal connector flange is rotatable about the shaft axis SA relative to the proximal connector flange 11604. The proximal connector flange 11604 may include a plurality of concentric or at least substantially concentric conductors defined in a first face thereof. The connector may be mounted on the proximal side of the connector flange and may have a plurality of contacts, where each contact corresponds to and is in electrical contact with one of the conductors. This arrangement allows for relative rotation between the proximal connector flange 11604 and the distal connector flange while maintaining electrical contact therebetween. For example, the proximal connector flange 11604 may include an electrical connector 11606 that may place conductors in signal communication with a shaft circuit board 11610 mounted to the shaft base 11240. In at least one example, a wire harness including a plurality of conductors may extend between the electrical connector 11606 and the shaft circuit board 1610. The electrical connector 11606 may extend proximally through a connector opening 11243 defined in the base mounting flange 11242. See fig. 38. More details about the slip ring assembly 11600 may be found, for example, in U.S. patent application serial No. 13/803,086, U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thicknes SENSOR SYSTEM," and U.S. patent 9,345,481 entitled "STAPLE CARTRIDGE TISSUE thicknes SENSOR SYSTEM" filed 3, 13, 2013. U.S. patent application serial No. 13/803,086, U.S. patent application serial No. 13/800,067, and U.S. patent 9,345,481, each of which is hereby incorporated by reference in its entirety.

As discussed above, the shaft assembly 11200 includes a proximal portion fixably mounted to the handle 11014, and a distal portion rotatable about a longitudinal axis. The rotatable distal shaft portion may be rotated relative to the proximal portion about the slip ring assembly 11600 as discussed above. The distal connector flange of the slip ring assembly 11600 may be positioned within the rotatable distal shaft portion. Also, in addition to the above, a switch barrel 11500 can also be positioned within the rotatable distal shaft portion. As the rotatable distal shaft portion rotates, the distal connector flange and the switch barrel 11500 can rotate in synchronization with each other. Additionally, the switch barrel 11500 is rotatable relative to the distal connector flange between a first position and a second position. When the switch drum 11500 is in its first position, the articulation drive system can be operably disengaged from the firing drive system such that operation of the firing drive system can not articulate the end effector 11300 of the shaft assembly 11200. When the switch drum 11500 is in its second position, the articulation drive system can be operably engaged with the firing drive system, and thus, operation of the firing drive system can articulate the end effector 11300 of the shaft assembly 1200. As the switch drum 11500 moves between its first position and its second position, the switch drum 11500 moves relative to the distal connector flange. In various examples, the shaft assembly 11200 can include at least one sensor configured to detect the position of the switch drum 11500.

Referring again to fig. 37, the base 11240 includes at least one, and preferably two, tapered attachment portions 11244 formed thereon that are adapted to be received within corresponding dovetail slots 11702 formed within the distal attachment flange portion 11700 of the frame 11020. See fig. 36. Each dovetail slot 11702 may be tapered, or in other words, may be slightly V-shaped, to seatingly receive the attachment portion 11244 therein. As can be further seen in fig. 37 and 38, a shaft attachment lug 11226 is formed on the proximal end of the intermediate firing shaft 11222. When the interchangeable shaft assembly 11200 is coupled to the handle 11014, the shaft attachment lugs 1226 are received in the firing shaft attachment brackets 11126 formed in the distal end 11125 of the longitudinal drive member 11120. See fig. 36.

Various shaft assembly embodiments employ a latch system 11710 for removably coupling the shaft assembly 11200 to the housing 11012 and more particularly to the frame 11020. As seen in fig. 37, for example, in at least one form, the latching system 11710 includes a lock member or lock yoke 11712 movably coupled to a base 11240. In the illustrated embodiment, for example, the lock yoke 11712 is U-shaped having two spaced apart and downwardly extending legs 11714. The legs 11714 each have pivot lugs 11715 formed thereon that are adapted to be received in corresponding holes 11245 formed in the base 11240. This arrangement facilitates pivotal attachment of the lock yoke 11712 to the base 11240. The lock yoke 11712 may include two proximally projecting lock ears 11716 configured for releasable engagement with corresponding lock pawls or recesses 11704 in the distal attachment flange 11700 of the frame 11020. See fig. 36. In various forms, the lock yoke 11712 is biased in a proximal direction by a spring or biasing member (not shown). Actuation of the lock yoke 11712 may be accomplished by a latch button 11722 that is slidably mounted on a latch actuator assembly 11720 mounted to the base 11240. The latch button 11722 may be biased in a proximal direction relative to the lock yoke 11712. The lock yoke 11712 can be moved to the unlocked position by biasing the latch button in a distal direction, which also causes the lock yoke 11712 to pivot out of retaining engagement with the distal attachment flange 11700 of the frame 11020. When the lock yoke 11712 is "held in engagement" with the distal attachment flange 11700 of the frame 11020, the lock lugs 11716 are retentively seated within the respective lock pawls or recesses 11704 of the distal attachment flange 11700.

When interchangeable shaft assemblies are employed that include end effectors of the types described herein as well as other types of end effectors adapted to cut and fasten tissue, it may be advantageous to prevent the interchangeable shaft assemblies from inadvertently disengaging from the housing during actuation of the end effector. For example, in use, a clinician may actuate the closure trigger 11032 to grasp and manipulate target tissue into a desired position. Once the target tissue is positioned within the end effector 11300 in a desired orientation, the clinician can fully actuate the closure trigger 11032 to close the anvil 12000 and clamp the target tissue in place for cutting and stapling. In such an example, the first drive system 11030 has been fully actuated. After the target tissue has been clamped in the end effector 11300, it may be advantageous to prevent the shaft assembly 11200 from inadvertently disengaging from the housing 11012. One form of the latching system 11710 is configured to prevent such inadvertent disengagement.

As best seen in fig. 37, lock yoke 11712 includes at least one, and preferably two, lock hooks 11718 adapted to contact corresponding lock lug portions 11 formed on closure shuttle 11250. When the closure shuttle 11250 is in the unactuated position (i.e., the first drive system 11030 is unactuated and the anvil 12000 is open), the lock yoke 11712 can be pivoted in the distal direction to unlock the interchangeable shaft assembly 11200 from the housing 11012. In this position, the lock hook 11718 does not contact the lock lobe portion 11256 on the closure shuttle 11250. However, when the closure shuttle 11250 is moved to the actuated position (i.e., the first drive system 11030 is actuated and the anvil 11306 is in the closed position), the lock yoke 11712 is blocked from pivoting to the unlocked position. In other words, if the clinician attempts to pivot the lock yoke 11712 to the unlocked position, or, for example, the lock yoke 11712 is inadvertently bumped or contacted in a manner that might otherwise cause it to pivot distally, the lock hooks 11718 on the lock yoke 11712 will contact the lock ears 11256 on the closure shuttle 11250 and prevent the lock yoke 11712 from moving to the unlocked position.

The attachment of the interchangeable shaft assembly 11200 with the handle 11014 will now be described. To begin the coupling process, the clinician may position the base 11240 of the interchangeable shaft assembly 11200 over or adjacent to the distal attachment flange 11700 of the frame 11020 such that the tapered attachment portion 11244 formed on the base 11240 is aligned with the dovetail slot 11702 in the frame 11020. The clinician may then move the shaft assembly 11200 along a mounting axis perpendicular to the shaft axis SA to seat the attachment portions 11244 in "operable engagement" with the corresponding dovetail-shaped receiving slots 11702. In doing so, the shaft attachment lugs 11226 on the intermediate firing shaft 11222 will also seat in the cradle 11126 in the longitudinally movable drive member 11120 and the portions of the pins 11037 on the second closure link 1038 will seat in the corresponding hooks 11252 in the closure yoke 11250. As used herein, the term "operably engaged" in the context of two components means that the two components are sufficiently engaged with one another such that upon application of an actuation motion thereto, the components may perform their intended action, function, and/or procedure.

At least five systems of the interchangeable shaft assembly 11200 can be operably coupled with at least five corresponding systems of the handle 11014. The first system may include a frame system that couples and/or aligns the frame or spine of the shaft assembly 11200 with the frame 11020 of the handle 11014. Additional systems can include a closure drive system 11030 that can operably connect the closure trigger 11032 of the handle 11014 with the closure tube assembly 13000 and anvil 12000 of the shaft assembly 11200. As outlined above, the closure tube attachment yoke 1250 of the shaft assembly 11200 can engage the pin 11037 on the second closure link 11038. Additional systems may include a firing drive system 11080 that may operably connect the firing trigger 11130 of the handle 1014 to the intermediate firing shaft 11222 of the shaft assembly 11200. As outlined above, the shaft attachment lugs 11226 may be operably connected with the cradle 11126 of the longitudinal drive member 11120. Another system may include an electrical system capable of: signals that the shaft assembly (such as the shaft assembly 11200) has operably engaged with the handle 11014 are sent to a controller (such as a microcontroller) in the handle 11014 and/or power and/or communication signals are conducted between the shaft assembly 11200 and the handle 11014. For example, the shaft assembly 11200 can include an electrical connector 11810 operatively mounted to the shaft circuit board 11610. The electrical connector 11810 is configured for mating engagement with a corresponding electrical connector 11800 on the handle control board 11100. More details regarding the circuitry and control system can be found in U.S. patent application serial No. 13/803,086 and U.S. patent application serial No. 14/226,142, the complete disclosures of each of which are previously incorporated herein by reference. The fifth system may consist of a latching system for releasably locking the shaft assembly 11200 to the handle 11014.

When using an end effector 11300 of the type and configuration described herein, the clinician manipulates first and second jaws (an anvil 12000 and an elongate channel 11310 having a surgical staple cartridge operably mounted therein) to capture tissue to be cut and stapled ("target tissue") therebetween. As can be seen in fig. 38, for example, the surgical staple cartridge 14000 comprises a cartridge body 14010 that is configured to be removably supported within an elongate channel 11310. The cartridge body 14010 includes an elongated cartridge slot 14016 that extends through the cartridge body 14010 from a proximal end 14012 to a distal end portion 14014 to enable a knife member or firing member 11920 to pass therethrough. The cartridge body 14010 also defines a cartridge deck surface 14020 on each side of the elongate slot 14016. A plurality of staple cavities 14022 are disposed in the cartridge body 14010 on each side of the elongate slot 14016. Each cavity 14022 opens through the deck surface 14020 to removably support one or more surgical staples therein. In at least one cartridge arrangement, three rows of staple cavities 14022 are provided on each side of the elongate slot 14016. The rows are shaped so that the staples in the central row are staggered with respect to the staples in the two adjacent outer rows. The staples are supported on staple drivers that are movably supported within each staple cavity. In at least some arrangements, for example, the staple drivers are arranged to contact or "fire" upwardly when contacted by a camming member or camming portion associated with the knife member 11920. In some arrangements, a wedge slide or camming slide is movably supported in the cartridge body and is adapted to be axially displaced through the cartridge body as the knife member 11920 is axially deployed through the cartridge from the proximal end portion 14012 to the distal end portion 14014 of the cartridge body 14010. The wedge sled includes a camming member or wedge associated with each row of staple cavities for continuously deploying the staple drivers supported therein. As the cams contact the staple drivers, the drivers are driven upwardly within the staple cavities, thereby driving one or more staples supported thereon out of the staple cavities and through the clamped tissue into forming contact with the staple forming surface of the anvil. The wedge sled or camming member is located distal to the knife or tissue cutting edge of the knife or firing member 11920 such that tissue is stapled prior to being severed by the tissue cutting edge.

Referring again to fig. 38, in the illustrated example, the anvil 12000 includes an anvil body 12002 that terminates in an anvil mounting portion 12010. The anvil mounting portion 12010 is movably or pivotally supported on the elongate channel 11310 for selective pivotal travel relative thereto about a fixed anvil pivot axis PA transverse to the shaft axis SA. In the illustrated arrangement, a pivot member or anvil trunnion 12012 extends laterally out of each lateral side of the anvil mounting portion 12010 to be received in a corresponding trunnion bracket 11316 formed in an upstanding wall 11315 of the proximal end portion 11312 of the elongate channel 11310. The anvil trunnions 12012 are pivotally retained in their corresponding trunnion mounts 11316 by a channel cover or anvil retainer 11290. The channel cover or anvil retainer 11290 includes a pair of attachment lugs configured to be retainingly received within corresponding lug grooves or notches formed in the upstanding wall 11315 of the proximal end portion 11312 of the elongate channel 11310.

In at least one arrangement, the distal closure member or end effector closure tube 13050 employs two axially offset proximal positive jaw opening features 13060 and distal positive jaw opening features 13062. The positive jaw opening features 13060, 13062 are configured to interface WITH corresponding relief areas and step portions formed on the anvil mounting portion 12010, as described in further detail in U.S. patent application serial No. 15/635,631 entitled "minor insert WITH axial MOVABLE close chamber MEMBER," filed on 28.6.2017, the entire disclosure of which is incorporated herein by reference. Other jaw opening arrangements may be employed.

Fig. 39 shows a portion of a shaft assembly 15200 similar to the previous shaft assembly 11200, except for the differences discussed below. For the sake of brevity, details regarding the construction and operation of similar components in the two shaft assemblies will not be repeated. As discussed below, the shaft assembly may be used in conjunction with a housing similar to the previous housing 11012. In the exemplified arrangement, the shaft assembly 15200 comprises a distal spine shaft segment 15210 that is configured to be pivotally coupled to the surgical end effector at an articulation joint such that the surgical end effector is articulatable relative to a distal end of the distal spine shaft segment 15210 about an articulation axis by the articulation system 15100. In one form, the articulation system 15100 includes a proximal articulation driver 15102 that is pivotally coupled to the articulation link in the manner described above. Axial movement of the proximal articulation driver 15102 will apply an articulation motion to the surgical end effector to articulate the surgical end effector about an articulation axis relative to the spine assembly 15210.

The shaft assembly 15200 also includes a closure system or closure member assembly 17000 that can be used to close and/or open the jaws of a surgical end effector in the manner described above. The closure member assembly 17000 includes a proximal closure member segment or proximal closure tube segment 17010 attached to a distal closure member. The distal closure member forms a double pivot closure sleeve assembly with an end effector closure tube to facilitate articulation of the surgical end effector, as discussed above with respect to shaft assembly 11200.

The shaft assembly 15200 also includes a firing drive assembly 11900 that is supported for axial travel within the spine shaft 15210. The firing drive assembly 11900 includes an intermediate firing shaft portion 11902 configured for attachment to a distal cutting portion or knife bar, as discussed above.

Turning to fig. 40, the base portion of the shaft assembly 15200 and the closure shuttle arrangement have been omitted for clarity. The proximal closure tube segment 17010 is supported in the closure shuttle for axial travel with the closure shuttle in any of the various manners disclosed herein. As discussed above, the closure shuttle can be moved axially within the base by actuating a closure trigger or (other form of closure actuator). The proximal end portion 17012 of the proximal closure tube segment 17010 is coupled to the closure shuttle to rotate relative to the closure shuttle. Axial movement of the closure shuttle results in axial movement of the closure member assembly 17000 to apply closing and opening motions to the jaws of the surgical end effector. As described above, the shaft attachment lugs 11904 are formed on the proximal end of the intermediate firing shaft 11902. When the shaft assembly 15200 is coupled to the housing of the surgical instrument, the shaft attachment lugs 11902 are received in the firing shaft attachment brackets formed in the distal end of the motor driven longitudinal drive member in the manner described above.

The shaft assembly 15200 employs a drive clutch assembly 16000 for selectively coupling the articulation system 15100 to the firing drive assembly 11900 such that the articulation system 15100 can be actuated by the firing drive assembly 11900 when the jaws of the end effector are open. When the jaws of the end effector are closed, the articulation system 15100 is locked in place from engagement with the firing drive assembly such that the firing drive assembly 11900 can be actuated without actuating the articulation system 15100. In the illustrated arrangement, the proximal end 15104 of the proximal articulation driver 15102 is coupled to a clutch link 16010 that is journaled on the intermediate firing shaft 11902. In other words, the intermediate firing shaft 11902 extends through a central shaft hole 16011 that extends through the clutch link 16010. The clutch connection 16010 is supported within a proximal spine shaft insert 16030 that is supported proximal to the distal spine shaft segment 15210.

In the illustrated arrangement, the spine shaft insert 16030 includes an axial connector slot 16034 for axially supporting the clutch connector 16010 therein. The intermediate firing shaft 11902 extends through a central shaft aperture 16032 in the spine shaft insert 16030 and through a central aperture 16011 in the clutch link 16010, as shown in fig. 43. The axial connector slot 16034 includes a lower axial slot 16036 (fig. 43 and 47) configured to slidably receive a lower support tab 16014 on the clutch connector 16010. Such an arrangement allows the clutch connection 16010 to move axially within the axial connection slot 16034, but is prevented from rotating therein.

As seen in fig. 43 and 44, a hook 15106 is formed on the proximal end 15104 of the proximal articulation driver 15102 and is configured to be received in a hook cavity 16013 in the clutch connection 16010. The clutch connection 16010 is configured to be engaged or coupled with the intermediate firing shaft 11902 by a lockout rod or lock member 16020 slidably mounted in a slot 16012 in the clutch connection 16010 for selective radial travel therein. The lock member 10620 is radially movable within the slot 16012 between an engaged position (fig. 49) in which the lock member 16020 is received within a radial lock notch 11906 in the intermediate firing shaft 11902, and an engaged position (fig. 49).

Drive clutch assembly 16000 also includes a radially extendable clutch plate assembly 16050. As seen in fig. 45 and 46, in at least one arrangement, the clutch plate assembly 16050 extends partially around the proximal closure tube segment 17010. The clutch plate assembly 16050 may be similar to a clamshell comprising first 16052 and second 16054 clamp segments coupled together or interconnected by a living hinge 16056 that allows relative movement of the clamp segments 16052, 16054 radially inward and outward. The clutch plate assembly 16035 is loosely retained on the proximal closure tube segment 17010 by a pair of C-clips 16066, which facilitate a small amount of radial expansion of the clutch plate assembly 16030 while retaining the clutch plate assembly on the proximal closure tube segment 17010.

In the illustrated arrangement, the locking member 16020 extends through an axial slot 17014 in the proximal closure tube segment 17010 (fig. 43, 49, 53) and an axial slot 16058 formed in the second clip segment 16054 (fig. 43 and 45). The axial slots 16058 define two inwardly extending ledges 16060 that are engageable by two laterally extending fins 16022 formed on the locking member 16020. Ledge 16060 is slidably received between fin 16022 and clutch connector 16010. Such an arrangement enables the clutch connection 16010 and the locking member 16020 to move axially (arrow AT in fig. 45) relative to the second clamp segment 16054. Such an arrangement also couples the locking member 16020 to the second clamp segment 16054 such that the locking member 16020 will travel radially with the second clamp segment 16054. The ledge 16060 is recessed into the second clamp segment 16054 to define a locking cavity 16062. The locking lid 16070 is received in the locking cavity 16062. The locking cap 16050 includes an axial slot 16052 through which the locking member 16020 extends. See fig. 45 and 46.

Turning now to fig. 39-42, shaft assembly 15200 includes a nozzle assembly 15201 that is similar to nozzle 11201 and includes nozzle portions 15202 and 15203. Further, the proximal nozzle section 15204 is attached to the nozzle assembly 15201 to facilitate rotation of the nozzle assembly 15201 relative to the base about the shaft axis SA in the various manners described herein. As can be seen in fig. 40, the nozzle assembly 15201 includes a series of radial locking grooves 15206 configured to lockingly engage a series of locking fins 16024 formed in the tip of the locking member 16020.

Turning next to fig. 47 and 48, in the illustrated example, the proximal spine shaft insert 16030 is also formed with an articulation lock assembly 16040. In one form, the articulation lock assembly 16040 includes a clamp arrangement in which a locking clamp portion 16042 is movably attached to a proximal spine shaft insert 16030 by a living hinge 16044. The locking clamp portion 16042 includes a clamp tab 16046 arranged in a facing arrangement with a clamp surface 16038 formed in a proximal spine shaft insert 16030. As can be seen in fig. 48, proximal articulation driver 15102 is slidably received between grip tab 16046 and grip surface 16038. In addition, grip actuator tab 17016 is crimped into proximal closure tube segment 17010 such that grip actuator tab 17016 engages grip tab 16046.

As described above, in the illustrated example, the drive clutch assembly 16000 is configured to couple the articulation system 15100 to the firing drive assembly 11900 such that the articulation system 15100 can be actuated by the firing drive assembly 11900 when the jaws of the end effector are opened. When the jaws of the end effector are closed, the articulation system 15100 is locked in place from engagement with the firing drive assembly such that the firing drive assembly 11900 can be actuated without actuating the articulation system 15100. To accomplish such automatic actuation of the drive clutch assembly 16000, an axially movable actuator member 16080 is attached to the proximal end portion 17012 of the proximal closure tube segment 17010. In at least one arrangement, for example, the intermediate firing shaft portion 11902 includes an actuator ring 16082 fixedly attached to the proximal end portion 17012 of the proximal closure tube segment 17010. In one example, the actuator ring 16082 is crimped to the proximal closure tube segment 17010 by a crimp 16084. However, other methods of attaching the actuator member 16080 to the proximal closure tube segment 17010 may be employed.

The operation of the drive clutch assembly 16000 will now be described with reference to fig. 49-54. Fig. 49 and 50 show drive clutch 16000 in an engaged orientation. When in this position, the proximal closure tube segment 17010 is in its proximal-most position corresponding to the jaw-open position. When in this position, the closure system has not been actuated. For example, in applications where the shaft assembly 15200 is already attached to the handheld housing, the closure trigger has not been depressed. As seen in fig. 49, the actuator 16080 is located proximal to the radially expandable clutch plate assembly 16050. As can be further seen in fig. 49, the clutch plate assembly 16050 is clamped to the proximal closure tube segment 17010 in its first clamped position by clamp ring 16066. When in this position, the lock member 16020 is in locking engagement with the radial lock notch 11906 in the intermediate firing shaft 11902. Thus, the lock member 16020 and the clutch link 16010 are locked to the intermediate firing shaft 11902. Because the proximal articulation driver 15102 is hooked to the clutch link 16010, it is also linked to the intermediate firing shaft 11902. Thus, the clinician is now able to articulate the surgical end effector attached to the shaft assembly 15200 by actuating the firing drive assembly 11900 to axially move the intermediate firing shaft portion 11902. Because the proximal firing drive 15102 is coupled to the intermediate firing shaft portion 11902, axial movement of the intermediate firing shaft portion 11902 also axially moves the proximal articulation drive 15102 and articulates the surgical end effector. If the clinician causes the intermediate firing shaft portion 11902 to be driven in the distal direction DD, the surgical end effector will articulate in a rightward direction about the articulation axis. See fig. 51. If the clinician drives the intermediate firing shaft portion 11902 in the proximal direction PD, the surgical end effector will articulate in a leftward direction about the articulation axis. See fig. 52. In either case, articulation occurs with the jaws of the end effector in an open position.

Once the clinician has articulated the surgical end effector in the desired position, the firing drive system 11900 is deactivated. The clinician may then activate the closure system to close the jaws of the articulated end effector onto the target tissue. As described above, when the shaft assembly 15200 is attached to the handheld housing, the clinician can actuate the closure system by depressing the closure trigger. Actuation of the closure system causes the proximal closure tube segment 17010 to move axially in the distal direction. Distal movement of the proximal closure tube segment 17010 also causes the cam surface 16086 formed on the distal end of the actuator member 16080 to slide under the radially expandable clutch plate assembly 16050, thereby driving it radially outward (arrow RD in fig. 54). Radial movement of the second clamp segment 16054 disengages the lock member 16020 from the radial lock notch 11906 in the intermediate firing shaft 11902 and the lock fins 16024 formed thereon to lockingly engage the radial lock recess 15206 in the nozzle assembly 15201. See fig. 53 and 54. When in this position, the articulation system, i.e., proximal articulation drive 15102, is no longer associated with the firing drive system. The clinician can actuate the closure drive system until the jaws of the surgical end effector are in a closed position. Distal movement of the proximal closure tube segment 17010 also engages the grip actuator tab 17016 with the grip tab 16046 of the articulation lock assembly 16040, thereby clamping the proximal articulation driver 15102 in place and preventing any axial movement thereof. Thus, when the jaws are in the closed position, the articulation drive system is disengaged from the firing drive system and the articulation drive system is locked in place. The clinician may then operate the firing drive system to drive the intermediate firing shaft portion 11902 and a firing bar attached thereto distally to complete the firing of the surgical end effector. When the clinician retracts the proximal closure tube segment 17010 proximally back to the starting or unactuated position, the clamp ring 16066 will return the clutch plate assembly 16050 to the clamped engaged position, again associating the articulation system to the firing drive system and unlocking the articulation lock assembly 16040 to allow the proximal articulation driver 15102 to again move axially.

Fig. 55-57 illustrate portions of another interchangeable shaft assembly 18200 similar to the interchangeable shaft assembly 11200, except for the differences discussed below. In the interchangeable shaft assembly 11200, the articulation system is linked to the firing drive system until the closure system is actuated. Actuation of the closure system decouples the articulation system from the firing drive system so that the firing drive system may be subsequently actuated without actuating the articulation system. In the interchangeable shaft assembly 18200, the articulation system can be actuated independently of the closure system. Thus, in the interchangeable shaft assembly 18200, the surgical end effector can be articulated while its jaws are fully open, partially open, or fully closed. Such articulation capabilities were not available with previous interchangeable shaft assemblies 11200.

Turning first to fig. 56 and 57, the shaft assembly 18200 employs a displacement cartridge assembly 18500 journaled on the proximal end portion of a proximal closure tube segment 20010. The axial displacement of the proximal closure tube segment 20010 is controlled in the manner described above with respect to the proximal closure tube segment 13010. The proximal closure tube segment 20010 can move axially without moving the displacement cartridge assembly 18500. As seen in fig. 57, the shaft assembly 18200 can include a clutch assembly 18400, which can be configured to selectively and releasably couple the proximal articulation driver 19102 to the intermediate firing member 18222. In one form, the clutch assembly 18400 includes a lock collar or lock sleeve 18402 positioned about the intermediate firing member 18222, wherein the lock sleeve 18402 is rotatable between an engaged position in which the lock sleeve 18402 couples the proximal articulation driver 19102 to the intermediate firing member 18222 and a disengaged position in which the proximal articulation driver 19102 is not operably coupled to the intermediate firing member 18222. When the lock sleeve 18402 is in its engaged position, distal movement of the intermediate firing member 18222 may move the articulation driver 19102 distally, and, correspondingly, proximal movement of the intermediate firing member 18222 may move the proximal articulation driver 19102 proximally. When the lock sleeve 18402 is in its disengaged position, the motion of the intermediate firing member 18222 is not transferred to the proximal articulation driver 19102, and thus, the intermediate firing member 18222 may move independently of the proximal articulation driver 19102. In various instances, the ARTICULATION drive 19102 may be held in place by AN ARTICULATION LOCK of the type disclosed in U.S. patent application serial No. 13/803,086 entitled "ARTICULATION motor assembly compensation AN ARTICULATION LOCK," filed on 3, 14, 2013, the entire disclosure of which is incorporated herein by reference.

Referring primarily to FIG. 57, the lock sleeve 18402 can include a cylindrical, or at least substantially cylindrical, body that includes a longitudinal bore 18403 defined therein that is configured to receive the intermediate firing member 18222. The locking sleeve 18402 may include diametrically opposed, inwardly facing locking protrusions 18404 and outwardly facing locking members 18406. The lock protrusion 18404 can be configured to selectively engage with the intermediate firing member 18222. More specifically, when the lock sleeve 18402 is in its engaged position, the lock protrusion 18404 is positioned within a drive notch 18228 defined in the intermediate firing member 18222 such that a distal thrust and/or a proximal thrust can be transmitted from the intermediate firing member 18222 to the lock sleeve 18402. When the lock sleeve 18402 is in its engaged position, the second lock member 18406 is received within the drive notch 19104 defined in the proximal articulation driver 19102 such that a distal pushing force and/or a proximal pulling force applied to the lock sleeve 18402 may be transmitted to the proximal articulation driver 19102. In fact, when the lock sleeve 18402 is in its engaged position, the intermediate firing member 18222, the lock sleeve 18402, and the proximal articulation driver 19102 will move together. On the other hand, when the lock sleeve 18402 is in its disengaged position, the lock protrusion 18404 may not be positioned within the drive notch 18228 of the intermediate firing member 18222 and, as a result, a distal pushing force and/or a proximal pulling force may not be transmitted from the intermediate firing member 18222 to the lock sleeve 18402. Correspondingly, the distal pushing force and/or the proximal pulling force may not be transmitted to the proximal articulation driver 19102. In such instances, the intermediate firing member 18222 can slide proximally and/or distally relative to the lock sleeve 18402 and the proximal articulation driver 19102. The intermediate firing member 18222 may be axially advanced in various manners described herein. Axial advancement of the proximal articulation driver 19102 in the distal direction will articulate the surgical end effector to the left, and axial retraction of the proximal articulation driver in the proximal direction will articulate the surgical end effector to the right in the various manners described herein.

As can be seen in fig. 57, the displacement barrel assembly 18500 comprises a tubular or cylindrical body 18502 that is received on a proximal portion of a proximal closure tube segment 20010. The shift barrel assembly 18500 also includes a proximal flange 18504 disposed in a confronting arrangement with a mount flange 18242 extending from a mount 18240. The base 18240 also operably supports the nozzle assembly 18201 in the various manners described herein. In the illustrated example, the cam slot 18506 is disposed in the shifting barrel body 18502 and is configured to receive therein a shifter pin 18422 on a shifter key 18420 that is configured to be received within a slot 18410 in the locking sleeve 18402. As can be seen in fig. 57, the shifter key 18420 extends through the clutch slot 21012 in the spine shaft 21010. The spine axis 21010 may otherwise be similar to the spine axis 1210 described above. A distractor pin 18422 extends through a pin slot 12014 in the spine shaft 21010 and through a distractor window 20011 in the proximal closure tube segment 20010. As will be described further below, axial movement of the shifter barrel 18500 will result in rotational travel of the lock sleeve 18402 to drivingly engage the lock sleeve 18402 with the intermediate firing member 18222 and the proximal articulation driver 19102 as described above.

In the illustrated example, axial movement of the switch drum 18502 can be controlled by at least one solenoid assembly 18600. As can be seen in fig. 57, the illustrated example employs two solenoid assemblies 18600. In at least one example, each solenoid assembly 18600 includes an axially movable solenoid actuator 18602 movably supported by a base flange 18242. Solenoid assembly 18600 is coupled to a circuit control board on a housing to which shaft assembly 18200 is attached in the various ways described herein and in the various references incorporated by reference. When solenoid 18600 is actuated, actuator 18602 contacts proximal flange 18504 of switching drum assembly 18500 to move the switching drum assembly in the distal direction DD. A return spring 18700 located in the nozzle assembly (not shown) is used to bias the switch drum in the proximal direction PD. See fig. 65.

One method of operating the shaft assembly 18200 will now be described with reference to fig. 58 and 59, which diagrammatically illustrate various steps or actions for operating the shaft assembly 18200. As can be seen in fig. 58, for example, in step 1, the control system in the housing is in an "active" state to enable articulation of a surgical end effector coupled to the shaft assembly 18200. As discussed above, the housing to which the shaft assembly 18200 is operably coupled includes control circuitry or systems, and may include a display screen located on or remote from the housing to display certain operating parameters and indicators to a user. When the articulation system is in the active state indicated at step 1, the closure system is in its unactuated or fully retracted state, which corresponds to the jaws of the surgical end effector being in their fully open position. The solenoid is unactuated with its actuator in its retracted position. See fig. 60. As can be seen in fig. 60, the shifter pin 18422 is located in a distal-most portion 18508 of the cam slot 18506. When in this position, if desired, as the shifter pin 18422 has rotated the lock sleeve 18402 in the counterclockwise CCW direction (the user's angle), the user may actuate the articulation system to articulate the end effector such that the second lock member 18406 on the lock sleeve 18402 rotates into engagement with the drive notch 19104 in the proximal articulation driver 19102. When in this position, the lock sleeve 18402 engages the intermediate firing member 18222.

Still referring to fig. 58, at step 2, the user has partially advanced the proximal closure tube segment 20010 by actuating the closure system in the various manners described herein. See fig. 61. At this stage, the user may have partially or fully closed the jaws, but the system still facilitates articulation of the surgical end effector, if desired. At step 3, the user has closed the end effector jaws. At this stage, the instrument may be fired if desired. In one arrangement, for example, a display screen of the instrument may display instructions indicating "ready to fire," and the firing drive system may be initially actuated. For example, in arrangements that include a firing trigger, the display screen may instruct the user to "pull" or otherwise actuate the firing trigger. This initial actuation of the firing drive system may energize the solenoid 18600 such that the solenoid actuator 18602 moves the displacement cartridge assembly 18500 in the distal direction DD. The control system algorithm may provide a predetermined delay period (e.g., 15 seconds, etc.) and display a message "wait fifteen seconds," etc. after the firing drive system is actuated.

As the shifting cartridge assembly 18500 moves in the distal direction, the shifter pin 18422 enters the camming portion 18510 of the cam slot 18506 in the shifting cartridge assembly 18500. As the shifter pin 18422 enters the camming portion 18510 of the camming slot 18506, the shifting barrel assembly causes the shifter pin 18422 and the shifter key 18420 to rotate the locking sleeve 18402 in the clockwise CW direction (the angle of the user). As the lock sleeve 18402 is rotated in the clockwise position, the second lock member 18406 is rotated out of engagement with the drive notch 19104 in the proximal articulation driver 19102 to disengage the articulation system from the firing drive system. See fig. 62. At step 4, the user can then actuate the firing drive system to advance the intermediate firing member 18222 and drive the firing member ("knife") through the surgical end effector in the various manners described herein.

At step 5, the firing member or knife has been fully returned to its starting position and the user has actuated the closure system to open the end effector jaws. See fig. 63. Turning next to fig. 59, at step 6, the algorithm of the surgical instrument control system may then cause solenoid 18600 to retract after the system detects that the jaws have opened. This may be accomplished with sensors that detect the position of the closure tube and/or jaws on the surgical end effector. When solenoid 18600 is de-energized, actuator 18602 retracts. See fig. 65. In step 7, the return spring 18700 biases the displacement cartridge assembly 18500 in the proximal direction PD to the "riding mode". When in the ride mode, the shifter pin 18422 does not fully cam the cam portion 18510 of the cam slot 18506 such that the inward facing lock protrusion 18404 on the lock sleeve 18402 does not rotate into engagement with the drive notch 18228 in the intermediate firing member 18222. At this stage, the control system may initiate an articulation capture algorithm that enables the displacement cartridge assembly 18500 to rotate back to the starting position shown in fig. 66. When in this position, the articulation system is again operably coupled to the firing drive system and the jaws of the surgical end effector are in an open position. The user may then actuate the articulation system in the manner described above to articulate the surgical end effector with its jaws open. In at least one arrangement, the displacement cartridge assembly 18500 can have thicker walls and/or be made of a harder material than displacement cartridge assemblies used in previous shaft assemblies (such as the previous interchangeable shaft assembly 11200). The return spring may also bias the displacement cartridge assembly 18500 back into the articulation mode when the solenoid is de-actuated. A current articulation engagement switch may be employed and may include a magnet/linear hall effect sensor, which may be replaced by a simple contact switch, an induction coil, or other option for detecting the proximity of the displacement drum flange 18504 to the sensor motion.

Fig. 67 shows portions of another interchangeable shaft assembly 212000 attached to a housing 21012 that includes a handle 21014 configured to be grasped, manipulated, and actuated by a clinician, as described above. The interchangeable shaft assembly 212000 has a surgical end effector operably attached thereto and includes a base 21240 that is configured to operably attach to the housing 21012. See fig. 68 and 69. The surgical end effector can be similar to the surgical end effector 11300 described above. The base 21240 operably supports a nozzle assembly 21201, which is similar to the nozzle assemblies described above, except for the differences discussed below. In at least one arrangement, the nozzle assembly 21201 includes a proximal portion or fin assembly 21203 and a distal location 2107. In fig. 68 and 69, only the fin assembly 21203 is shown. The distal nozzle section has been omitted for clarity. However, it should be understood that distal nozzle portion 2107 may be configured to operably interface with a spine assembly (not shown) such that nozzle assembly 21201 can be used to rotate the shaft assembly about shaft axis SA in the various manners described herein.

Turning to fig. 68 and 69, the fin assembly 21203 of the nozzle assembly 21330 is operatively associated to the displacement cartridge assembly 21500 by two connecting arms 21205 that are pinned or otherwise attached to the proximal flange 21504 of the displacement cartridge assembly 21500. The displacement cartridge assembly 21500 is otherwise similar to the displacement cartridge assembly 18500 described above. Specifically, the shifter cartridge assembly 21500 includes a body portion 21502 having a cam slot 21506 therein that is configured to receive a shifter pin 18422 on a shifter key 18420 therein in the manner described above. The user may actuate the displacement cartridge assembly 21500 by pulling back on the fin assembly 21203 of the nozzle assembly 21201. See fig. 67.

Fig. 68 illustrates the position of the displacement cartridge assembly 21500 when the joint movement system is in an activated state. The closure system can be in its unactuated or fully retracted state, which corresponds to the jaws of the surgical end effector being in their fully open position. The closure system can also be actuated to partially close or close the jaws, as described above. As can be seen in fig. 68, the shifter pin 18422 is located in the proximal-most portion 21512 of the cam slot 21506. When in this position, if desired, as the shifter pin 18422 has rotated the lock sleeve 18402 in the counterclockwise CCW direction (the user's angle), the user may actuate the articulation system to articulate the end effector such that the second lock member 18406 on the lock sleeve 18402 rotates into engagement with the drive notch 19104 in the proximal articulation driver 19102. When in this position, the lock sleeve 18402 is engaged with the intermediate firing member 18222, as described above. See fig. 57. Further, the fin assembly 21203 of the nozzle assembly 21201 is in its distal-most position. The articulation system can then be activated by activating the firing drive system to advance the intermediate firing member 18222 distally.

As described above, once the user has articulated the end effector to the desired position and the jaws have been fully closed, the articulation system can be disengaged from the firing system by pulling the fin assembly 21203 in the proximal direction PD. See fig. 67. As seen in fig. 69, pulling the fin assembly 21203 in the proximal direction pulls the displacement cartridge assembly 21500 proximally. As the shifter cartridge assembly 21500 is moved proximally, the shifter pin 18242 enters the camming portion 21510 of the cam slot 21506 and causes the shifter pin 18422 and the shifter key 18420 to rotate the lock sleeve 18402 in the clockwise CW direction (the angle of the user). As the locking sleeve is rotated in a clockwise direction, the second lock member 18406 is rotated out of engagement with the drive notch 19104 in the proximal articulation driver 19102 to disengage the articulation system from the firing drive system. The shift barrel assembly 21500 and the fin assembly 21203 are in their proximal-most positions.

As seen in fig. 69, when the shift cartridge assembly 21500 is in its proximal-most position, the flange 21504 of the shift cartridge assembly 21500 is adjacent the base flange 21242. In the illustrated example, one or more magnets 21600 are mounted in the base flange 21242 to maintain the shift cartridge assembly 21500 in this proximal-most position, which corresponds to a position in which the articulation system has been disengaged from the firing drive system. Additionally, in at least one arrangement, one or more sensors 21602 are mounted in the base flange 21242, the one or more sensors configured to detect the presence of the displacement cartridge flange 21504 when in the proximal position. The sensors 21602 are in electrical communication with an on-board circuit control board 21604, which is in communication with a control board associated with the housing. In an alternative arrangement, the presence of the metal displacement cartridge assembly 21500 can be sensed using a simple contact switch or an induction coil, for example. As discussed above, the housing to which the shaft assembly 21200 is operatively coupled may include a display screen located on or remote from the housing to display certain operating parameters and indicators to a user. When the sensor detects the presence of the displacement cartridge assembly flange 21504, the display may show, for example, "articulation system inactive". An alternative arrangement may employ one or more biasing springs or magnets in the nozzle assembly to switch the shift barrel assembly 21500 into the shifted and un-shifted positions. Such an arrangement facilitates articulation of the surgical end effector while its jaws are fully open, partially open, or fully closed. The arrangement may also be adapted for use with a dedicated shaft assembly that is non-removably attached to the housing.

Fig. 70-74 illustrate various components of another shaft assembly 22200 that may be attached to a housing of the type described above, or it may include a shaft assembly that is specific to the housing arrangement and not designed to be interchangeable. In either case, the shaft assembly 22200 has a surgical end effector operably attached thereto and includes a base 22240 that is configured to operably attach to the housing. The surgical end effector may be similar to the surgical end effector 11300 described above and attached thereto for selective articulation about an articulation axis that is transverse to the shaft axis SA. The base 22240 operably supports a nozzle assembly 22201 similar to the nozzle assembly 11201 described above. As seen in fig. 70, the nozzle assembly 22201 includes a proximal portion 22205 and a fin assembly 22203. The proximal nozzle portion 22205 is configured to operably interface with the spine shaft 23010 (fig. 71) such that the nozzle assembly 22201 can be used to rotate the shaft assembly about the shaft axis SA in the various manners described herein. The spine axis 23010 is similar to the spine axis 21010 described above and shown in FIG. 57, except for the differences discussed below. An intermediate firing shaft 18222 is slidably supported within the spine shaft 23010. The operation of the firing shaft 18222 is discussed above and will not be repeated for the sake of brevity.

The shaft assembly 22200 employs a displacement cartridge assembly 22500 that is somewhat similar to the displacement cartridge assembly 18500, except that the displacement cartridge assembly 22500 may be displaced by actuating a closure system. In one arrangement, the shifter cartridge assembly 22500 includes a body portion 22502 having a cam slot 22506 therein that is configured to receive a shifter pin 18422 on a shifter key 18420 therein in the manner described above. The displacement cartridge assembly 22500 includes a pair of diametrically opposed cartridge displacer pins 22520 attached thereto by, for example, threads, welds, press fit, adhesive, or the like. The cartridge displacer pin 22520 is configured to extend through a corresponding closure slot 22020 in the proximal closure tube segment 22010. Fig. 72-74 illustrate one form of a proximal closure tube segment 22010. The proximal closure tube segment 22010 is attached to the closure system in the various manners disclosed herein to selectively axially advance the proximal closure tube segment 22010 to apply a closing motion to one or more jaws of a surgical end effector.

As seen in fig. 72-74, the proximal closure tube segment 22010 further includes a distractor window 22011 configured to allow a distractor pin 18422 to extend therethrough in the manner described above. In addition, the proximal closure tube segment 22010 includes diametrically opposed lug windows 22013, 22015 configured to allow lugs (not shown) on the nozzle assembly 22201 to extend therethrough to engage flats (not shown) on the spine shaft 23010. The lugs are used to couple the nozzle assembly 22201 to the spine shaft 23010 such that rotation of the nozzle assembly 22201 about the shaft axis SA causes the spine shaft 23010, and the surgical end effector coupled thereto, to also rotate about the shaft axis SA. Fig. 70 illustrates the position of the proximal closure tube segment 22010 relative to the displacement cartridge assembly 22500 when the proximal closure tube segment 22010 is in a proximal-most position corresponding to an unactuated position. When in this position, the closure system has not been actuated and the jaws of the surgical end effector are in an open position. A return spring 18700 is used to bias the displacement cartridge assembly 22500 proximally into this position. When in this position, the shifter pin 18422 is in the distal-most portion 22508 of the cam slot 22506. When in this position, if desired, as the shifter pin 18422 has rotated the lock sleeve 18402 in the counterclockwise CCW direction (the user's angle), the user may actuate the articulation system to articulate the end effector such that the second lock member 18406 on the lock sleeve 18402 rotates into engagement with the drive notch 19104 in the proximal articulation driver 19102. See fig. 57. When in this position, the lock sleeve 18402 engages the intermediate firing member 18222. The user can then activate the firing drive system to advance the intermediate firing member 18222 distally to actuate the articulation system.

When a user activates the closure system to move the proximal closure tube segment 22010 in the distal direction DD to apply a closure motion to the end effector, the proximal closure tube segment moves the cartridge shifter pin 22520 in the distal direction DD, which also moves the shift cartridge assembly 22500 distally. As the shift cylinder 22500 moves distally, the shifter pin 18422 enters the camming portion 22510 of the camming slot 22506, and the shift cylinder assembly 22500 causes the shifter pin 18422 and shifter key 18420 to rotate the locking sleeve 18402 in the clockwise CW direction (the angle of the user). When the proximal closure tube segment 22010 has been advanced distally to a fully closed position, the shift cartridge assembly 22500 has rotated the lock sleeve 18402 to a position where the second lock member 18406 has been rotated out of engagement with the drive notch 19104 in the proximal articulation driver 19102 to disengage the articulation system from the firing drive system. The user may then actuate the firing drive system to fire the firing member. Once the firing process is complete and the firing member has been retracted to its starting position within or adjacent the surgical end effector, the user can activate the closure system to retract the proximal closure tube segment 22010 in the proximal direction PD. In at least one arrangement, the closure slot 22020 is sufficiently sized to allow the proximal closure tube segment 22010 to be actuated back and forth in a "riding" mode as the user opens and closes the end effector jaws to avoid re-engagement of the articulation system with the firing system. See fig. 74.

As can be seen in fig. 70, in at least one arrangement, one or more sensors 22602 are mounted in the base flange 22242, which are configured to detect the presence of the displacement barrel flange 22504 when in the proximal position. The sensors 21602 are in electrical communication with an on-board electronics control board 22604, which communicates with a control board associated with the housing. The arrangement may also be adapted for use with a dedicated shaft assembly that is non-removably attached to the housing.

Fig. 75-78 illustrate various components of another shaft assembly 24200 that can be attached to a housing of the type described above, or which can include a shaft assembly that is specific to the housing arrangement and not designed to be interchangeable. In either case, the shaft assembly 24200 has a surgical end effector operably attached thereto and comprises a chassis 24240 configured to be operably attached to a housing. The surgical end effector may be similar to the surgical end effector 11300 described above and attached thereto for selective articulation about an articulation axis that is transverse to the shaft axis SA. The foot 24240 operably supports a nozzle assembly 24201 similar to the nozzle assembly 11201 described above. As seen in fig. 75, the nozzle assembly 24201 includes a distal portion 24205 and a fin assembly 24203. Distal nozzle portion 23205 is configured to operably interface with spine shaft 25010 (fig. 77) such that nozzle assembly 24201 can be used to rotate the shaft assembly about shaft axis SA in the various manners described herein. The spine axis 25010 is similar to the spine axis 21010 described above and shown in FIG. 57, except for the differences discussed below. An intermediate firing shaft 18222 is slidably supported in the spine shaft 25010. The operation of the firing shaft 18222 is discussed above and will not be repeated for the sake of brevity.

The shaft assembly 24200 employs a displacement cartridge assembly 2450 that is somewhat similar to the displacement cartridge assembly 18500, except that the displacement cartridge assembly 2400 can be displaced by actuating a closure system. In one arrangement, the shifter cartridge assembly 2450 includes a body portion 24502 having a cam slot 2406 therein that is configured to receive a shifter pin 18422 on a shifter key 18420 therein in the manner described above. The shaft assembly 24200 comprises a proximal closure tube segment 24010. The proximal closure tube segment 24010 is attached to the closure system in the various manners disclosed herein to selectively axially advance the proximal closure tube segment 24010 to apply a closure motion to one or more jaws of the surgical end effector.

FIG. 76 illustrates a portion of an exemplary proximal closure tube segment 24010 including a shifter window 24011 configured to allow a shifter pin 18422 to extend therethrough in the manner described above. In addition, the proximal closure tube segment 24010 includes diametrically opposed lug windows 24013, 24015 configured to allow lugs (not shown) on the nozzle assembly 24201 to extend therethrough to engage flats (not shown) on the spine shaft 25010. The lugs are used to couple the nozzle assembly 24201 to the spine shaft 25010 such that rotation of the nozzle assembly 24201 about the shaft axis SA causes the spine shaft 25010, and the surgical end effector coupled thereto, to also rotate about the shaft axis SA. The proximal closure tube segment 24010 also includes at least one and preferably two diametrically opposed laterally extending shifter tabs 24017. In the exemplified embodiment, the displacer tabs 24017 are cut into the proximal closure tube wall and bent laterally outward such that they are transverse to the shaft axis SA. However, in alternative arrangements, the shifter tabs may be attached to the proximal closure tube segment by welding, adhesive, friction/pressure fit, or the like. The shifter tab 24017 is configured to engage the shifter barrel flange 2404 as the proximal closure tube segment 24010 is advanced distally in the distal direction DD in the manner described above.

As can be seen in fig. 75, the proximal closure tube segment 24010 has been advanced distally to a position in which the shifter tab 24017 has contacted the shifter barrel flange 2404. The shift barrel assembly 2455 has been biased into this position by a return spring 18700. When in this position, the shifter pin 18422 is in the distal-most portion 2408 of the cam slot 2406. When in this position, if desired, as the shifter pin 18422 has rotated the lock sleeve 18402 in the counterclockwise CCW direction (the user's angle), the user may actuate the articulation system to articulate the end effector such that the second lock member 18406 on the lock sleeve 18402 rotates into engagement with the drive notch 19104 in the proximal articulation driver 19102. See fig. 57. When in this position, the lock sleeve 18402 engages the intermediate firing member 18222.

When the user activates the closure system to move the proximal closure tube segment 24010 in the distal direction DD to apply a closure motion to the end effector, the shifter tabs 24017 on the proximal closure tube segment 24010 contact the shifter barrel flange 2404 and move the shifter barrel assembly 2455 distally. As the shifter cartridge assembly 2450 moves distally, the shifter pin 18422 enters the camming portion 2451 of the camming slot 2406, which causes the shifter pin 18422 and the shifter key 18420 to rotate the locking sleeve 18402 in the clockwise CW direction (the angle of the user). When the proximal closure tube segment 24010 has been advanced distally to a fully closed position, the shift barrel assembly 2450 has rotated the lock sleeve 18402 to a position where the second lock member 18406 has been rotated out of engagement with the drive notch 19104 in the proximal articulation driver 19102 to disengage the articulation system from the firing drive system. The user may then actuate the firing drive system to fire the firing member. Once the firing process is complete and the firing member has been retracted to its starting position within or adjacent the surgical end effector, the user can activate the closure system to retract the proximal closure tube segment 24010 in the proximal direction PD. In at least one arrangement, when the shifter cartridge assembly 2450 is still in a position in which the shifter pin 18422 is still within the camming portion 2410 of the cam slot 2406, an axial gap 24019 is provided between the shifter cartridge flange 2404 and the shifter tab 24017 such that the articulation system has not reengaged the firing system. Such an arrangement enables the proximal closure tube segment 24010 to be actuated back and forth in a "riding" mode as the user opens and closes the end effector jaws to avoid re-engagement of the articulation system with the firing system. See fig. 78.

As can be seen in fig. 75, in at least one arrangement, one or more sensors 24602 are mounted in the mount flange 24242, the one or more sensors configured to detect the presence of the shift barrel flange 2404 when in the proximal position. The sensor 24602 is in electrical communication with an on-board circuit control board 24604, which is in communication with a control board associated with the housing. The arrangement may also be adapted for use with a dedicated shaft assembly that is non-removably attached to the housing.

Fig. 79 shows another interchangeable shaft assembly 26200 attached to a housing 11012 of the type described above. The interchangeable shaft assembly 26200 includes an onboard articulation motor 2140 mounted within the nozzle assembly 26201 for orbital rotational travel with the nozzle assembly about the shaft axis SA as the user rotates the nozzle assembly 26201 relative to the housing 11012. The configuration of the articulation motor 2410 and gear arrangement is discussed above and will not be repeated for the sake of brevity. The shaft assembly 26200 can be otherwise similar to the shaft assembly 1000 described above and include an articulation joint and articulation system as described above to facilitate selective articulation of the surgical end effector 1500 operably coupled thereto.

Fig. 79-83 illustrate a flexible circuit assembly 27000 that can be used in the shaft assembly 26200 to ultimately transmit electrical signals between the end effector 1500 and a processor in the housing 11012 or otherwise associated with the housing to which the shaft assembly 26200 is operatively attached. As shown in fig. 79, the shaft assembly 26200 can include a slip ring assembly 27600, which can be configured to conduct electrical power to and/or from the end effector 1500, and/or to transmit and/or receive signals to and/or from the end effector 1500, for example. The slip ring assembly 27600 may include a proximal connector flange 27604 that mounts to a mount flange 26242 extending from a mount 26240. The slip ring assembly 27600 also includes a distal connector flange (not shown) that is positioned within or otherwise mounted in a slot defined in the nozzle assembly 26201. The proximal connector flange 27604 may include a first face and the distal connector flange may include a second face positioned adjacent to and movable relative to the first face. The distal connector flange may rotate with the nozzle assembly 26201 about the shaft axis SA relative to the proximal connector flange 27604 as described above. The proximal connector flange 27604 may include a plurality of concentric or at least substantially concentric conductors defined in a first face thereof. In the illustrated example, four conductors 27620, 27630, 27640, and 27650 are disposed on a first face of the proximal connector flange 27604. The connector 27700 is mounted on the proximal face of the distal connector flange and may have a plurality of contacts, with each contact corresponding to and in electrical contact with one of the conductors 27620, 27630, 27640, 27650. This arrangement allows relative rotation between the proximal and distal connector flanges 27604 while maintaining electrical contact between the two flanges. For example, the proximal connector flange 27604 includes an electrical connector 27606 that allows the conductors 27620, 27630, 27640, 27650 to be in signal communication with a shaft circuit board (not shown) mounted to the shaft base 26240. More details about slip ring assemblies can be found, for example, in U.S. patent application serial No. 13/803,086, U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thicknes SENSOR SYSTEM," and U.S. patent 9,345,481 entitled "STAPLE CARTRIDGE TISSUE thicknes SENSOR SYSTEM," filed 3, 13.2013. U.S. patent application serial No. 13/803,086, U.S. patent application serial No. 13/800,067, and U.S. patent 9,345,481, each of which is hereby incorporated by reference in its entirety.

In the illustrated example, the shaft assembly 26200 employs a flexible harness assembly 27000 that includes a plurality of conductors in a flexible substrate that extend between the electrical connector 27606 and corresponding sensors mounted distal to the shaft assembly and/or the surgical end effector 1500 itself. Fig. 80 illustrates one form of a flexible wiring harness assembly 27000 that can be employed. The flexible wiring harness assembly 27000 includes flexible base portions 27010 and 27050 that are shaped as shown in fig. 80. The proximal flexible base portion 27010 includes motor conductors 27012 and 27014 connected between an articulation motor 2140 and a connector 27700. In the illustrated example, the distal flexible base portion 27050 supports four conductor/circuit paths 27060, 27070, 27080, 27090. For example, the first circuit path 27060 includes a first proximal conductor portion 27062 that can be coupled to a first signal processor chip 27100 on the base portion 27050. The first proximal conductor portion 27062 may also be connected to an articulation motor 2140. The first circuit path 27060 may also include a first distal conductor portion 27064 that is connected to the first signal processor chip 27100 and to a corresponding first sensor or component (not shown) associated with the surgical end effector and/or articulation joint arrangement. The second circuit path 27070 may be connected to the articulation motor 2140 and to a second sensor or component (not shown) associated with the surgical end effector and/or articulation joint arrangement. The third circuit path 27080 can be connected to the electrical connector 27700 and to a third sensor or component (not shown) associated with the surgical end effector and/or articulation joint arrangement. The fourth circuit path 27090 includes a fourth proximal conductor portion 27092, the fourth proximal conductor portion 27092 being coupleable to a second signal processor chip 27200 on the base portion 27050 and to an electrical connector 27700. The fourth circuit path 27090 may also include a fourth distal conductor portion 27094 connected to the second signal processor chip 27200 and a corresponding fourth sensor (not shown) associated with the surgical end effector and/or articulation joint arrangement.

In the illustrated arrangement, the distal base portion 27050 includes a bifurcated portion 27052 that includes a right base portion 27054 supporting the conductors 27064, 27074 thereon and a left base portion 27056 supporting the conductors 27084, 27094 therein. The right base portion 27054 and the left base portion 27056 can be separated by a central space 27058. Referring to fig. 80-82, in the illustrated exampleThe distal base portion 27050 may have a cross-sectional thickness h_aAnd conductors 27064, 27070, 27080, 27094 may each have a conductor width W_aAs shown in fig. 81. Portions of the distal substrate 27050 proximal to the bifurcated portion 27052 have similar cross-sectional thicknesses h_aAnd the conductors 27064, 27070, 27080, 27094 on the base portion may also have a conductor width W_a. Similarly, portions of the distal substrate 2750 adjacent to the first processor chip 27100 and the second processor chip 27200 have similar cross-sectional thicknesses h_aAnd the conductors 27062, 27070, 27080, 27092 on the base portion may also have a conductor width W_a. As seen in fig. 82, the right and left base portions 27054 and 27056 of the bifurcated portion 27052 may each have a cross-sectional thickness h_bAnd conductors 27064, 27070, 27080, 27094 may each have a conductor width W that spans the length of those substrate portions _b. In the illustrated example, h_a>h_bAnd W_a<W_b. Such an arrangement provides greater flexibility to the bifurcated portion 27052 and enables the portion 27052 to fold, for example, in the location of the articulation joint.

Turning to fig. 83, the connector portion 27800 of the flexible harness assembly 27800 including the signal processor chips 27100, 27200 can include a rigid mounting block 27802 on which the chips 27100, 27200 are supported. The mounting block 27802 may be made of a rigid electrically insulating material, such as rigid silicone or plastic, and have a thickness h greater than that described above_aThickness B of_T. The mounting block 27802 may be retained within a mounting cavity 1211 disposed in the spine shaft 1210. Further, a portion 27900 of the distal base portion 2750 distal to the connector portion 27800 may have a bias formed therein to provide strain relief to the flexible wire harness assembly 27000. The illustrated example also includes a vertical stepped portion 27910 that enables the wiring harness to extend around mechanical components (e.g., articulation rods, link connections, etc.) in the shaft assembly.

In at least one example, the base portions 27010, 27050 can comprise a flexible silicone material or a flexible plastic material. The various conductors 27012, 27014, 27062, 27064, 27070, 27080, 27092, 27094 can be molded into the base material such that the conductors are fully encapsulated therein, as shown in fig. 81 and 82. This arrangement serves to insulate the conductor from body fluids, debris, etc., which might otherwise short the circuit. However, in other arrangements, the circuitry may be plated onto the base material. The flexible wire harness assembly 27000 can be used in conjunction with other shaft assemblies disclosed herein.

Fig. 84-91 illustrate various components of another shaft assembly 28200 that may be attached to a housing of the type described above, or it may include a shaft assembly that is specific to the housing arrangement and not designed to be interchangeable. In either case, the shaft assembly 28200 has a surgical end effector operably attached thereto and includes a base 28240 configured to operably attach to the housing. The surgical end effector may be similar to the surgical end effector 11300 described above and attached thereto for selective articulation about an articulation axis that is transverse to the shaft axis SA. The foot 24240 operably supports a nozzle assembly 28201 similar to the nozzle assembly 11201 described above. As seen in fig. 83-85, nozzle assembly 28201 includes distal nozzle portion 28205 and fin assembly 28203. The distal nozzle portion 28205 is configured to operably interface with the spine shaft 29010 (fig. 86) such that the nozzle assembly 28201 can be used to rotate the distal portion 28207 of the shaft assembly 28200 about the shaft axis SA in the various manners described herein.

Turning next to fig. 86, the shaft assembly 28200 employs a displacement cartridge assembly 28500 that is journaled on the proximal end portion of the proximal closure tube segment 30010. The axial displacement of the proximal closure tube segment 30010 may be controlled in the manner described above with respect to the proximal closure tube segment 13010. As seen in fig. 86, the proximal end 30012 of the proximal closure tube segment 30010 is configured to be received within the closure shuttle 11250. The proximal end 30012 is rotatably attached to the closure shuttle 11250 by a U-shaped connector 11263 that is received in a groove 300014 in the proximal closure tube segment 300010 and seats in a groove 11253 in the closure shuttle 11250, as described above. Closure shuttle 11250 is configured to be associated with the closure system in the housing when the shaft assembly 28200 is attached to the closure shuttle. The operation of the closure system to axially advance and retract the closure shuttle within the base 28240 is as described above and will not be repeated for the sake of brevity.

As can be seen in fig. 86, the shaft assembly 28200 can include a clutch assembly 28400 that can be configured to selectively and releasably couple the proximal articulation driver 29102 to the intermediate firing member 28222. In one form, the clutch assembly 28400 includes a lock collar or sleeve 28402 positioned about the intermediate firing member 28222. The lock sleeve 28402 can include a cylindrical or at least substantially cylindrical body that includes a longitudinal aperture 28403 defined therein that is configured to receive the intermediate firing member 28222. The lock sleeve 28402 may include diametrically opposed, inwardly facing lock tabs 28404 and outwardly facing lock tabs 28406. The lock protrusion 28404 can be configured to be selectively engaged with the intermediate firing member 28222. More specifically, when the lock sleeve 28402 is in its engaged position, the lock protrusion 28404 is positioned within an axial drive notch 28228 defined in the intermediate firing member 28222 such that a distal pushing force and/or a proximal pushing force can be transmitted from the intermediate firing member 28222 to the lock sleeve 28402.

The locking sleeve 28402 is attached to or received within the proximal mounting portion 29104 in the proximal articulation driver 29102. When the lock sleeve 28402 and the intermediate firing member 28222 are in their engaged positions, a distal pushing force and/or a proximal pulling force applied to the lock sleeve 28402 can be transmitted to the proximal articulation driver 29102. In fact, when the lock sleeve 28402 is in its engaged position, the intermediate firing member 28222, the lock sleeve 28402, and the proximal articulation driver 29102 will move together. On the other hand, when the lock sleeve 28402 is in its disengaged position, the distal pushing force and/or the proximal pulling force may not be transferred from the intermediate firing member 28222 to the lock sleeve 28402. Correspondingly, the distal pushing force and/or the proximal pulling force may not be transmitted to the proximal articulation driver 29102. In such instances, the intermediate firing member 28222 can slide proximally and/or distally relative to the lock sleeve 28402 and the proximal articulation driver 29102. The intermediate firing member 28222 may be advanced axially in the various manners described herein. In at least one arrangement, for example, axial advancement of the proximal articulation driver 29102 in the distal direction will articulate the surgical end effector to the left, and axial retraction of the proximal articulation driver in the proximal direction will articulate the surgical end effector to the right in the various manners described herein.

As can be seen in fig. 86, the displacement cartridge assembly 28500 includes a tubular or cylindrical body 28502 that is received on a proximal portion of the proximal closure tube segment 30010. The shift barrel assembly 28500 also includes a proximal shift barrel flange 28504 and a cam pin 28506 protruding therefrom. The locking tabs 28406 on the locking sleeve 28402 are received in slots 28508 in the shift cartridge body 28502. Such an arrangement enables the locking sleeve 28402 to rotate with the shift barrel assembly 28500. The body 28502 of the shift barrel assembly 28500 is rotatably received within a cam nut 28900 that is non-rotatably mounted within the nozzle assembly 28201. In the illustrated example, the cam slot 28902 is disposed in the stationary cam nut 28900 and is configured to receive the cam pin 28506 on the shift barrel assembly 28500 therein. When the proximal closure tube segment 30010 is axially advanced, the clutch assembly 28400 is actuated. In at least one example, the C-clip 28910 is attached to the proximal closure tube segment 30010 such that the C-clip 28910 is proximal of the displacement barrel flange 28504. Thus, as the proximal closure tube segment 30010 is advanced distally, the C-clip 28910 contacts the displacement cartridge flange 28504 and pushes the displacement cartridge assembly 28500 distally.

Fig. 84 and 87 illustrate the position of the displacement cartridge assembly 28500, for example, when the closure system is in an unactuated position. The proximal closure tube segment 30010 is in its proximal-most position, which corresponds to an "open-jaw" position in the surgical end effector, in the various manners described herein. As seen in fig. 87, the inwardly facing lock protrusion 28404 is engaged with the intermediate firing member 28222 such that a distal pushing force and/or a proximal pulling force can be transferred from the intermediate firing member 28222 to the lock sleeve 28402. The shift barrel assembly 28500 is biased into its proximal-most position by a shift barrel spring 28509 that is received around the shift barrel body 28502 and extends between the shift barrel flange 28504 and the cam nut 28900. As can be seen in fig. 84, the cam pin 28506 is located in the proximal-most portion of the cam slot 28902 in the cam nut 28900. FIG. 88 illustrates the proximal-most position of the locking sleeve 28402 and proximal articulation driver 29102. Fig. 89 illustrates the distal-most position of the lock sleeve 28402 and proximal articulation driver 29102, for example, corresponding to a fully articulated position of the surgical end effector.

Fig. 85 and 90 illustrate the position of the displacement cartridge assembly 28500, for example, when the closure system is in a fully actuated position. The proximal closure tube segment 30010 is in its distal-most position, which corresponds to a "jaw closed" position in the surgical end effector, in the various manners described herein. As the proximal closure tube segment 30010 moves distally, the C-clip 18910 contacts the displacement cartridge flange 28504 and pushes the displacement cartridge assembly 28500 distally against the bias of the displacement cartridge spring 28509. As the shift barrel assembly 28500 is moved distally, the cam pin 28506 moves within the cam slot 28902 in the cam nut 28900, which rotates the shift barrel assembly 28500. As the shift barrel assembly 28500 rotates, the lock sleeve 28402 also rotates such that the inwardly facing lock tabs 28404 thereof disengage the intermediate firing member 28222. See fig. 90. When in this position, the distal pushing force and/or proximal pulling force is not transmitted from the intermediate firing member 28222 to the lock sleeve 28402. When the lock sleeve 28402 is in its disengaged position, the movement of the intermediate firing member 28222 is not transferred to the proximal articulation driver 29102 and, therefore, the intermediate firing member 28222 can move independently of the proximal articulation driver 29102. In various instances, the proximal ARTICULATION driver 29102 may be held in place by AN ARTICULATION LOCK of the type disclosed in U.S. patent application serial No. 13/803,086 entitled "ARTICULATION joint locking AN ARTICULATION LOCK," filed on 3, 14, 2013, the entire disclosure of which is incorporated herein by reference, and other LOCK arrangements disclosed herein.

Returning to fig. 86, in the illustrated example, the proximal end portion 29012 of the spine shaft 29010 may be rotatably supported within the base 28240 by a spine bearing assembly 29020. The shaft assembly 28200 can also include a slip ring assembly 29600, which can be configured to conduct electrical power to and/or from the end effector, and/or to communicate signals to and/or from the end effector, for example. Slip ring assembly 29600 may include a proximal connector flange 29604 that mounts to a mount flange 28242 extending from mount 26240. Slip ring assembly 29600 also includes a distal connector flange 29620 that is positioned within or otherwise mounted in a slot defined in nozzle assembly 28201. The proximal connector flange 29604 can include a first face 29605 and the distal connector flange 29620 can include a second face 29622, wherein the second face is positioned adjacent to and movable relative to the first face 29605. See fig. 88 and 89. The distal connector flange 29620 is rotatable with the nozzle assembly 28201 about the shaft axis SA relative to the proximal connector flange 29604 as described above. The proximal connector flange 29604 may include a plurality of concentric or at least substantially concentric conductors 29606 defined in a first face 29505 thereof. The connector 29700 is mounted on the second face 29622 of the distal connector flange 29620 and may have a plurality of contacts, where each contact corresponds to and is in electrical contact with one of the conductors 29606. This arrangement allows for relative rotation between the proximal and distal connector flanges 29620, 29604 while maintaining electrical contact between the two flanges. For example, the proximal connector flange 29604 is in communication with an electrical connector 29608 that may place the conductors 29606 in signal communication with a shaft circuit board (not shown) mounted to the shaft base 28240. More details about slip ring assemblies can be found, for example, in U.S. patent application serial No. 13/803,086, U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thicknes SENSOR SYSTEM," and U.S. patent 9,345,481 entitled "STAPLE CARTRIDGE TISSUE thicknes SENSOR SYSTEM," filed 3, 13.2013. The various flexible circuit arrangements disclosed herein may be used to transmit signals from the electrical connector 29608 and sensors/components associated with the surgical end effector and/or articulation joint. Further, a sensor 29630 may be mounted to the proximal connector flange 29604 and configured to be able to detect the position of a corresponding sensor lug 28505 formed on the displacement cartridge flange 28504. The sensor 29630 may include, for example, a hall effect sensor, and the sensor boss 28505 may support the magnet 28507. The sensor 29630 is configured to be able to detect the position of the magnet 28507 and communicate this information to the control circuitry, for example, through the slip ring assembly 29600.

Examples

Example 1-a surgical instrument comprising a surgical end effector and an elongate shaft operably coupled to the surgical end effector. The elongate shaft includes a first axially movable drive member configured to apply a first actuation motion to the surgical end effector and a second axially movable drive member configured to apply a second actuation motion to the surgical end effector. The surgical instrument further includes a first drive system configured to apply a first axial control action to the first axially movable drive member. A drive clutch assembly operably interfaces with the first and second axially movable drive members and is configured to be movable between an engaged position, in which the drive clutch assembly associates the second axially movable drive member to the first axially movable drive member, and a second disengaged position, in which the first axially movable drive member is independently movable relative to the second axially movable drive member. A lock assembly is configured to be movable between a locked position, in which the lock assembly prevents axial movement of the second axially movable drive member, and an unlocked position, in which the second axially movable drive member is free to move axially in response to actuation of the first drive system. An actuator assembly is configured to move the drive clutch assembly between the engaged and disengaged positions and to interface with the lock assembly to move the lock assembly to the locked position when the actuator assembly moves the drive clutch assembly to the disengaged position.

Example 2-the surgical instrument of example 1, wherein the actuator assembly comprises a third axially movable drive member configured to apply a third actuation motion to the surgical end effector.

Example 3-the surgical instrument of example 2, wherein the surgical end effector comprises first and second jaws movably supported relative to one another and selectively movable between closed and open positions. The third axially movable drive member is configured to apply a closing motion and an opening motion to at least one of the first jaw and the second jaw to move the first jaw and the second jaw between the closed position and the open position.

Example 4-the surgical instrument of examples 1, 2, or 3, wherein the surgical end effector is operably coupled to the elongate shaft for selective articulation relative to the elongate shaft, and wherein the second axially movable drive member is configured to apply articulation motions to the surgical end effector.

Example 5-the surgical instrument of examples 1, 2, or 3, wherein the elongate shaft defines a shaft axis, and wherein the surgical end effector is operably coupled to the elongate shaft for selective articulation about an articulation axis that is transverse to the shaft axis, and wherein the second axially movable drive member is configured to apply articulation motions to the surgical end effector.

Example 6-the surgical instrument of examples 1, 2, 3, 4, or 5, further comprising means for selectively locking the drive clutch assembly in the disengaged position.

Example 7-the surgical instrument of examples 1, 2, 3, 4, 5, or 6, wherein the first drive system comprises a motor configured to apply a rotary drive motion to an axially movable firing drive shaft that operably interfaces with the first axially movable drive member to apply an axial drive motion thereto.

Example 8-the surgical instrument of examples 1, 2, 3, 4, 5, 6, or 7, wherein the actuator assembly further comprises a manually actuatable trigger operably interfacing with the third axially movable drive member such that movement of the manually actuatable trigger causes the third axially movable drive member to move the drive clutch assembly from the engaged position to the disengaged position and to move the lock assembly to the locked position.

Example 9-the surgical instrument of examples 1, 2, 3, 4, 5, 6, 7, or 8, wherein the elongate shaft assembly is operably coupled to a housing that operably supports at least a portion of the first drive system.

Example 10-the surgical instrument of example 9, wherein the housing comprises a handle.

Example 11-the surgical instrument of examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, wherein the first jaw comprises a surgical staple cartridge, and wherein the second jaw comprises an anvil.

Example 12-the surgical instrument of examples 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, wherein the first jaw is configured to removably support a replaceable surgical staple cartridge.

Example 13-the surgical instrument of example 11, wherein the first axially movable drive member interfaces with a firing member supported by the surgical end effector and configured to drive surgical staples stored in the surgical staple cartridge into forming contact with the anvil and cut tissue clamped between the surgical staple cartridge and the anvil as the firing member is driven axially through the surgical end effector.

Example 14-a surgical instrument comprising a surgical end effector comprising a first jaw and a second jaw movably supported relative to one another and selectively movable between a closed position and an open position. An elongate shaft is operably coupled to the surgical end effector such that the surgical end effector is selectively articulatable relative to the elongate shaft. The elongate shaft includes a first axially movable drive member configured to apply a first actuation motion to the surgical end effector and an axially movable articulation drive member configured to operably couple to the surgical end effector and configured to apply an articulation motion to the surgical end effector. The surgical instrument further includes a first drive system configured to apply a first axial control motion to the first axially movable drive member, and a drive clutch assembly operably interfacing with the first axially movable drive member and the axially movable articulation drive member and configured to move between an engaged position in which the drive clutch assembly associates the first axially movable drive member to the axially movable articulation drive member and a second disengaged position in which the first axially movable drive member is independently movable relative to the axially movable articulation drive member. A lock assembly is configured to be movable between a locked position in which the lock assembly prevents axial movement of the axially movable articulation drive member and an unlocked position in which the axially movable articulation drive member is free to move axially in response to actuation of the first drive system. An axially movable closure member assembly is configured to apply a closing motion and an opening motion to at least one of the first jaw and the second jaw to move the first jaw and the second jaw between the closed position and the open position. The axially movable closure member assembly operably interfaces with the drive clutch assembly to move the drive clutch assembly between the engaged position and the disengaged position, and interfaces with the lock assembly to move the lock assembly to the locked position when the axially movable closure member assembly moves the drive clutch assembly to the disengaged position.

Example 15-the surgical instrument of example 14, wherein the elongate shaft assembly is operably coupled to a housing that operably supports at least a portion of the first drive system.

Example 16-the surgical instrument of example 15, wherein the housing comprises a handle.

Example 17-the surgical instrument of examples 14, 15, or 16, wherein the first jaw comprises a surgical staple cartridge, and wherein the second jaw comprises an anvil.

Example 18-the surgical instrument of example 16, wherein the first drive system comprises a motor associated with the handle and configured to apply a rotary drive motion to an axially movable firing drive shaft operably interfacing with the first axially movable drive member to apply an axial drive motion thereto.

Example 19-the surgical instrument of example 18, wherein the actuator assembly further comprises a manually actuatable trigger supported by the handle and operably interfacing with the axially movable closure member assembly such that movement of the manually actuatable trigger causes the axially movable closure member assembly to move the drive clutch assembly from the engaged position to the disengaged position and the lock assembly to the locked position.

Example 20-a surgical instrument comprising a surgical end effector comprising a first jaw and a second jaw movably supported relative to one another and selectively movable between a closed position and an open position. An elongate shaft assembly is operably coupled to the surgical end effector such that the surgical end effector is selectively articulatable relative to the elongate shaft assembly. The elongate shaft includes an axially movable drive member configured to apply a first actuation motion to the surgical end effector and means for articulating the surgical end effector relative to the elongate shaft assembly. The surgical instrument further comprises means for applying an axial control action to the axially movable drive member and means for engaging the axially movable drive member with the means for articulating in an engaged position, wherein actuation of the means for applying an axial control action actuates the means for articulating. The means for engaging is further configured to disengage the means for articulating from the axially movable drive member to a disengaged position such that actuation of the means for applying an axial control action does not actuate the means for articulating. The surgical instrument further comprises means for locking the means for articulating in a locked position and means for applying a closing motion and an opening motion to at least one of the first jaw and the second jaw to move the first jaw and the second jaw between the closed position and the open position. The means for applying operably interfaces with the means for engaging such that when the means for applying a closing motion and an opening motion is actuated to apply the closing motion, the means for applying moves the means for engaging to the disengaged position and the means for applying a closing motion and an opening motion moves the means for locking into the locked position.

Many of the surgical instrument systems described herein are actuated by an electric motor; the surgical instrument systems described herein may be actuated in any suitable manner. In various examples, for example, the surgical instrument systems described herein can be actuated by a manually operated trigger. In certain examples, the motors disclosed herein may comprise a portion or portions of a robotic control system. Further, any of the end effectors and/or tool assemblies disclosed herein may be used with a robotic surgical instrument system. For example, U.S. patent application serial No. 13/118,241 (now U.S. patent 9,072,535), entitled "SURGICAL INSTRUMENTS WITH robotic SURGICAL INSTRUMENTS," discloses several examples of robotic SURGICAL instrument systems in more detail.

The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. For example, various embodiments are contemplated in which fasteners other than staples, such as clamps or tacks, are deployed. Moreover, various embodiments are also contemplated that utilize any suitable means for sealing tissue. For example, an end effector according to various embodiments may include an electrode configured to heat and seal tissue. In addition, for example, an end effector according to certain embodiments may apply vibrational energy to seal tissue.

The entire disclosures of the following patents are hereby incorporated by reference:

-U.S. patent 5,403,312 entitled "ELECTROSURURGICAL HEMOSTATIC DEVICE" published on 4.4.1995;

-us patent 7,000,818 entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" published on 21.2.2006;

-us patent 7,422,139 entitled "MOTOR-driving SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK" published on 9.9.2008;

-U.S. patent 7,464,849 entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS" published on 16.12.2008;

-U.S. patent 7,670,334 entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR" published on 3, 2.2010;

-U.S. patent 7,753,245 entitled "SURGICAL STAPLING INSTRUMENTS" published on 13.7.2010;

-us patent 8,393,514 entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE" published on 12.3.3.2013;

U.S. patent application Ser. No. 11/343,803 entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; now us patent 7,845,537;

-U.S. patent application serial No. 12/031,573 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTT HAVAGING RF ELECTRODES" filed on 14.2.2008;

-U.S. patent application serial No. 12/031,873 (now U.S. patent 7,980,443) entitled "END effects FOR a SURGICAL CUTTING AND STAPLING INSTRUMENT" filed on 15.2.2008;

-U.S. patent application serial No. 12/235,782 entitled "MOTOR-driver basic CUTTING insert", now U.S. patent 8,210,411;

U.S. patent application serial No. 12/235972 entitled "MOTORIZED SURGICAL INSTRUMENT," now U.S. patent 9050083.

U.S. patent application Ser. No. 12/249,117 entitled "POWER SURGICAL CUTTING AND STAPLING APPATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now U.S. patent 8,608,045;

-U.S. patent application Ser. No. 12/647,100 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY" filed 24.12.2009; now us patent 8,220,688;

-U.S. patent application serial No. 12/893,461 entitled "STAPLE CARTRIDGE" filed on 9, 29, 2012, now U.S. patent 8,733,613;

-U.S. patent application serial No. 13/036,647 entitled "SURGICAL STAPLING INSTRUMENT" filed on 28.2.2011, now U.S. patent 8,561,870;

U.S. patent application Ser. No. 13/118,241 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", now U.S. Pat. No. 9,072,535;

-U.S. patent application serial No. 13/524,049 entitled "article subassembly filing A FIRING DRIVE" filed on 6, 15/2012; now us patent 9,101,358;

-U.S. patent application serial No. 13/800,025 entitled "STAPLE CARTRIDGE TISSUE thickknossensor SYSTEM" filed on 3, 13, 2013, now U.S. patent 9,345,481;

-U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thickknoss SENSOR SYSTEM" filed on 3/13/2013, now U.S. patent application publication 2014/0263552;

-U.S. patent application publication 2007/0175955 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTT WITH CLOSURE TRIGGER LOCKING MECHANISM" filed on 31.1.2006; and

U.S. patent application publication 2010/0264194 entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR" filed on 22.4.2010, now U.S. Pat. No. 8,308,040.

While various devices have been described herein in connection with certain embodiments, many modifications and variations to these embodiments may be implemented. The particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics shown or described in connection with one embodiment may be combined, in whole or in part, with the features, structures, or characteristics of one or more other embodiments, without limitation. In addition, where materials for certain components are disclosed, other materials may also be used. Further, according to various embodiments, a single component may be replaced with multiple components, and multiple components may also be replaced with a single component, to perform a given function or functions. The foregoing detailed description and the following claims are intended to cover all such modifications and variations.

The device disclosed herein may be designed to be disposed of after a single use, or it may be designed to be used multiple times. In either case, however, the device may be reconditioned for reuse after at least one use. Reconditioning can include any combination of the following steps, including, but not limited to, disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, the reconditioning facility and/or surgical team can remove the device, and after cleaning and/or replacement of particular components of the device, the device can be reassembled for subsequent use. Those skilled in the art will appreciate that the finishing assembly may be disassembled, cleaned/replaced, and reassembled using a variety of techniques. The use of such techniques and the resulting prosthetic devices are within the scope of the present application.

The devices disclosed herein may be processed prior to surgery. First, new or used instruments may be obtained and cleaned as needed. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container (such as a plastic or TYVEK bag). The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, X-rays, and/or high energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in a sterile container. Sealing the container may keep the instrument sterile until the container is opened in a medical facility. The device may also be sterilized using any other technique known in the art, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam.

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