Surgical instrument with directional joint lights.

Abstract

Directional articulation lights in a surgical instrument. The present invention relates to a surgical instrument comprising a drive shaft, an end actuator, and a joint rotatably connecting the end actuator to the drive shaft. The end actuator and / or the drive shaft comprise indicator lights that show the direction in which the end actuator is being articulated. The indicator lights are positioned so that they are visible to a physician through an endoscope monitor during an endoscopic procedure.

Description

"Surgical instrument with directional joint lights" CROSS-REFERENCE ON RELATED REQUEST

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 62 / 840,715, entitled SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM, filed April 30, 2019, the disclosure of which is incorporated herein by reference in its entirety. BACKGROUND OF THE INVENTION

[0002] The present invention relates to surgical instruments and, in various arrangements, to surgical instruments for stapling and cutting, and to staple cartridges for use with them, which are designed to staple and cut tissue. BRIEF DESCRIPTION OF THE DRAWINGS

[0003] Several characteristics of the modalities described herein, along with their advantages, can be understood according to the description presented below, considered in conjunction with the attached drawings, as shown below:

[0004] Figure 1 is a perspective view of a surgical instrument according to at least one modality;

[0005] Figure 1B is a left side elevation view of the surgical instrument in Figure 1;

[0006] Figure 1C is a right side elevation view of the surgical instrument in Figure 1;

[0007] Figure 1D is a front elevation view of the surgical instrument in Figure 1;

[0008] Figure 1E is a rear elevation view of the surgical instrument in Figure 1;

[0009] Figure 1F is a plan view of the surgical instrument of Figure 1; Petition 870250025520, dated 03 / 31 / 2025, page 5 / 323 2 / 150

[0010] Figure 1G is a background view of the surgical instrument of Figure 1;

[0011] Figure 2 illustrates a partial perspective view of the surgical instrument in Figure 1;

[0012] Figure 3 illustrates a partial perspective view of a drive shaft of the surgical instrument in Figure 1;

[0013] Figure 4 is a perspective view of a drive shaft nozzle from Figure 3;

[0014] Figure 5 is an elevation view of the surgical instrument orientation key of Figure 1;

[0015] Figure 6 is a partial perspective view of a surgical instrument, according to at least one embodiment, comprising a handle that includes an orientation sensor and a drive shaft comprising magnetic elements detectable by the orientation sensor;

[0016] Figure 7 is a partial elevation view of a surgical instrument, according to at least one embodiment, comprising a handle and articulation actuators on opposite sides of the handle;

[0017] Figure 8 is a partial plan view of the surgical instrument in Figure 7;

[0018] Figure 9 is a perspective view of a surgical instrument, according to at least one embodiment, comprising a handle and a rotating drive shaft that includes articulation actuators on opposite sides of the drive shaft;

[0019] Figure 10 is an end view of the drive shaft of Figure 9;

[0020] Figure 11 is a perspective view of a surgical instrument, according to at least one embodiment, comprising a handle and a rotating drive shaft that includes two Petition 870250025520, dated 03 / 31 / 2025, page 6 / 323 3 / 150 articulation actuators on opposite sides of the drive shaft;

[0021] Figure 12 is an end view of the drive shaft of Figure 11;

[0022] Figure 13 is a perspective view of a surgical instrument, according to at least one embodiment, comprising a sliding joint actuator including two positions and a detent between the two positions;

[0023] Figure 14 illustrates a capacitive switch that includes first and second sides, a first light on the first side that lights up when contact is made with the first side, and a second light on the second side that lights up when contact is made with the second side;

[0024] Figure 15 illustrates a two-stage oscillating switch for articulating an end actuator of a surgical instrument according to at least one embodiment;

[0025] Figure 16 is a partial top view of a surgical instrument, according to at least one embodiment, comprising an end actuator and lights positioned on opposite sides of the end actuator that light up to indicate the direction in which the end actuator is being articulated;

[0026] Figure 17 is a partial elevation view of the surgical instrument in Figure 16;

[0027] Figure 18 is a partial elevation view of a surgical instrument, according to at least one embodiment, comprising directional indicators that light up to indicate in which direction the end actuator is being articulated;

[0028] Figure 19 is a perspective view of a surgical instrument, according to at least one embodiment, which includes a sliding articulation key comprising three positions - a left-articulated position, a right-articulated position and a position Petition 870250025520, dated 03 / 31 / 2025, page 7 / 323 4 / 150 central or initial;

[0029] Figure 20 is an elevation view of a surgical instrument, according to at least one embodiment, which includes an actuatable articulation joystick along a longitudinal geometric axis;

[0030] Figure 21 is an elevation view of a surgical instrument, according to at least one embodiment, which includes an end actuator and an actuatable articulation joystick for articulating the end actuator around more than one geometric axis;

[0031] Figure 22A is a front elevation view of a surgical instrument, according to at least one embodiment, which includes a plurality of articulation controls;

[0032] Figure 22B is a partial side elevation view of the surgical instrument in Figure 22A;

[0033] Figure 23 is an elevation view of a surgical instrument, according to at least one embodiment, which includes a 4-way tactile articulation control;

[0034] Figure 24 is a partial elevation view of a surgical instrument, according to at least one embodiment, which includes a 4-way tactile articulation control including a central, or initial, actuator;

[0035] Figure 25 is an elevation view of a surgical instrument, according to at least one embodiment, which includes a 4-way capacitive surface;

[0036] Figure 26A illustrates a surgical instrument, according to at least one embodiment, which includes an end actuator and lights positioned on opposite sides of the end actuator that illuminate to indicate the direction in which the end actuator is being articulated; Petition 870250025520, dated 03 / 31 / 2025, page 8 / 323 5 / 150

[0037] Figure 26B is a perspective view of the surgical instrument in Figure 26A;

[0038] Figure 27 illustrates a surgical instrument, according to at least one embodiment, which includes a joint, an end actuator articulated around the joint, and a traversable joint actuator configured to rotate the end actuator in the joint;

[0039] Figure 28 is a partial perspective view of a hinged end actuator, a hinge actuator configured to rotate the end actuator in a hinge joint and markings on the hinge actuator indicating the direction in which an end actuator is hinged and / or is being hinged;

[0040] Figure 29 is a perspective view of a surgical instrument, according to at least one embodiment, comprising a handle, a rotating drive shaft extending from the handle and a rotating actuator in the handle configured to rotate the drive shaft around a longitudinal geometric axis;

[0041] Figure 30 is a perspective view of the surgical instrument in Figure 29 illustrating the drive shaft in a rotated position;

[0042] Figure 31 is a perspective view of the surgical instrument in Figure 29 illustrated with a portion of the handle housing removed;

[0043] Figure 32 is a partial detailed view of the articulation joint of the surgical instrument of Figure 1 illustrated with some components removed;

[0044] Figure 33 is a partial detailed view of a hinge joint, according to at least one alternative embodiment, Petition 870250025520, dated 03 / 31 / 2025, page 9 / 323 6 / 150 usable with the surgical instrument in Figure 1;

[0045] Figure 34 is a partial perspective view of a joint actuator pin extending from an end actuator structure of the embodiment of Figure 33;

[0046] Figure 35 is a partial detailed view of the embodiment of Figure 33 illustrating the end actuator in an articulated position;

[0047] Figure 36 is a partial detailed view of the embodiment of Figure 33 illustrating the end actuator in another articulated position;

[0048] Figure 37 is a partial detailed view of the embodiment of Figure 33 illustrating the end actuator in another articulated position;

[0049] Figure 38 is a cross-sectional view of the end actuator of Figure 1 illustrated in an open configuration;

[0050] Figure 39 is a partial cross-sectional view of the end actuator of the surgical stapling instrument of Figure 1 illustrating the tissue stops of the end actuator;

[0051] Figure 40 is a partial cross-sectional view of the end actuator of the surgical instrument of Figure 1 illustrating a pivot joint between a clamp cartridge gripper and an anvil gripper of the end actuator;

[0052] Figure 41 is a partial plan view of the staple cartridge gripper of Figure 40 without a staple cartridge positioned in the staple cartridge gripper;

[0053] Figure 42 is a partial perspective view of the anvil gripper of Figure 40;

[0054] Figure 43 is a partial top view of the pivot joint of Figure 40; Petition 870250025520, dated 03 / 31 / 2025, page 10 / 323 7 / 150

[0055] Figure 44 is a partial cross-sectional view of a clamp cartridge gripper of an end actuator, according to at least one embodiment, illustrated without a clamp cartridge in the clamp cartridge gripper;

[0056] Figure 45A is a partial cross-sectional view of the end actuator of Figure 44 in an open configuration;

[0057] Figure 45B represents a partial cross-sectional view of the end actuator of Figure 44 in a closed configuration;

[0058] Figure 46 is a partial cross-sectional view of the end actuator of the surgical instrument of Figure 1 illustrating a firing member in a non-firing position;

[0059] Figure 47 is a partial cross-sectional view of the end actuator of the surgical instrument of Figure 1 illustrating a cartridge stop on the anvil gripper configured to interrupt the proximal insertion of a staple cartridge into the staple cartridge gripper;

[0060] Figure 48 is a partial perspective view of the anvil gripper of the surgical instrument of Figure 1 illustrating surfaces configured to control the position of the firing member of Figure 46 in its non-firing position while the end actuator is in an open configuration;

[0061] Figure 49 is a partial elevation view of the surgical instrument in Figure 1;

[0062] Figure 50 is a partial perspective view of the surgical instrument in Figure 1;

[0063] Figure 51 is a partial elevation view of a surgical instrument, according to at least one embodiment;

[0064] Figure 52 is a partial perspective view of the surgical instrument in Figure 51; Petition 870250025520, dated 03 / 31 / 2025, page 11 / 323 8 / 150

[0065] Figure 53 is a partial elevation view of a surgical instrument, according to at least one embodiment;

[0066] Figure 54 is a partial perspective view of the surgical instrument in Figure 53;

[0067] Figure 55 is a perspective view of the surgical instrument in Figure 1;

[0068] Figure 56 is a partial perspective view of a surgical instrument, according to at least one embodiment;

[0069] Figure 57 is a partial perspective view of a drive shaft of the surgical instrument in Figure 56;

[0070] Figure 58 is a control algorithm implemented by the surgical instrument in Figure 56;

[0071] Figure 59 is a partial perspective view of a drive shaft of a surgical instrument, according to at least one embodiment;

[0072] Figure 60 is a partial perspective view of a drive shaft of a surgical instrument, according to at least one embodiment;

[0073] Figure 61 is a partial perspective view of a drive shaft of a surgical instrument, according to at least one embodiment;

[0074] Figure 62 is a partial perspective view of a drive shaft of a surgical instrument, according to at least one embodiment;

[0075] Figure 63 is a perspective view of a sliding ring assembly of a surgical instrument, according to at least one embodiment;

[0076] Figure 64 is another perspective view of the sliding ring assembly of Figure 63;

[0077] Figure 65 is a perspective view of a Petition 870250025520, dated 03 / 31 / 2025, page 12 / 323 9 / 150 component of the drive shaft of the surgical instrument in Figure 63;

[0078] Figure 66 is a partial perspective view of the surgical instrument in Figure 63;

[0079] Figure 67 is a diagram representing a drive shaft orientation sensor array, according to at least one embodiment;

[0080] Figure 68 is a partial elevation view of an end actuator comprising an anvil gripper and a cartridge gripper, wherein the anvil gripper comprises a distal portion that is rotatable between a first operating orientation and a second operating orientation that is different from the first operating orientation, and wherein the distal portion of the anvil gripper is illustrated in the first operating orientation;

[0081] Figure 69 is a partial perspective view of the anvil claw of Figure 68, in which the distal portion of the anvil claw is illustrated in a partially rotated orientation;

[0082] Figure 69A shows a connector that retains the portion distal to the anvil claw of Figure 68;

[0083] Figure 70 is a partial elevation view of the end actuator of Figure 68, in which the distal portion of the anvil gripper is illustrated in the second operating orientation;

[0084] Figure 71 is a partial perspective view of the end actuator of Figure 68, in which the distal portion of the anvil gripper is illustrated in the second operating orientation;

[0085] Figure 72 is a perspective view of the distal end of a proximal articulation rod, according to at least one embodiment;

[0086] Figure 73 is a perspective view of the interface between a proximal articulation rod and a distal articulation rod of Petition 870250025520, dated 03 / 31 / 2025, page 13 / 323 10 / 150 an articulation drive, according to at least one modality;

[0087] Figure 73A is a detailed view of the interface between the proximal articulation rod of Figure 73 and an articulation lock;

[0088] Figure 74 is a perspective view of the interface between the proximal articulation rod of Figure 72 and the distal articulation rod of Figure 73;

[0089] Figure 74A is a detailed view of the interface between the proximal articulation rod of Figure 72 and the articulation lock of Figure 73A;

[0090] Figure 75 is a perspective view of the articulation lock of Figure 73A;

[0091] Figure 76 is another perspective view of the articulation lock of Figure 73A;

[0092] Figure 77 illustrates the range of motion of the distal articulation rod of Figure 73;

[0093] Figure 78 is an algorithm for a control system to evaluate and acquire the position of a joint system;

[0094] Figure 79 represents the end actuator of the surgical instrument in Figure 1 and a velocity graph algorithm of the staple firing system during a staple firing stroke;

[0095] Figure 80 represents the end actuator of the surgical instrument in Figure 1 and a velocity graph algorithm of the staple firing system, according to at least one modality;

[0096] Figure 81 represents the end actuator of the surgical instrument in Figure 1 and a velocity graph algorithm of the staple firing system during a staple firing stroke; Petition 870250025520, dated 03 / 31 / 2025, page 14 / 323 11 / 150

[0097] Figure 82A represents a graph of the duty cycle and firing force experienced by the staple firing system of the surgical instrument in Figure 1 during three staple firing strokes;

[0098] Figure 82B represents a graph of the duty cycle and firing force experienced by the staple firing system of the surgical instrument in Figure 1 during three staple firing strokes at a firing speed greater than that of Figure 82A;

[0099] Figure 83A represents a graph of the duty cycle, firing force, and firing speed experienced by the staple firing system of the surgical instrument in Figure 1 during a staple firing stroke through 1.35 mm thick jejunal tissue;

[0100] Figure 83B represents a graph of the duty cycle, firing force, and firing speed experienced by the staple firing system of the surgical instrument in Figure 1 during a staple firing stroke through 4 mm thick gastric tissue;

[0101] Figures 84A and 84B show graphs comparing the firing force through the tissue compared to a tissue analogue;

[0102] Figures 85A and 85B represent graphs that demonstrate the duty cycle and firing speed experienced by the staple firing system of the surgical instrument in Figure 1 during various staple firing strokes;

[0103] Figure 86A represents a graph of the duty cycle of the staple firing system of the surgical instrument of Figure 1 during the staple firing strokes through the small jejunum tissue; Petition 870250025520, dated 03 / 31 / 2025, page 15 / 323 12 / 150

[0104] Figure 86B represents a graph of the duty cycle of the staple firing system of the surgical instrument of Figure 1 during the staple firing strokes through the large jejunum tissue;

[0105] Figure 86C shows a graph of the duty cycle of the staple firing system of the surgical instrument of Figure 1 during the staple firing strokes through the gastric tissue;

[0106] Figure 87 represents a duty cycle graph of the staple firing system of the surgical instrument in Figure 1 during a staple firing stroke in which the control system increased the speed of the staple firing stroke;

[0107] Figure 88 represents a duty cycle graph of the staple firing system of the surgical instrument in Figure 1 during a staple firing stroke in which the control system maintained substantially the same speed throughout the staple firing stroke; and

[0108] Figure 89 represents a duty cycle graph of the staple firing system of the surgical instrument in Figure 1 during a staple firing stroke in which the control system decreased the speed of the staple firing stroke.

[0109] Corresponding reference characters indicate corresponding parts across the various views. The examples described herein illustrate various embodiments of the invention, in one form, and such examples should in no way be considered as limiting the scope of the invention. DETAILED DESCRIPTION

[0110] The applicant of this application also holds the following US patent applications, which were filed on the same date as this application and are each incorporated herein by reference in their entirety: Petition 870250025520, dated 31 / 03 / 2025, p. 16 / 323 13 / 150 - US patent application entitled METHOD FOR OPERATING A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP1 / 190177-1M; - US patent application entitled ARTICULATION ACTUATORS FOR A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP2 / 190177-2; - US patent application entitled SHAFT ROTATION ACTUATOR ON A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP4 / 190177-4; - US patent application entitled ARTICULATION CONTROL MAPPING FOR A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP5 / 190177-5; - US patent application entitled INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP6 / 190177-6; - US patent application entitled INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP7 / 190177-7; - US patent application entitled ROTATABLE JAW TIP FOR A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP8 / 190177-8; - US patent application entitled TISSUE STOP FOR A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP9 / 190177-9; and - US patent application entitled ARTICULATION PIN FOR A SURGICAL INSTRUMENT; Attorney's Summary No. END9169USNP10 / 190177-10.

[0111] The applicant of this application holds the following US patent applications which were filed on February 21, 2019, and which are each incorporated herein by reference. Petition 870250025520, dated 03 / 31 / 2025, page 17 / 323 14 / 150 in their respective totals: - US patent application serial no. 16 / 281,658, entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS; - pedido de patente US n° de série 16 / 281.670, intitulado STAPLE CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING MEMBER; - pedido de patente US n° de série 16 / 281.675, intitulado SURGICAL STAPLERS WITH ARRANGEMENTS FOR MAINTAINING A FIRING MEMBER THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE HAS BEEN INSTALLED THEREIN; - pedido de patente US n° de série 16 / 281.685, intitulado SURGICAL INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES; - pedido de patente US n° de série 16 / 281.693, intitulado SURGICAL STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT; - pedido de patente US n° de série 16 / 281.704, intitulado SURGICAL STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN; - US patent application serial number 16 / 281,707, entitled STAPLING INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT; - US patent application serial number 16 / 281,741, entitled SURGICAL INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT; Petition 870250025520, dated 03 / 31 / 2025, page 18 / 323 15 / 150 - US patent application serial no. 16 / 281,762, entitled SURGICAL STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING LOCKOUT ARRANGEMENTS; - US patent application serial number 16 / 281,666, entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS; - US patent application serial number 16 / 281,672, entitled SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES; - US patent application serial number 16 / 281,678, entitled ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND CHANNEL ENGAGEMENT FEATURES; and - US patent application serial no. 16 / 281,682, entitled SURGICAL STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING.

[0112] The applicant of this application holds the following US provisional patent applications that were filed on February 19, 2019, and which are each incorporated herein by reference in their respective entireties: - US provisional patent application serial number 62 / 807,310, entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS; - US provisional patent application serial number 62 / 807,319, entitled SURGICAL STAPLING DEVICES WITH IMPROVED LOCKOUT SYSTEMS; and - US provisional patent application serial number 62 / 807,309, entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS. Petition 870250025520, dated 03 / 31 / 2025, page 19 / 323 16 / 150

[0113] The applicant of this application holds the following US provisional patent applications, filed on March 28, 2018, each of which is incorporated herein by reference in its entirety: - US provisional patent application serial number 62 / 649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; - US provisional patent application serial number 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; - US provisional patent application serial number 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS; - US provisional patent application serial number 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; - US provisional patent application serial number 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; - US provisional patent application serial number 62 / 649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; - US patent application serial number 62 / 649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; - US provisional patent application serial number 62 / 649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; - US provisional patent application serial number 62 / 649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY Petition 870250025520, dated 03 / 31 / 2025, page 20 / 323 17 / 150 AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; - US provisional patent application serial number 62 / 649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; - US provisional patent application serial number 62 / 649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES; - US provisional patent application serial number 62 / 649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; - US provisional patent application serial number 62 / 649,307, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOTASSISTED SURGICAL PLATFORMS; and - US provisional patent application serial number 62 / 649,323, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

[0114] The applicant of this application holds the following US provisional patent application, filed on April 30, 2018, which is incorporated herein by reference in its entirety: - US provisional patent application serial number 62 / 650,887, entitled SURGICAL SYSTEMS WITH OPTIMIZED SENING CAPABILITIES.

[0115] The applicant of this application holds the following US patent application, filed on December 4, 2018, which is incorporated herein by reference in its entirety: - US patent application serial no. 16 / 209,423, entitled METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS.

[0116] The applicant of this application holds the following US patent applications which were filed on August 20, Petition 870250025520, dated 03 / 31 / 2025, page 21 / 323 18 / 150 2018, and each of which is incorporated herein by way of reference in its entirety: - US patent application serial number 16 / 105,101, entitled METHOD FOR FABRICATING SURGICAL STAPLER ANVILS; - US patent application serial number 16 / 105,183, entitled REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL; - US patent application serial number 16 / 105,150, entitled SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE STABILITY FEATURES; - US patent application serial number 16 / 105,098, entitled FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS; - US patent application serial number 16 / 105,140, ​​entitled SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH; - US patent application serial number 16 / 105,081, entitled METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT; - US patent application serial number 16 / 105,094, entitled SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS; - US patent application serial no. 16 / 105,097, entitled POWERED SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS; - US patent application serial no. 16 / 105,104, entitled POWERED ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A FIRING DRIVE SYSTEM; - US patent application serial number 16 / 105,119, entitled Petition 870250025520, dated 03 / 31 / 2025, page 22 / 323 19 / 150 ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS; - US patent application serial number 16 / 105,160, entitled SWITCHING ARRANGEMENTS FOR MOTOR-POWERED ARTICULATABLE SURGICAL INSTRUMENTS; and - US industrial design patent application serial number 29 / 660,252, entitled SURGICAL STAPLER ANVILS.

[0117] The applicant of this application holds the following US patent applications and US patents, each of which is incorporated herein by reference in its entirety: - patent application serial number US 15 / 386,185, entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF, now published as US patent application number 2018 / 0168642; - US patent application serial number 15 / 386,230, entitled ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, now US patent application publication number 2018 / 0168649; - US patent application serial number 15 / 386,221, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS, now US patent application publication number 2018 / 0168646; - US patent application serial number 15 / 386,209, entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF, now US patent application publication number 2018 / 0168645; - US patent application serial number 15 / 386,198, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES, now published as US patent application number 2018 / 0168644; - Patent application serial number US 15 / 386,240, entitled SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS Petition 870250025520, dated 03 / 31 / 2025, page 23 / 323 20 / 150 THEREFOR, now published in US patent application no. 2018 / 0168651; - US patent application serial number 15 / 385,939, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now, US patent application publication number 2018 / 0168629; - US patent application serial number 15 / 385,941, entitled SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS, now publishing US patent application no. 2018 / 0168630; - Patent application serial number US 15 / 385,943, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now published as US patent application number 2018 / 0168631; - Patent application serial number US 15 / 385,950, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, now published as US patent application number 2018 / 0168635; - US patent application serial number 15 / 385,945, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now, US patent application publication number 2018 / 0168632; - Patent application serial number US 15 / 385,946, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now, publication of patent application US 2018 / 0168633; - Patent application serial number US 15 / 385,951, entitled SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR Petition 870250025520, dated 03 / 31 / 2025, page 24 / 323 21 / 150 INCREASING A JAW OPENING DISTANCE, now published in US patent application no. 2018 / 0168636; - US patent application serial number 15 / 385,953, entitled METHODS OF STAPLING TISSUE, now US patent application publication number 2018 / 0168637; - US patent application serial number 15 / 385,954, entitled FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS, now US patent application publication number 2018 / 0168638; - Patent application serial number US 15 / 385,955, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, now published as US patent application number 2018 / 0168639; - Patent application serial number US 15 / 385,948, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now published as US patent application number 2018 / 0168584; - US patent application serial number 15 / 385,956, entitled SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, now US patent application publication number 2018 / 0168640; - US patent application serial number 15 / 385,958, entitled SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT, now published as US patent application number 2018 / 0168641; - US patent application serial number 15 / 385,947, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now, US patent application publication number 2018 / 0168634; Petition 870250025520, dated 31 / 03 / 2025, p. 25 / 323 22 / 150 - US patent application serial number 15 / 385,896, entitled METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, now US patent application publication number 2018 / 0168597; - US patent application serial number 15 / 385,898, entitled STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES, now US patent application publication number 2018 / 0168599; - US patent application serial number 15 / 385,899, entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL, now US patent application publication number 2018 / 0168600; - US patent application serial number 15 / 385,901, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN, now published as US patent application number 2018 / 0168602; - US patent application serial number 15 / 385,902, entitled SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER, now published as US patent application number 2018 / 0168603; - US patent application serial number 15 / 385,904, entitled STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT, now published as US patent application number 2018 / 0168605; - US patent application serial number 15 / 385,905, entitled FIRING ASSEMBLY COMPRISING A LOCKOUT, now US patent application publication number 2018 / 0168606; - US patent application serial number 15 / 385,907, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT, now published as US patent application number 2018 / 0168608; Petition 870250025520, dated 03 / 31 / 2025, page 26 / 323 23 / 150 - US patent application serial number 15 / 385,908, entitled FIRING ASSEMBLY COMPRISING A FUSE, now US patent application publication number 2018 / 0168609; - US patent application serial number 15 / 385,909, entitled FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, now US patent application publication number 2018 / 0168610; - US patent application serial number 15 / 385,920, entitled STAPLE-FORMING POCKET ARRANGEMENTS, now US patent application publication number 2018 / 0168620; - US patent application serial number 15 / 385,913, entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLER, now US patent application publication number 2018 / 0168614; - US patent application serial number 15 / 385,914, entitled METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT, now patent application publication number 2018 / 0168615; - US patent application serial number 15 / 385,893, entitled BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS, now US patent application publication number 2018 / 0168594; - US patent application serial number 15 / 385,929, entitled CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now published as US patent application number 2018 / 0168626; - US patent application serial number 15 / 385,911, entitled SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now published as US patent application number 2018 / 0168612; - patent application serial number US 15 / 385,927, entitled Petition 870250025520, dated 03 / 31 / 2025, page 27 / 323 24 / 150 Surgical Stapling Instruments with Smart Staple Cartridges, now published in US patent application no. 2018 / 0168625; - US patent application serial number 15 / 385,917, entitled STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREATHS, now US patent application publication number 2018 / 0168617; - US patent application serial number 15 / 385,900, entitled STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS, now US patent application publication number 2018 / 0168601; - US patent application serial number 15 / 385,931, entitled NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS, now published as US patent application no. 2018 / 0168627; - US patent application serial number 15 / 385,915, entitled FIRING MEMBER PIN ANGLE, now US patent application publication number 2018 / 0168616; - US patent application serial number 15 / 385,897, entitled STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVE, now published as US patent application number 2018 / 0168598; - US patent application serial number 15 / 385,922, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, now US patent application publication number 2018 / 0168622; - US patent application serial number 15 / 385,924, entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, now published as US patent application number 2018 / 0168624; Petition 870250025520, dated 03 / 31 / 2025, page 28 / 323 25 / 150 - US patent application serial number 15 / 385,910, entitled ANVIL HAVING A KNIFE SLOT WIDTH, now US patent application publication number 2018 / 0168611; - US patent application serial number 15 / 385,903, entitled CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now US patent application publication number 2018 / 0168604; - US patent application serial number 15 / 385,906, entitled FIRING MEMBER PIN CONFIGURATIONS, now US patent application publication number 2018 / 0168607; - US patent application serial number 15 / 386,188, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now US patent application publication number 2018 / 0168585; - US patent application serial number 15 / 386,192, entitled STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES, now published as US patent application number 2018 / 0168643; - US patent application serial number 15 / 386,206, entitled STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, now US patent application publication number 2018 / 0168586; - US patent application serial number 15 / 386,226, entitled DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS, now published as US patent application number 2018 / 0168648; - US patent application serial number 15 / 386,222, entitled SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES, now published as US patent application number 2018 / 0168647; - US patent application serial number 15 / 386,236, entitled Petition 870250025520, dated 03 / 31 / 2025, page 29 / 323 26 / 150 CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS, now published in US patent application no. 2018 / 0168650; - US patent application serial number 15 / 385,887, entitled METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT, now published as US patent application number 2018 / 0168589; - US patent application serial number 15 / 385,889, entitled SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, now published as US patent application number 2018 / 0168590; - US patent application serial number 15 / 385,890, entitled SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS, now published as US patent application number 2018 / 0168591; - US patent application serial number 15 / 385,891, entitled SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, now published as US patent application number 2018 / 0168592; - US patent application serial number 15 / 385,892, entitled SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, now published as US patent application number 2018 / 0168593; - US patent application serial number 15 / 385,894, entitled SHAFT ASSEMBLY COMPRISING A LOCKOUT, now US patent application publication number 2018 / 0168595; - US patent application serial number 15 / 385,895, entitled Petition 870250025520, dated 03 / 31 / 2025, page 30 / 323 27 / 150 SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, now published in US patent application no. 2018 / 0168596; - US patent application serial number 15 / 385,916, entitled SURGICAL STAPLING SYSTEMS, now published as US patent application number 2018 / 0168575; - US patent application serial number 15 / 385,918, entitled SURGICAL STAPLING SYSTEMS, now published as US patent application number 2018 / 0168618; - US patent application serial number 15 / 385,919, entitled SURGICAL STAPLING SYSTEMS, now published as US patent application number 2018 / 0168619; - US patent application serial number 15 / 385,921, entitled SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES, now published as US patent application number 2018 / 0168621; - US patent application serial number 15 / 385,923, entitled SURGICAL STAPLING SYSTEMS, now published as US patent application number 2018 / 0168623; - US patent application serial number 15 / 385,925, entitled JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR, now published as US patent application number 2018 / 0168576; - US patent application serial number 15 / 385,926, entitled AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS, now published as US patent application number Petition 870250025520, dated 03 / 31 / 2025, page 31 / 323 28 / 150 2018 / 0168577; - US patent application serial number 15 / 385,928, entitled PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, now published as US patent application number 2018 / 0168578; - US patent application serial number 15 / 385,930, entitled SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS, now US patent application publication 2018 / 0168579; - US patent application serial number 15 / 385,932, entitled ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT, now US patent application publication number 2018 / 0168628; - US patent application serial number 15 / 385,933, entitled ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK, now published as US patent application number 2018 / 0168580; - US patent application serial number 15 / 385,934, entitled ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM, now published as US patent application number 2018 / 0168581; - US patent application serial number 15 / 385,935, entitled LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION, now published as US patent application number 2018 / 0168582; - patent application serial number US 15 / 385,936, entitled Petition 870250025520, dated 31 / 03 / 2025, p. 32 / 323 29 / 150 ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES, now published in US patent application no. 2018 / 0168583; - US patent application serial number 14 / 318,996, entitled FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS, now published as US patent application number 2015 / 0297228; - US patent application serial number 14 / 319,006, entitled FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER CONTROL FEATURES, now US patent number 10,010,324; - US patent application serial number 14 / 318,991, entitled SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS, now US patent number 9,833,241; - US patent application serial number 14 / 319,004, entitled SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS, now US patent number 9,844,369; - US patent application serial number 14 / 319,008, entitled FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS, now published under US patent application no. 2015 / 0297232; - US patent application serial number 14 / 318,997, entitled FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS, now US patent application publication number 2015 / 0297229; - US patent application serial number 14 / 319,002, entitled FASTENER CARTRIDGE COMPRISING TISSUE CONTROL FEATURES, now US patent number 9,877,721; - Patent application serial number US 14 / 319,013, entitled FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER Petition 870250025520, dated 03 / 31 / 2025, page 33 / 323 30 / 150 COVER ARRANGEMENTS, now published under US patent application no. 2015 / 0297233; and - US patent application serial number 14 / 319,016, entitled FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO, now published as US patent application number 2015 / 0297235.

[0118] The applicant of this application holds the following US patent applications which were filed on June 24, 2016, and which are each incorporated herein by reference in their respective entireties: - US patent application serial number 15 / 191,775, entitled STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now US patent application publication number 2017 / 0367695; - US patent application serial number 15 / 191,807, entitled STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES, now US patent application publication number 2017 / 0367696; - Patent application serial number US 15 / 191,834, entitled STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME, now published as US patent application number 2017 / 0367699; - US patent application serial number 15 / 191,788, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES, now US patent application publication number 2017 / 0367698; and - Patent application serial number US 15 / 191,818, entitled STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS, now published as US patent application number 2017 / 0367697.

[0119] The applicant of this application holds the following US patent applications which were filed on June 24, 2016, and which are each incorporated herein by reference. Petition 870250025520, dated 03 / 31 / 2025, page 34 / 323 31 / 150 in their respective totals: US industrial design patent application serial number 29 / 569.218 entitled SURGICAL FASTENER, now US Industrial Design Patent No. D826.405; US industrial design patent application serial number 29 / 569.227, entitled SURGICAL FASTENER, now US industrial design patent no. D822.206; US industrial design patent application serial number 29 / 569.259, entitled SURGICAL FASTENER CARTRIDGE; and US industrial design patent application serial number 29 / 569.264, entitled SURGICAL FASTENER CARTRIDGE.

[0120] The applicant of this application holds the following patent applications which were filed on April 1, 2016, and which are each incorporated herein by reference in their entirety: - US patent application serial number 15 / 089,325, entitled SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now US patent application publication number 2017 / 0281171; - US patent application serial number 15 / 089,321, entitled MODULAR SURGICAL INSTRUMENT SYSTEM COMPRISING A DISPLAY, now published as US patent application number 10,271,851; - US patent application serial number 15 / 089,326, entitled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now patent application publication number 2017 / 0281172; - US patent application serial number 15 / 089,263, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now published as US patent application number 2017 / 0281165; Petition 870250025520, dated 03 / 31 / 2025, page 35 / 323 32 / 150 - US patent application serial number 15 / 089,262, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now published as US patent application number 2017 / 0281161; - US patent application serial number 15 / 089,277, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now published as US patent application 2017 / 0281166; - US patent application serial number 15 / 089,296, entitled INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS; now, US patent application publication 2017 / 0281168; - US patent application serial number 15 / 089,258, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now US patent application publication number 2017 / 0281178; - US patent application serial number 15 / 089,278, entitled SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now published as US patent application number 2017 / 0281162; - US patent application serial number 15 / 089,284, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now published as US patent application number 2017 / 0281186; - US patent application serial number 15 / 089,295, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now published as US patent application number 2017 / 0281187; - Patent application serial number US 15 / 089,300, entitled Petition 870250025520, dated 03 / 31 / 2025, page 36 / 323 33 / 150 SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now published as US patent application no. 2017 / 0281179; - US patent application serial number 15 / 089,196, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now published as US patent application number 2017 / 0281183; - US patent application serial number 15 / 089,203, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now published as US patent application number 2017 / 0281184; - US patent application serial number 15 / 089,210, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now published as US patent application number 2017 / 0281185; - US patent application serial number 15 / 089,324, entitled SURGICAL INSTRUMENT COMPRISING A ROTABLE SHAFT, now published as US patent application number 2017 / 0281170; - US patent application serial number 15 / 089,335, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now published as US patent application number 2017 / 0281155; - US patent application serial number 15 / 089,339, entitled POWERED SURGICAL STAPLER, now US patent application publication number 2017 / 0281173; - US patent application serial number 15 / 089,253, entitled SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT, now published as US patent application number 2017 / 0281177; - US patent application serial number 15 / 089,304, entitled Petition 870250025520, dated 03 / 31 / 2025, page 37 / 323 34 / 150 SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now published in US patent application no. 2017 / 0281188; - US patent application serial number 15 / 089,331, entitled ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS, now US patent application publication number 2017 / 0281180; - US patent application serial number 15 / 089,336, entitled POWERED LINEAR SURGICAL STAPLE / FASTENER, now published as US patent application number 2017 / 0281164; - US patent application serial number 15 / 089,312, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now published as US patent application number 2017 / 0281189; - patent application serial number US 15 / 089,309, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now published as US patent application number 2017 / 0281169; and - US patent application serial number 15 / 089,349, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION, now published as US patent application number 2017 / 0281174.

[0121] The applicant of this application also holds the US patent applications identified below, which were filed on December 30, 2015, each of which is incorporated herein by reference in its entirety: - US patent application serial number 14 / 984,488, entitled USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE, now US patent application publication number 2017 / 0189018; - US patent application serial number 14 / 984,525, entitled Petition 870250025520, dated 03 / 31 / 2025, page 38 / 323 35 / 150 Mechanisms for compensating for drivetrain failure in powered surgical instruments, now published in US patent application no. 2017 / 0189019; and - US patent application serial number 14 / 984,552, entitled SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS, now US patent number 10,265,068;

[0122] The applicant of this application also holds the following US patent applications, which were filed on February 9, 2016, each of which is incorporated herein by reference in its entirety: - US patent application serial number 15 / 019,220, entitled SURGICAL STAPLING DEVICE WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR, now US patent number 10,245,029; - US patent application serial number 15 / 019,228, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now US patent application publication number 2017 / 0224342; - US patent application serial number 15 / 019,196, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now published as US patent application number 2017 / 0224330; - US patent application serial number 15 / 019,206, entitled SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY; now, US patent application publication 2017 / 0224331; - US patent application serial number 15 / 019,215, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN Petition 870250025520, dated 03 / 31 / 2025, page 39 / 323 36 / 150 ARTICULATION LOCK, now published in US patent application no. 2017 / 0224332; - Patent application serial number US 15 / 019,227, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now published as US patent application number 2017 / 0224334; - US patent application serial number 15 / 019,235, entitled SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS; now US patent number 10,245,030; - US patent application serial number 15 / 019,230, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS, now US patent application publication number 2017 / 0224335; and - US patent application serial number 15 / 019,245, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now published as US patent application number 2017 / 0224343;

[0123] The applicant of this application also holds the US patent applications identified below, which were filed on February 12, 2016, each of which is incorporated herein by reference in its entirety: - US patent application serial number 15 / 043,254, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now US patent number 10,258,331; - US patent application serial number 15 / 043,259, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now application publication. Petition 870250025520, dated 03 / 31 / 2025, page 40 / 323 37 / 150 of US patent no. 2017 / 0231626; - US patent application serial number 15 / 043,275, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now US patent application publication number 2017 / 0231627; and - US patent application serial number 15 / 043,289, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now published as US patent application number 2017 / 0231628.

[0124] The applicant of this application holds the following patent applications which were filed on June 18, 2015, and which are each incorporated herein by reference in their respective entireties: - US patent application serial number 14 / 742,925, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now US patent number 10,182,818; - US patent application serial number 14 / 742,941, entitled SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now US patent number 10,052,102; - US patent application serial no. 14 / 742,933, entitled SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING, now US patent no. 10,154,841; - US patent application serial number 14 / 742,914, entitled MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now published as US patent application number 2016 / 0367255; - US patent application serial number 14 / 742,900, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE Petition 870250025520, dated 03 / 31 / 2025, page 41 / 323 38 / 150 Firing beam structures with center firing support member for articulation support, now published under US patent application no. 2016 / 0367254; - US patent application serial number 14 / 742,885, entitled DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now published as US patent application number 2016 / 0367246; and - US patent application serial number 14 / 742,876, entitled PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now US Patent No. 10,178,992.

[0125] The applicant of this application holds the following patent applications which were filed on March 6, 2015, and which are each incorporated herein by reference in their respective entireties: - US patent application serial number 14 / 640,746, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now US patent number 9,808,246; - US patent application serial number 14 / 640,795, entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now published as US patent application number 2016 / 02561185; - US patent application serial number 14 / 640,832, entitled ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES, now published as US patent application number 2016 / 0256154; - US patent application no. 14 / 640,935, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, now published as US patent application no. 2016 / 0256071; Petition 870250025520, dated 03 / 31 / 2025, page 42 / 323 39 / 150 - US patent application serial number 14 / 640,831, entitled MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS, now US patent number 9,895,148; - US patent application serial number 14 / 640,859, entitled TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now US patent number 10,052,044; - US patent application serial number 14 / 640,817, entitled INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now US patent number 9,924,961; - US patent application serial number 14 / 640,844, entitled CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE, now US patent number 10,045,776; - US patent application serial number 14 / 640,837, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now US patent number 9,993,248; - Patent application serial number US 14 / 640,765, entitled SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER, now published as US patent application number 2016 / 0256160; - US patent application no. 14 / 640,799, entitled SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now US patent no. 9,901,342; and - US patent application serial number 14 / 640,780, entitled SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now US patent number 10,245,033;

[0126] The applicant of this application holds the following patent applications which were filed on February 27th. Petition 870250025520, dated 03 / 31 / 2025, page 43 / 323 40 / 150 2015, each of which is incorporated herein by way of reference in its entirety: - US patent application serial number 14 / 633,576, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now US patent number 10,045,779; - US patent application serial no. 14 / 633,546, entitled SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now US patent no. 10,180,463; - Patent application serial number US 14 / 633,560, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES, now published as US patent application number 2016 / 0249910; - U.S. Patent Application Serial No. 14 / 633,566, entitled CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S. Patent Application Publication No. 10,182,816; - US patent application serial number 14 / 633,555, entitled SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now US patent application publication number 2016 / 0249916; - US patent application serial number 14 / 633,542, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now US patent number 9,931,118; - US patent application serial number 14 / 633,548, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now US patent number 10,245,028; - US patent application serial number 14 / 633,526, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now a US patent Petition 870250025520, dated 03 / 31 / 2025, page 44 / 323 41 / 150 No. 9,993,258; - US patent application serial number 14 / 633,541, entitled MODULAR STAPLING ASSEMBLY, now US patent number 10,226,250; and - US patent application serial number 14 / 633,562, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now US patent number 10,159,483.

[0127] The applicant of this application holds the following patent applications which were filed on December 18, 2014, and which are each incorporated herein by reference in their respective entireties: - US patent application serial no. 14 / 574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now US no. 9,844,374; - US patent application serial number 14 / 574,483, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now US patent number 10,188,385; - US patent application serial number 14 / 575,139, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now US patent number 9,844,375; - US patent application serial number 14 / 575,148, entitled LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, now US patent number 10,085,748; - US patent application serial number 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 US patent application number Petition 870250025520, dated 03 / 31 / 2025, page 45 / 323 42 / 150 10,245,027; - US patent application serial number 14 / 575,143, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now US patent number 10,004,501; - US patent application serial number 14 / 575,117, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS, now US patent number 9,943,309; - US patent application serial number 14 / 575,154, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS, now US patent number 9,968,355; - US patent application serial number 14 / 574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now US patent number 9,987,000; and - US patent application serial number 14 / 574,500, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now US patent number 10,117,649.

[0128] The applicant of this application holds the following patent applications which were filed on March 1, 2013, and which are each incorporated herein by reference in their respective entireties: - US patent application serial number 13 / 782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, now US patent number 9,700,309; - US patent application serial number 13 / 782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now US patent number 9,782,169; - US patent application serial number 13 / 782,338, entitled Petition 870250025520, dated 03 / 31 / 2025, page 46 / 323 43 / 150 THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now published under US patent application no. 2014 / 0249557; - US patent application serial number 13 / 782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now US patent number 9,358,003; - US patent application serial number 13 / 782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now US patent number 9,554,794; - US patent application serial number 13 / 782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now US patent number 9,326,767; - US patent application serial number 13 / 782,481, entitled SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now US patent number 9,468,438; - US patent application serial number 13 / 782,518, entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now published as US patent application number 2014 / 0246475; - US patent application serial number 13 / 782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now US patent number 9,398,911; and - US patent application serial number 13 / 782,536, entitled SURGICAL INSTRUMENT SOFT STOP, now US patent number 9,307,986.

[0129] The applicant for this application also holds the following patent applications which were filed on March 14, 2013, and which are each incorporated herein by reference in their entirety: - US patent application serial number 13 / 803,097, entitled Petition 870250025520, dated 03 / 31 / 2025, page 47 / 323 44 / 150 ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now US Patent No. 9,687,230; - US patent application serial number 13 / 803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now patent number 9,332,987; - US patent application serial number 13 / 803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now US patent number 9,883,860; - US patent application serial number 13 / 803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now US patent application publication number 2014 / 0263541; - US patent application serial number 13 / 803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS; now US patent number 9,808,244; - US patent application serial number 13 / 803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now published as US patent application number 2014 / 0263554; - US patent application 13 / 803,066, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now US patent no. 9,629,623; - US patent application serial number 13 / 803,117, entitled ROBOTICALLY-CONTROLLED CABLE-BASED SURGICAL END EFFECTORS, now US patent number 9,351,726; - US patent application 13 / 803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now US patent no. 9,351,727; and - US patent application serial number 13 / 803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL Petition 870250025520, dated 03 / 31 / 2025, page 48 / 323 45 / 150 INSTRUMENT, now US patent no. 9,888,919.

[0130] The applicant for this application also holds the following patent application which was filed on March 7, 2014 and is incorporated herein by reference in its entirety: - US patent application serial number 14 / 200,111, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now US patent number 9,629,629.

[0131] The applicant for this application also holds the following patent applications which were filed on March 26, 2014, and which are each incorporated herein by reference in their entirety: - US patent application serial number 14 / 226,106, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now published as US patent application number 2015 / 0272582; - US patent application serial number 14 / 226,099, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now US patent number 9,826,977; - US patent application serial number 14 / 226,094, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT, now published in US patent application no. 2015 / 0272580; - US patent application serial number 14 / 226,117, entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now US patent number 10,013,049; - US patent application serial number 14 / 226,075, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now US patent number 9,743,929; - US patent application serial number 14 / 226,093, entitled Petition 870250025520, dated 03 / 31 / 2025, page 49 / 323 46 / 150 FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now US Patent No. 10,028,761; - US patent application serial number 14 / 226,116, entitled SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION, now published as US patent application number 2015 / 0272571; - US patent application serial number 14 / 226,071, entitled SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now US patent number 9,690,362; - US patent application serial number 14 / 226,097, entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now US patent number 9,820,738; - US patent application serial number 14 / 226,126, entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now US patent number 10,004,497; - US patent application serial number 14 / 226,133, entitled MODULAR SURGICAL INSTRUMENT SYSTEM, now published as US patent application number 2015 / 0272557; - US patent application serial number 14 / 226,081, entitled SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now US patent number 9,804,618; - US patent application serial number 14 / 226,076, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now US patent number 9,733,663; - US patent application serial number 14 / 226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now US patent number 9,750,499; and - US patent application serial number 14 / 226,125, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT, now US patent number 10,201,364; Petition 870250025520, dated 03 / 31 / 2025, page 50 / 323 47 / 150

[0132] The applicant for this application also holds the following patent applications which were filed on September 5, 2014, and which are each incorporated herein by reference in their entirety: - US patent application serial number 14 / 479,103, entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE, now US patent number 10,111,679; - US patent application serial number 14 / 479,119, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now US patent number 9,724,094; - US patent application serial number 14 / 478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now US patent number 9,737,301; - U.S. Patent Application Serial No. 14 / 478,895, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION, now U.S. Patent Application Publication No. 9,757,128; - US patent application serial number 14 / 479,110, entitled POLARITY OF HALL MAGNET TO IDENTIFY CARTRIDGE TYPE, now US patent number 10,016,199; - US patent application serial number 14 / 479,098, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now US patent number 10,135,242; - US patent application serial number 14 / 479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now US patent number 9,788,836; and - US patent application serial number 14 / 479,108, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION, now published as US patent application number 2016 / 0066913.

[0133] The applicant in this application also holds Petition 870250025520, dated 03 / 31 / 2025, page 51 / 323 The following 48 / 150 patent applications were filed on April 9, 2014, and each is incorporated herein by reference in its entirety: - US patent application serial number 14 / 248,590, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now US patent number 9,826,976; - US patent application serial number 14 / 248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, now US patent number 9,649,110; - US patent application 14 / 248,595, entitled SURGICAL SYSTEM COMPRISING FIRST AND SECOND DRIVE SYSTEMS, now US patent no. 9,844,368; - US patent application serial number 14 / 248,588, entitled POWERED LINEAR SURGICAL STAPLER, now US patent application publication number 2014 / 0309666; - US patent application serial number 14 / 248,591, entitled SURGICAL INSTRUMENT COMPRISING A GAP SETTING SYSTEM, now US patent number 10,149,680; - US patent application serial number 14 / 248,584, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now US patent number 9,801,626; - US patent application serial number 14 / 248,587, entitled POWERED SURGICAL STAPLER, now US patent no. 9,867,612; - US patent application serial number 14 / 248,586, entitled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now US Patent No. 10,136,887; and - US patent application serial number 14 / 248,607, entitled Petition 870250025520, dated 03 / 31 / 2025, page 52 / 323 49 / 150 MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now published under US patent application no. 9,814,460.

[0134] The applicant for this application also holds the following patent applications which were filed on April 16, 2013, and which are each incorporated herein by reference in their entirety: - US provisional patent application serial number 61 / 812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR; - US provisional patent application serial number 61 / 812,376, entitled LINEAR CUTTER WITH POWER; - US provisional patent application serial number 61 / 812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP; - US provisional patent application serial number 61 / 812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL; and - US provisional patent application serial number 61 / 812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

[0135] The applicant of this application holds the following provisional US patent applications, filed on December 28, 2017, each of which has its disclosure incorporated herein by reference in its entirety: - US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM; - US provisional patent application serial number 62 / 611,340, entitled CLOUD-BASED MEDICAL ANALYTICS; and - US provisional patent application serial number 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM. Petition 870250025520, dated 03 / 31 / 2025, page 53 / 323 50 / 150

[0136] The applicant of this application holds the following US provisional patent applications, filed on March 28, 2018, each of which is incorporated herein by reference in its entirety: - US provisional patent application serial number 62 / 649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; - US provisional patent application serial number 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; - US provisional patent application serial number 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS; - US provisional patent application serial number 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; - US provisional patent application serial number 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; - US provisional patent application serial number 62 / 649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; - US patent application serial number 62 / 649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; - US provisional patent application serial number 62 / 649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; - US provisional patent application serial number 62 / 649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY Petition 870250025520, dated 03 / 31 / 2025, page 54 / 323 51 / 150 AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; - US provisional patent application serial number 62 / 649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; - US provisional patent application serial number 62 / 649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES; - US provisional patent application serial number 62 / 649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; - US provisional patent application serial number 62 / 649,307, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOTASSISTED SURGICAL PLATFORMS; and - US provisional patent application serial number 62 / 649,323, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

[0137] The applicant of this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: - US patent application serial number 15 / 940,641, entitled INTERACTIVE SURGICAL SYSTEMS WITH encrypted COMMUNICATION CAPABILITIES; - US patent application serial no. 15 / 940,648, entitled INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES; - US patent application serial number 15 / 940,656, entitled SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES; - US patent application serial number 15 / 940,666, entitled SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING Petition 870250025520, dated 31 / 03 / 2025, page 55 / 323 52 / 150 ROOMS; - US patent application serial no. 15 / 940,670, entitled COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS; - US patent application serial number 15 / 940,677, entitled SURGICAL HUB CONTROL ARRANGEMENTS; - US patent application serial number 15 / 940,632, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; - US patent application serial no. 15 / 940,640, entitled COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS; - US patent application serial number 15 / 940,645, entitled SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT; - US patent application serial number 15 / 940,649, entitled DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME; - US patent application serial number 15 / 940,654, entitled SURGICAL HUB SITUATIONAL AWARENESS; - US patent application serial number 15 / 940,663, entitled SURGICAL SYSTEM DISTRIBUTED PROCESSING; - US patent application serial number 15 / 940,668, entitled AGGREGATION AND REPORTING OF SURGICAL HUB DATA; - US patent application serial number 15 / 940,671, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; - US patent application serial number 15 / 940,686, entitled DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR Petition 870250025520, dated 03 / 31 / 2025, page 56 / 323 53 / 150 LINEAR STAPLE LINE; - US patent application serial number 15 / 940,700, entitled STERILE FIELD INTERACTIVE CONTROL DISPLAYS; - US patent application serial number 15 / 940,629, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; - US patent application serial no. 15 / 940,704, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; - US patent application serial no. 15 / 940,722, entitled CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY; and - US patent application serial number 15 / 940,742, entitled DUAL CMOS ARRAY IMAGING.

[0138] The applicant of this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: - US patent application serial number 15 / 940,636, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; - US patent application serial number 15 / 940,653, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS; - US patent application serial number 15 / 940,660, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; - US patent application serial no. 15 / 940,679, entitled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET; Petition 870250025520, dated 03 / 31 / 2025, page 57 / 323 54 / 150 - US patent application serial number 15 / 940,694, entitled CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION; - US patent application serial number 15 / 940,634, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; - US patent application serial number 15 / 940,706, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; and - US patent application serial number 15 / 940,675, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES.

[0139] The applicant of this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: - US patent application serial number 15 / 940,627, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; - US patent application serial number 15 / 940,637, entitled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; - US patent application serial number 15 / 940,642, entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; - US patent application serial number 15 / 940,676, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; - US patent application serial number 15 / 940,680, entitled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; - US patent application serial number 15 / 940,683, entitled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED Petition 870250025520, dated 03 / 31 / 2025, page 58 / 323 55 / 150 SURGICAL PLATFORMS; - US patent application serial number 15 / 940,690, entitled DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and - US patent application serial number 15 / 940,711, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

[0140] Numerous specific details are presented to provide a complete understanding of the structure, function, manufacture, and general use of the embodiments described in the descriptive report 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 descriptive report. The reader will understand that the embodiments described and illustrated in the present invention are non-limiting examples and, therefore, it can be understood that the specific structural and functional details described in the present invention may be representative and illustrative. Variations and alterations may be made thereto without departing from the scope of the embodiments.

[0141] The terms comprise (and any form of comprising, such as comprising and that which comprises), has (and any form of having, such as having and that which has), includes (and any form of including, such as including and that which includes) and contains (and any form of containing, such as containing and that which contains) are unrestricted linking verbs. As a result, a surgical system, device or apparatus that comprises, has, includes or contains one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Similarly, an element of a surgical system, device or apparatus that comprises, has, includes or contains one or more features possesses those one or more Petition 870250025520, dated 03 / 31 / 2025, page 59 / 323 56 / 150 resources, but it is not limited to having only those one or more resources.

[0142] The terms proximal and distal are used in the present invention with reference to a physician manipulating the handle portion of the surgical instrument. The term proximal refers to the portion closest to the physician, and the term distal refers to the portion situated in the opposite direction from the physician. It will also be understood that, for the sake of convenience and clarity, spatial terms such as vertical, horizontal, up, and down may be used in the present invention with respect to the drawings. However, surgical instruments may be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0143] Several exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices described in the present invention can be used in numerous surgical procedures and applications, including, for example, open surgical procedures. With further advancement of the present Detailed Description, the reader will also understand that the various instruments described herein can be inserted into a body in any manner, such as through a natural orifice, through an incision or perforation formed in tissue, etc.The functional portions or end-actuator portions of instruments can be inserted directly into a patient's body, or they can be inserted via an access device that has a working channel through which the end-actuator and elongated drive shaft of a surgical instrument can be advanced.

[0144] The surgical stapling system may comprise a Petition 870250025520, dated 03 / 31 / 2025, page 60 / 323 57 / 150 drive shaft and an end actuator extending from the drive shaft. The end actuator comprises a first gripper and a second gripper. The first gripper comprises a staple cartridge. The staple cartridge is insertable into, and removable from, the first gripper; however, other embodiments are provided in which a staple cartridge is not removable, or at least not readily replaceable, from the first gripper. The second gripper comprises an anvil configured to deform the staples ejected from the staple cartridge. The second gripper is pivotable relative to the first gripper around a geometric closing axis; however, other embodiments are provided in which the first gripper is pivotable relative to the second gripper. The surgical stapling system further comprises a joint configured to allow the end actuator to be rotated or articulated relative to the drive shaft.The end actuator rotates around a geometric axis of articulation that extends through the articulation joint. Other embodiments are provided that do not include an articulation joint.

[0145] The clip cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal and distal ends. In use, the staple cartridge is positioned on one side of the tissue to be stapled, and the anvil is positioned on the other side. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the platform. After this, the staples, which are removablely stored in the cartridge body, can be employed on the tissue. The cartridge body includes defined staple cavities in which the staples are removablely stored. The staple cavities are arranged in six longitudinal rows. Three Petition 870250025520, dated 03 / 31 / 2025, page 61 / 323 58 / 150 rows of clamp cavities are positioned on one side of a longitudinal slot, and three rows of clamp cavities are positioned on the other side of the longitudinal slot. Other arrangements of clamp cavities and clamps may be possible.

[0146] The staples are held in place by staple actuators in the cartridge body. The actuators are movable between a first position, or unfired position, and a second position, or fired position, to eject the staples from the staple cavities. The actuators are retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and retain the retainer in the cartridge body. The actuators are movable between their unfired and fired positions by a slider. The slider is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slider comprises a plurality of inclined surfaces configured to slide under the actuators and lift the actuators, and the staples held therein, toward the anvil.

[0147] In addition to the above, the slider is moved distally by a firing member. The firing member is configured to contact the slider and push the slider towards the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam that engages with the first claw and a second cam that engages with the second claw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the Petition 870250025520, dated 03 / 31 / 2025, page 62 / 323 59 / 150 staple cartridge platform and anvil. The firing member also comprises a knife configured to make an incision in the captured tissue between the anvil and the staple cartridge. It is desirable that the knife be positioned at least partially proximal to the inclined surfaces so that the staples are ejected in front of the knife.

[0148] A surgical instrument 10000 is illustrated in Figure 1. The surgical instrument 10000 comprises a handle 10100, a drive shaft 10200 extending from the handle 10100, and an end actuator 10400. The end actuator 10400 comprises a first gripper 10410 configured to receive a staple cartridge and a second gripper 10420 movable relative to the first gripper 10410. The second gripper 10420 comprises an anvil that includes staple-forming pockets defined thereon. The surgical instrument 10000 further comprises a closing actuator 10140 configured to actuate a closing system of the surgical instrument 10000 and move the second gripper 10420 between an ungripped and gripped position. With reference to Figure 3, the closing actuator 10140 is operationally coupled to a closing tube 10240 which is advanced distally when the closing actuator 10140 is closed.In such cases, the closing tube 10240 contacts the second claw and cam-actuates and / or pushes the second claw 10420 downwards to its clamped position. The second claw 10420 is pivotally coupled to the first claw around a pivot axis. That said, in alternative embodiments, the second claw may translate and rotate as it is moved to its clamped position. Furthermore, in several alternative embodiments, a surgical instrument comprises a staple cartridge claw movable between a non-clamped position and a clamped position relative to an anvil claw. Petition 870250025520, dated 03 / 31 / 2025, page 63 / 323 60 / 150 In any case, the handle 10100 comprises a latch configured to releasably secure the closing system actuator 10140 in its clamping position. The handle 10100 further comprises release actuators 10180a, 10180b which, when either is actuated, unlock the closing actuator 10140 so that the end actuator can be reopened. In several alternative embodiments, the handle 10100 comprises an electric motor configured to move the closing tube 10240 proximally and / or distally when actuated by the physician.

[0149] The end actuator 10400 is fixed to the drive shaft 10200 by a joint 10500 and is rotatable within a plane about a geometric axis of articulation. The drive shaft 10200 defines a longitudinal geometric axis and the end actuator 10400 is articulable between a position in which the end actuator 10400 is aligned with the longitudinal geometric axis and positions in which the end actuator 10400 extends at a transverse angle relative to the longitudinal geometric axis. The handle 10100 comprises an electric motor and a control system configured to control the operation of the electric motor. The electric motor comprises a brushless DC motor; however, the electric motor may comprise any suitable motor, such as a brushed DC motor, for example. US Patent Disclosure No. 10,149.The disclosure of the publication of US patent application serial number 2018 / 0125481, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, filed on May 10, 2018, is incorporated herein by reference in its entirety. The handle. Petition 870250025520, dated 31 / 03 / 2025, p. 64 / 323 61 / 150 10100 further comprises a replaceable and / or rechargeable battery 10300 attachable to the handle housing that powers the surgical instrument 10000. The disclosure of US Patent No. 8,632,525, entitled POWER CONTROL ARRANGEMENTS FOR SURGICAL INSTRUMENTS AND BATTERIES, granted August 21, 2014, is incorporated herein by reference in its entirety. The electric motor is operationally coupled to a trigger drive 10250 of the surgical instrument 10000 and is configured to actuate a trigger member of the trigger drive 10250 via a staple trigger stroke. The electric motor comprises a rotary output which includes a gear engaged to a translatable rack of the 10250 firing drive. The electric motor is operated in a first direction to actuate the firing member through the staple firing stroke and in a second direction, or opposite direction, to retract the firing member and / or reset the 10250 firing drive.The surgical instrument 10000 further comprises an actuator 10150 in communication with the motor control system which, when actuated or rotated, signals the motor control system to operate the electric motor in the first direction and initiate the staple firing stroke. If the actuator 10150 is released, the motor control system stops the electric motor. When the actuator 10150 is actuated again, the motor control system operates the electric motor again in the first direction to continue the staple firing stroke. When the firing limb reaches the end of the staple firing stroke, the control system stops the electric motor awaiting a command from the physician. When the physician releases the actuator 10150 at this point, the control system reverses the operation of the electric motor to retract the firing limb back to its non-firing position. The handle 10100 further comprises a retraction actuator in communication with the system. Petition 870250025520, dated 03 / 31 / 2025, page 65 / 323 62 / 150 motor control that reverses the direction of the electric motor to retract the trigger actuator when actuated by the physician. When the retraction actuator is pressed, the staple trigger stroke is interrupted regardless of whether the trigger limb has reached the end of its trigger stroke.

[0150] The electric motor of the surgical instrument 10000 is also used to selectively drive an articulation drive system to articulate the end actuator 10400. More specifically, the articulation drive system comprises an articulation drive that is selectively engageable with the trigger drive, and when the articulation drive is engaged with the trigger drive, the articulation drive becomes movable proximally and distally by the operation of the electric motor to articulate the end actuator 10400. When the electric motor is operated in its first direction, in these cases, the end actuator 10400 is articulated in a first direction to push the articulation drive distally. Similarly, the end actuator 10400 is articulated in a second direction when the electric motor is operated in its second direction to pull the articulation drive proximally.When the articulation actuator is not engaged with the trigger actuator, the electric motor does not articulate the end actuator 10400. Instead, in such cases, the electric motor only moves the trigger actuator. That said, it should be understood that the movement of the trigger actuator to articulate the end actuator 10400 does not cause the staple trigger stroke to be performed. The range of motion required to articulate the end actuator 10400 is small compared to the range of motion of the staple trigger stroke, and occurs proximal to the beginning of the staple trigger stroke so that the staples are not. Petition 870250025520, dated 03 / 31 / 2025, page 66 / 323 63 / 150 ejected and the tissue is not cut while the end actuator 10400 is being articulated. The surgical instrument 10000 further comprises an articulation lock that unlocks when the articulation actuator is moved longitudinally by the trigger drive and then locks the end actuator 10400 in position when the articulation actuator is not being actuated by the trigger drive. The disclosure of US Patent No. 9,629,629, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, which was granted on April 25, 2017, is incorporated herein by reference in its entirety. Considering the foregoing, a surgical instrument may comprise a separate articulation motor in addition to the trigger motor to actuate the articulation drive system.

[0151] In addition to the above, with reference to Figure 2, the handpiece 10100 comprises a frame 10110, a housing 10120, and a joint actuator 10160. The joint actuator 10160 comprises a rocker switch, for example, which is vertically oriented in the housing 10120 and is in communication with the motor control system. The rocker switch is rotatable up and down about a geometric axis to articulate the end actuator 10400. The upper portion of the joint actuator 10160 is pushed by the physician to articulate the end actuator 10400 to the left, and the lower portion of the joint actuator 10160 is pushed to articulate the end actuator 10400 to the right. Such an arrangement provides an intuitive interface for the physician; however, any suitable arrangement may be used. The 10100 handle also includes an initial actuator 10170 in communication with the motor control system.When the initial actuator 10170 is activated by the physician, the motor control system operates the electric motor to recenter the end actuator. Petition 870250025520, dated 03 / 31 / 2025, page 67 / 323 64 / 150 10400 along the longitudinal geometric axis of the drive shaft 10200 of the surgical instrument 10000. For this purpose, the control system is configured to track the position of the end actuator so that, when the initial actuator 10170 is actuated, the control system operates the electric motor in the correct direction to articulate the end actuator 10400 in the correct direction and by the correct amount. In several cases, the surgical instrument 10000 comprises a linear encoder configured to track the position of the articulation actuator, for example, so that, when the initial actuator 10170 is actuated, the control system can properly center the end actuator 10400.

[0152] In addition to the above, the drive shaft 10200 is rotatable relative to the handle 10100. The drive shaft 10200 comprises a structure 10210 fixed to the structure 10110 of the handle 10100. In embodiments where the drive shaft 10200 is readily removable from the handle 10100, the structure of the drive shaft 10210 may separate from the structure of the handle 10110. In embodiments where the drive shaft 10200 is not removable from the handle 10100, the structure of the drive shaft 10210 and the structure of the handle 10110 may be integrally formed. In any case, the drive shaft 10200 comprises a nozzle, or handle, 10220 fixed to the closing tube 10240 of the drive shaft 10200.The grip 10220 comprises finger grooves 10222 defined thereon and ridges 10224 extending between the finger grooves 10222 which provide walls against which a physician can push his finger and help him rotate the drive shaft 10200 around its longitudinal geometric axis.

[0153] Notably, in addition to the above, the end actuator 10400 rotates with the drive shaft 10200 when the shaft Petition 870250025520, dated 03 / 31 / 2025, page 68 / 323 The 65 / 150 drive shaft 10200 is rotated about its longitudinal geometric axis. Thus, the end actuator 10400 rotates clockwise when the drive shaft 10200 is rotated clockwise by the physician and counterclockwise when the drive shaft 10200 is rotated counterclockwise by the physician. In several alternative embodiments, the surgical instrument 10000 comprises an electric motor configured to rotate the drive shaft 10200 about its longitudinal geometric axis. In any case, the drive shaft 10200 is rotatable from a top-dead-center (TDC) position, where the anvil 10420 is positioned directly above the clamp cartridge gripper 10410, to any other suitable position within a full range of 360-degree positions.For example, the drive shaft 10200 rotates to a 90-degree right position in which the anvil 10420 faces to the right of the handle 10100, or to a 90-degree left position in which the anvil 10420 faces to the left of the handle 10100. The drive shaft 10200 also rotates to a bottom-dead-center (BDC) position in which the staple cartridge gripper 10410 is positioned directly above the anvil 10420.

[0154] As described above, the end actuator 10400 is articulated at the articulation joint 10500 and is rotatable with the drive shaft 10200. When the end actuator 10400 is rotated in a plane with the end actuator 10400 in its TDC position, as mentioned above, the articulation control 10160 is intuitive for the user – push up to articulate to the left and push down to articulate to the right. This arrangement is also intuitive even after the drive shaft 10200 – and the end actuator 10400 – have been rotated 90 degrees to the right or to the left. However, after the shaft Petition 870250025520, dated 03 / 31 / 2025, page 69 / 323 If the drive shaft 10200 and the end actuator 10400 are rotated beyond 90 degrees in either direction, the articulation control 10160 may become counterintuitive to the physician. In fact, the articulation control 10160 may appear backwards. Bearing this in mind, the surgical instrument control system 10000 is configured to reverse the way the surgical instrument responds to the articulation control 10160 after the drive shaft 10200 and the end actuator 10400 have been rotated beyond 90 degrees in either direction. In such cases, the controls change to: push up to articulate to the right and push down to articulate to the left.For this purpose, as described in more detail below, the surgical instrument 10000 is configured to detect the orientation of the drive shaft 10200 relative to the handle 10100, that is, it is configured to detect whether the end actuator 10400 is at least partially inverted relative to the handle 10100 and then enter an alternative operating control mode in which the responsiveness of the surgical instrument 10000 to the articulation control 10160 has been inverted. Such an arrangement can make the surgical instrument 10000 easier to use in various cases.

[0155] With reference to Figures 2 to 5, the surgical instrument 10000 comprises a switch 10130 mounted on the handle 10100 in communication with the control system, which is configured to detect the rotation of the drive shaft 10200 relative to the handle 10100. The switch 10130 comprises a switch body 10132 fixedly mounted to the handle structure 10110 and three electrical contacts 10133 that are part of a switch circuit in communication with the control system. The switch 10130 further comprises a switch arm 10134 rotatably connected to the switch body 10132 and an electrical contact 10136 positioned on the body of Petition 870250025520, dated 03 / 31 / 2025, page 70 / 323 67 / 150 key 10132. The key arm 10134 is comprised of an electrically conductive material, such as brass, for example, and closes the key circuit when the key arm 10134 comes into contact with the electrical contact 10136. The key arm 10134 is rotated between an open position (Figure 5) and a closed position when the drive shaft 10200 is rotated beyond the 90-degree left or right positions. More specifically, the handle, or nozzle, 10220 comprises a cam 10230 set thereon which pushes the key arm 10134 into its closed position when the drive shaft 10200 and the end actuator 10400 are at least partially reversed. When the drive shaft 10200 is rotated upwards beyond the 90-degree positions, the cam 10230 enables the key arm 10134 to resiliently move back to its open position and open the key circuit.The wrench arm 10134 comprises a cylinder 10135 mounted thereon to facilitate relative rotation between the wrench arm 10134 and the handle 10220.

[0156] A surgical instrument 11000 is illustrated in Figure 6. Surgical instrument 11000 is similar to surgical instrument 10000 in many respects. The surgical instrument 11000 comprises a handle 11100 and an end actuator 11200 extending from the handle 11100. The handle 11100 comprises a frame 11110 and the drive shaft 11200 comprises a frame 11210 fixed to the frame of the handle 11110. The drive shaft 11200 comprises a grip, or mouthpiece, 11220, a first magnetic element 11230s positioned on one side of the grip 11220 and a second magnetic element 11230n positioned on the opposite side of the grip 11220. In other words, the first magnetic element 11230s and the second magnetic element 11230n are mounted 180 degrees from each other. The handle 11100 further comprises a control system that Petition 870250025520, dated 03 / 31 / 2025, page 71 / 323 68 / 150 includes at least one sensor 11130, such as a Hall effect sensor, for example, mounted on the handle structure 11110 configured to detect the position of the magnetic elements 11230s and 11230n and, with this information, determine the orientation of the drive shaft 11200 relative to the handle 11100. Notably, the first magnetic element 11230s comprises a permanent magnet with a south pole facing the handle 11100 and a north pole facing the opposite side of the handle 11100, and the second magnetic element 11230n comprises a permanent magnet with a north pole facing the handle 11100 and a south pole facing the opposite side of the handle 11100.Magnetic elements 11230s and 11230n disturb the magnetic field emitted by the Hall effect sensor, and when the drive shaft 11200 is at least partially inverted, the disturbance associated with such orientation of the drive shaft 11200 is detected by the control system of the surgical instrument 11000 through a detection circuit that includes sensor 11130. In such cases, similarly to what is described above, the control system enters its second operating mode which inverts the responsiveness of the surgical instrument 11000 to the articulation control 10160, as described above.

[0157] A surgical instrument 12000 is illustrated in Figures 7 and 8. Surgical instrument 12000 is similar to surgical instrument 10000 in many respects. Surgical instrument 12000 comprises a handle 12100 and an end actuator 12200 extending from the handle 12100. The handle 12100 comprises a housing, a first articulation control 12160a positioned on a first side of the handle housing and a second articulation control 12160b positioned on a second side, or opposite side, of the handle housing. The first control Petition 870250025520, dated 03 / 31 / 2025, page 72 / 323 The 69 / 150 articulation 12160a is in communication with the surgical instrument control system 12000 through a first control circuit, and the second articulation control 12160b is in communication with the control system through a second control circuit. The control system is configured to operate the electric motor of the staple firing drive in a first direction to articulate the end actuator of the drive shaft 12200 in a first direction when the first articulation control 12160a is actuated, and in a second direction, or opposite direction, to articulate the end actuator in a second direction, or opposite direction, when the second articulation control 12160b is actuated. The handle 12100 further comprises a centering, or initial, actuator 10170a positioned on the first side of the handle 12100 and a second centering, or initial, actuator 10170b on the second side of the handle 12100.Similarly to what is described above, actuators 10170a and 10170b communicate with the control system, which is configured so that the actuation of either centering actuator 10170a or 10170b causes the control system to operate the electric motor to recenter the end actuator.

[0158] A surgical instrument 13000 is illustrated in Figures 9 and 10. Surgical instrument 13000 is similar to surgical instrument 10000 in many respects. Surgical instrument 13000 comprises a handle 13100 and an end actuator 13200 extending from the handle 13100. The drive shaft 13200 comprises a housing, a first articulation control 13260a positioned on a first side of the drive shaft housing and a second articulation control 13260b positioned on a second side, or opposite side, of the drive shaft housing. The first articulation control 13260a is in Petition 870250025520, dated 31 / 03 / 2025, p. 73 / 323 70 / 150 communicates with the surgical instrument control system 13000 through a first control circuit, and the second articulation control 13260b communicates with the control system through a second control circuit. The control system is configured to operate the electric motor of the staple firing drive in a first direction to articulate the end actuator 10400 of the drive shaft 13200 in a first direction when the first articulation control 13260a is actuated, and in a second direction, or opposite direction, to articulate the end actuator 10400 in a second direction, or opposite direction, when the second articulation control 13260b is actuated. In other words, the end actuator 10400 articulates in the direction in which the articulation control is actuated.The first articulation control 13260a is positioned on a first defined finger ridge on a handle, or mouthpiece, 13220 of the drive shaft 13200, and the second articulation control 13260b is positioned on a second defined finger ridge on the handle 13220. Notably, the articulation controls 13260a and 13260b are positioned 180 degrees from each other. Alternatively, the articulation controls 13260a and 13260b may be positioned in the defined finger grooves on the handle 13220, although any suitable arrangement may be used. This arrangement provides the advantage of having the articulation controls in a position that is readily accessible by the physician's hand during use, and as a result, they are intuitively usable since the relative arrangements of the articulation controls 13260a and 13260b and the articulation directions are fixed.

[0159] A surgical instrument 14000 is illustrated in Figures 11 and 12. Surgical instrument 14000 is similar to surgical instrument 13000 in many respects. Surgical instrument 14000 comprises Petition 870250025520, dated 03 / 31 / 2025, page 74 / 323 71 / 150 a handle 13100 and an end actuator 14200 extending from the handle 13100. The drive shaft 14200 comprises a housing, a first articulation control 14260a positioned on a first side of the drive shaft housing and a second articulation control 14260b positioned on a second side, or opposite side, of the drive shaft housing. The first articulation control 14260a is in communication with the surgical instrument control system 14000 via a first control circuit and the second articulation control 14260b is in communication with the control system via a second control circuit.The control system is configured to operate the electric motor of the clamp firing drive in a first direction to articulate the end actuator 10400 of the drive shaft 14200 in a first direction when the first articulation control 14260a is actuated, and in a second direction, or opposite direction, to articulate the end actuator 10400 in a second direction, or opposite direction, when the second articulation control 14260b is actuated. The first articulation control 14260a is positioned in a first finger groove defined in a handle, or nozzle, 14220 of the drive shaft 14200 and the second articulation control 14260b is positioned in a second finger groove defined in the handle 14220, although any suitable arrangement may be used.

[0160] In addition to the above, the drive shaft 14200 further comprises a third articulation control 14260c positioned on the second side of the drive shaft housing and a fourth articulation control 14260d positioned on the first side of the drive shaft housing. The third articulation control 14260c is in communication with the surgical instrument control system 14000 via a third control circuit and the fourth Petition 870250025520, dated 03 / 31 / 2025, page 75 / 323 The 72 / 150 articulation control 14260b communicates with the control system via a fourth control circuit. The control system is configured to operate the electric motor of the clamp firing drive in the second direction to articulate the end actuator of the drive shaft 14200 in the second direction when the third articulation control 14260c is actuated, and in the first direction to articulate the end actuator in the first direction when the fourth articulation control 14260d is actuated. The third articulation control 14260c is positioned in a third finger groove on the handle 14220 of the drive shaft 14200, and the fourth articulation control 14260d is positioned in a fourth finger groove set on the handle 14220, although any suitable arrangement may be used.

[0161] A surgical instrument 15000 is illustrated in Figure 13. The surgical instrument 15000 is similar to the surgical instrument 10000 in many respects. The surgical instrument 15000 comprises a handle 15100 and an end actuator 10200 extending from the handle 15100. The handle 15100 comprises a joint actuator 15160 communicating with the control system of the surgical instrument 15000. Unlike the joint actuator 10160 which is arranged vertically, the joint actuator 15160 is arranged horizontally. The joint actuator 15160 comprises a rotating element that is rotatable within a plane that is parallel, or at least substantially parallel, to the longitudinal geometric axis of the drive shaft 10200.The rotating element rotates distally to articulate the end actuator 10400 to the right of the handle 15100 and proximally to articulate the end actuator 10400 to the left of the handle 15100. This is true regardless of whether the end actuator 10400 is rotated. Petition 870250025520, dated 03 / 31 / 2025, page 76 / 323 73 / 150 up or down due to the control inversion responsiveness when the end actuator 10400 is rotated beyond 90 degrees from its TDC position in either direction. That said, the controls of the joint actuator 15160 can be inverted as described above. The joint actuator 15160 comprises a distal contact that is part of a first joint control circuit and a proximal contact that is part of a second joint control circuit. The rotating element engages the distal contact and closes the first joint control circuit when the rotating element is in its distal position. The rotating element is not in contact with the proximal contact when the rotating element is in its distal position, and thus the second joint control circuit is open.Similarly, the rotating element engages the proximal contact and closes the second joint control circuit when the rotating element is in its proximal position. Correspondingly, the rotating element is not in contact with the distal contact when the rotating element is in its proximal position, and thus the first joint control circuit is open.

[0162] In addition to the above, the articulation actuator 15160 comprises a detent in the middle of the range of motion of the rotating element. The detent is configured to resist the movement of the rotating element as it moves from one side of the articulation actuator 15160 to the other. This resistance to the movement of the rotating element can signal to the physician that he will articulate the end actuator 10400 in the opposite direction when moving the rotating element beyond that point. Furthermore, such a detent provides a place to park the rotating element so that the end actuator 10400 is not articulated in either direction. The rotating element comprises a crest that aligns with its central position, or Petition 870250025520, dated 03 / 31 / 2025, page 77 / 323 74 / 150 stationary, which can be pressed and pulled by the physician to move the rotating element. This crest provides the physician with a tactile sensation of the direction in which the rotating element is being turned and, thus, a sense of the direction in which the end actuator 10400 is being articulated.

[0163] Considering what has been said above, several modalities are foreseen in which the responsiveness of the control of a surgical instrument can be overcome. In at least one case, the handle of the surgical instrument comprises an actuator in communication with the control system which, when actuated, prevents the control system from entering its second operating mode or inversion. In at least one of these cases, the handle also comprises an indicator, for example a light-emitting diode (LED), which lights up to indicate the state of the surgical instrument, that is, whether the articulation controls will invert or not when the end actuator is rotated beyond 90 degrees from its TDC position. In certain cases, the surgical instrument comprises an input screen in communication with a microprocessor of the control system which can receive a command to prevent the control system from entering its second operating mode or inversion.In addition to or beyond the above, the inversion point at which the surgical instrument enters its second mode of operation can be adjusted. In at least one such embodiment, the physician can modify the inversion point to 85 degrees, for example, in any direction from the TDC position of the end actuator. Any suitable number, such as 80 degrees, 95 degrees, or 100 degrees, for example, could be used to suit the physician's preference. In at least one embodiment, the surgical instrument comprises an input screen communicating with the... Petition 870250025520, dated 03 / 31 / 2025, page 78 / 323 The 75 / 150 microprocessor control system is configured to receive an action from the physician to adjust the inversion point of the joint control.

[0164] During use, it is desirable that the articulation controls do not unexpectedly invert while the physician is using the articulation controls. When the physician begins to articulate the end-hand actuator, the control system maintains the articulation control mode until the physician releases the articulation control, even if the end-hand actuator and drive shaft are rotated beyond an inversion point during articulation. Once articulation ceases, the control system may reorient the articulation controls, or switch to the inverted articulation control mode if the end-hand actuator and drive shaft are still in an inverted position. In certain modalities, the control system does not immediately invert the articulation controls.Instead, the control system comprises a timer circuit and / or the control system microprocessor is programmed to wait a certain period of time before reversing the controls. In at least one case, the control system waits 5 seconds, for example, from the last time the articulation controls were used before reversing the articulation controls. Alternatively, the control system may wait 2 seconds or 10 seconds, for example. Such an arrangement can help avoid confusion for the user of the surgical instrument. In several embodiments, the surgical instrument comprises a tactile feedback generator in communication with the control system that is activated by the control system when the articulation controls are reversed. Noise, light, sound, and / or vibratory feedback from the motor, for example, may be used.In some versions, the drive shaft and / or handle comprise a mechanical switch that emits an activation sound. Petition 870250025520, dated 03 / 31 / 2025, page 79 / 323 76 / 150 (click) when the drive shaft is rotated beyond its reversal point in either direction.

[0165] Figures 56 and 57 show a surgical instrument. 32000 comprising a handle 32100 and a drive shaft 32200. The handle 32100 comprises a joint control 32160 and a joint reversal switch 32130 communicating with the surgical instrument control system 32000. The joint reversal switch 32130 is mounted on a control board, such as a printed circuit board (PCB), which comprises the hardware and software for the surgical instrument control system 32000. When the drive shaft 32200 is rotated beyond its left or right position by 90 degrees, the drive shaft 32200 contacts the joint reversal switch 32130, which is detected by the control system. At this point, the control system follows an algorithm to decide when, or if, to control the joint controls. Figure 58 illustrates a 32900 algorithm that can control this, although any suitable algorithm can be used.Similar to the above, the drive shaft 32200 comprises a cam 32230 configured to make contact with the linkage reversing switch 32130. As a result of the above, the linkage reversing switch 32130 is open or off for 180 degrees of rotation of the drive shaft 32200 and closed or on for the other 180 degrees of rotation of the drive shaft 32200. The cam 32230 is molded into the housing of the drive shaft 32200, but could comprise any suitable arrangement. Considering what has been said above, the stroke of the cam 32230 is designed so that any fluctuation or lateral eccentricity in the rotation of the drive shaft 32200, or of the cam 32230, will not accidentally close or open the switch. Petition 870250025520, dated 03 / 31 / 2025, page 80 / 323 77 / 150 articulation reversal 32130. For this purpose, the drive shaft 32200 comprises a fixed bearing to control the rotation of the drive shaft 32200 and the cam 32230. Notably, the articulation reversal switch 32130 is sealed to prevent fluid ingress.

[0166] In several cases, a surgical instrument comprises an input configured to enable a physician to select whether the joint controls operate in their common joint control mode or in their inverted joint control mode. In at least one case, the surgical instrument handle comprises an action switch in communication with the surgical instrument control system. When the action switch is open, for example, the algorithm controls the orientation of the joint controls according to a predetermined set of criteria. When the action switch is closed by the physician, the algorithm does not use the predetermined set of criteria to control the orientation of the joint controls. Instead, the algorithm uses the orientation of the joint controls selected by the physician.In at least one case, the handle comprises three action switches communicating with the control system – a first switch instructing the control system to use the raised anvil articulation controls, a second switch instructing the control system to use the lowered anvil articulation controls, and a third switch instructing the control system to use the automatic controls. In some embodiments, the surgical instrument does not have the automatic reversal controls described herein and may comprise only the actions of the first and second switches. Such an arrangement can significantly reduce the cost and / or complexity of a surgical instrument.

[0167] In several cases, in addition to what has been stated above, the point of Petition 870250025520, dated 03 / 31 / 2025, page 81 / 323 78 / 150 inversion can be a specific point in the rotation of the drive shaft 10200. In certain cases, with reference to Figure 55, there may be an uncertain zone around the inversion point. For example, the uncertain zone may include 20 degrees to either side of the inversion point. While the drive shaft 10200 is in the uncertain zone, the control system algorithm is configured not to invert the linkage controls even if the drive shaft 10200 has been rotated beyond the inversion point. This arrangement allows the drive shaft 10200 to be rotated forward and backward within the uncertain zone without repeatedly inverting the linkage controls. Once the drive shaft 10200 is rotated out of the uncertain zone, however, the control system algorithm inverts the linkage controls subject to any other criteria necessary to invert the linkage controls.In many cases, there is an interface between the raised anvil orientation range and the lowered anvil orientation range. For a drive shaft that is rotatable 360 ​​degrees, there are two such interfaces – separated 180 degrees from each other. Each of these interfaces is positioned within an orientation transition range that extends into both the raised anvil orientation range and the lowered anvil orientation range. When the 10200 drive shaft is rotated from a raised anvil orientation to a transition range, the control system does not reverse the articulation controls – but further rotating the 10200 drive shaft out of the transition range to a lowered anvil orientation will cause the articulation controls to be reversed.Similarly, the control system does not reverse the articulation controls when the 10200 drive shaft is rotated from a lowered anvil orientation to a transition range, but still rotates it. Petition 870250025520, dated 03 / 31 / 2025, page 82 / 323 79 / 150 drive shaft 10200 outside the transition range in a raised anvil orientation will cause the linkage controls to be reversed. In at least one case, each transition zone includes 5 degrees of orientation from the raised anvil range and 5 degrees of orientation from the lowered anvil range, for example. In other embodiments, each transition zone includes 10 degrees of orientation from the raised anvil range and 10 degrees of orientation from the lowered anvil range, for example.

[0168] In several embodiments, in addition to the above, the upward and downward orientations of the drive shaft 10200 are measured relative to the grip and / or a housing that rotatably supports the drive shaft. In such cases, a grip comprises a top and a bottom – regardless of its gravitational orientation – and the upward orientations of the drive shaft 10200 are associated with the top of the grip while the downward orientations of the drive shaft 10200 are associated with the bottom of the grip. In at least one such embodiment, the drive shaft 10200 comprises a gravity sensor, such as an accelerometer and / or a gyroscope, for example, and the grip comprises a gravity sensor.In such embodiments, the gravity sensor of the drive shaft and the gravity sensor of the grip are in communication with the control system, which is configured to evaluate the relative orientation between the drive shaft and the grip using the gravity sensor data. In other embodiments, the upward and downward orientations of the drive shaft 10200 are measured relative to gravity independently of the gravitational orientation of the grip. In at least one such embodiment, the drive shaft 10200 comprises a gravity sensor. Petition 870250025520, dated 03 / 31 / 2025, page 83 / 323 80 / 150 communication with the control system and the upward orientations of the 10200 drive shaft are associated with vertically upward positions, while the downward orientations of the 10200 drive shaft are associated with vertically downward positions.

[0169] A 16160 joint control is illustrated in Figure 14. The articulation control 16160 comprises a first capacitive switch 16162 and a second capacitive switch 16164. The first capacitive switch 16162 and the second capacitive switch 16164 are positioned on opposite sides of a shaft 16167. The first capacitive switch 16162 is part of a first articulation control circuit in communication with a surgical instrument control system, and the second capacitive switch 16164 is part of a second articulation control circuit in communication with the control system. The capacitance of the first capacitive switch 16162 changes when a physician places their finger on the first capacitive switch 16162, which is detected by the control system, and in response to this change, the control system articulates the end actuator of the surgical instrument to the right.The capacitance of the second capacitive switch 16164 changes when a physician places their finger on the second capacitive switch 16164, which is detected by the control system, and in response to this change, the control system articulates the end actuator of the surgical instrument to the left. In several cases, the shaft 16167 comprises a dead zone which, if touched by the physician, does not detectably or sufficiently alter the capacitance of the first capacitive switch 16162 or the second capacitive switch 16164.

[0170] A two-stage switch 17160 is illustrated in Figure 15. When key 17160 is pressed to its first stage, a first articulation control circuit is closed. The first circuit Petition 870250025520, dated 31 / 03 / 2025, page 84 / 323 The 81 / 150 articulation control is in communication with a surgical instrument control system. When the control system detects that the first articulation control circuit has been closed, the control system operates an articulation drive motor in a first direction to articulate the end actuator of the surgical instrument in a first direction. When the 17160 switch is pressed to its second stage, a second articulation control circuit is closed. In several cases, the first stage comprises a first detent and the second stage comprises a second detent. In at least one of these cases, the 17160 switch comprises a switch with two detents that can be pressed to two different depths, for example. In any case, the second articulation control circuit is in communication with the surgical instrument control system.When the control system detects that the second articulation control circuit has been closed, the control system operates an articulation drive motor in a second direction to articulate the end actuator of the surgical instrument in a second direction. In addition to the above, the second articulation control circuit opens when the first articulation control circuit closes, and similarly, the first articulation control circuit opens when the second articulation control circuit closes. Considering what has been said above, in alternative embodiments, the articulation control circuits may open when they are in their respective stages to operate the articulation motor.

[0171] Many doctors, in addition to what has been stated above, prefer to look at the patient when performing open surgery and / or at an endoscope monitor when performing laparoscopic surgery. In this way, the doctor generally does not look at the surgical instrument he is holding and instead relies on tactile sensation and / or design. Petition 870250025520, dated 03 / 31 / 2025, page 85 / 323 82 / 150 intuitive surgical instrument operation. In other words, the physician may prefer not to look down at the handle of the instrument he is holding to check the direction in which he is articulating the instrument. That said, with reference to Figures 16 and 17, a surgical instrument may comprise a drive shaft 18200 comprising indicator lights configured to indicate the direction in which an end actuator, such as end actuator 18400, for example, is being articulated. The articulation indicator lights are visible to the physician as he looks at the end actuator 18400 of the surgical instrument directly or through an endoscope system monitor.In many cases, an endoscopic system comprises an elongated flexible drive shaft that includes a camera, a light, and / or any other suitable optical device in communication with a central controller that includes a control system and / or a video monitor configured to display the camera output. In such cases, the 18400 end actuator and indicator lights are visible on the video monitor.

[0172] In addition to the above, again with reference to Figures 16 and 17 show that the drive shaft 18200 comprises a first indicator light 18260a positioned on the right side of the end actuator 18400, communicating with the surgical instrument control system via a first electrical circuit. When the control system receives a command to articulate the end actuator 18400 to the right, the control system operates the articulation drive motor in a direction that articulates the end actuator 18400 to the right and also illuminates the first indicator light 18260a. When the control system no longer receives this command, the control system deactivates the articulation drive motor and the first indicator light 18260a. Petition 870250025520, dated 31 / 03 / 2025, page 86 / 323 83 / 150 In a similar manner, the drive shaft 18200 comprises a second indicator light 18260b positioned on the left side of the end actuator 18400 in communication with the surgical instrument control system via a second electrical circuit. When the control system receives a command to articulate the end actuator 18400 to the left, the control system operates the articulation drive motor in a direction that articulates the end actuator 18400 to the left and also illuminates the second indicator light 18260b. When the control system no longer receives this command, the control system deactivates the articulation drive motor and the second indicator light 18260b.

[0173] As discussed above, the first and second indicator lights 18260a and 18260b are positioned on the end actuator 18400 in a position that is readily observable by the physician when looking at the end actuator 18400. The indicator lights 18260a and 18260b are positioned distally relative to the articulation joint 10500; however, in alternative embodiments, the indicator lights 18260a and 18260b are positioned proximally to the articulation joint 10500. In several embodiments, a surgical instrument comprises more than one set of indicator lights. In at least one such embodiment, a first set of indicator lights 18260a, 18260b is positioned distally in relation to the articulation joint 10500 and a second set of indicator lights 18260a, 18260b is positioned proximally in relation to the articulation joint 10500.An alternative embodiment comprising indicator lights 18260a' and 18260b' on a drive shaft 18200' is illustrated in Figure 18. Indicator light 18260a' comprises an LED in the shape of a right-pointing arrow, while indicator light 18260b' comprises an LED in the shape of a left-pointing arrow. The right-pointing arrow 18260a' points to the right of the... Petition 870250025520, dated 03 / 31 / 2025, page 87 / 323 84 / 150 end actuator - but not necessarily to the right of the surgical instrument and / or physician's grip due to possible rotation of the drive shaft 18200'. Similarly, the left-pointing arrow 18260b' points to the left of the end actuator - but not necessarily to the left of the surgical instrument and / or physician's grip due to possible rotation of the drive shaft 18200'. In other words, the arrows, when lit, point in the direction in which the end actuator is being articulated. Given that the arrows are visible with the end actuator on an endoscope monitor, for example, the physician will develop a sense of the direction in which the end actuator will move when an arrow lights up after the articulation actuator is actuated.If the physician notices that the illuminated arrow is the opposite of what he expected when actuating the articulation actuator, he can react quickly and actuate the articulation actuator again in the correct direction. In several alternative embodiments, arrows 18260a' and 18260b' may change color when actuated. For example, arrow 18260a' lights up red when the extremity actuator is not articulated to the right, but lights up green when the extremity actuator is articulated to the right. Similarly, arrow 18260b' lights up red when the extremity actuator is not articulated to the left, but lights up green when the extremity actuator is articulated to the left.

[0174] In several embodiments, in addition to the above, the articulation indicator lights may be recessed and / or positioned in the external housing of the drive shaft. In certain embodiments, the indicator lights are positioned inside the drive shaft, but are visible from outside the drive shaft through windows and / or openings defined in the drive shaft, for example.

[0175] A surgical instrument 26000 is illustrated in the Figures Petition 870250025520, dated 03 / 31 / 2025, page 88 / 323 85 / 150 26A and 26B. The surgical instrument 26000 comprises a drive shaft 26100 and an end actuator 12200 extending from the drive shaft 26100. The drive shaft 12200 comprises an end actuator 26400 which includes a staple cartridge gripper 26410 and an anvil gripper 10420. The end actuator 26400 further comprises a first articulation indicator light 26460a positioned on a first side of the end actuator 26400 and a second articulation indicator light 26460b positioned on a second side of the end actuator 26400. Similar to the above, the control system of the surgical instrument 26000 illuminates the first articulation indicator light 26460a when the end actuator 26400 is articulated in the first direction. In such cases, the control system does not illuminate the second articulation indicator light 26460b.Correspondingly, the surgical instrument control system 26000 illuminates the second articulation indicator light 26460b when the end actuator 26400 is articulated in the second direction. In these cases, the control system does not illuminate the first articulation indicator light 26460a. The indicator lights 26460a and 26460b are mounted and / or recessed into the structure of the staple cartridge gripper 26410. That said, the indicator lights 26460a and 26460b may be mounted and / or recessed into the staple cartridge positioned in the staple cartridge gripper 26410. In these cases, the staple cartridge gripper 26410 comprises an electrical circuit in communication with the surgical instrument control system that is placed in communication with an electrical circuit in the staple cartridge when the staple cartridge is seated in the staple cartridge gripper 26410.

[0176] As discussed above, the articulation system of a Petition 870250025520, dated 31 / 03 / 2025, p. 89 / 323 86 / 150 surgical instruments may include a joint actuator that is movable proximally to articulate the end actuator in a first direction and distally to articulate the end actuator in a second direction. With reference to Figure 27, a surgical instrument may comprise a handle 26100, a drive shaft 12200 extending from the handle 26100, and an end actuator 10400 rotatably connected to the drive shaft 12200 at a joint 10500. The drive shaft 12200 comprises a joint actuator 10260 comprising a proximal end operationally coupled to a joint drive system and a distal end coupled to the end actuator 10400. For this purpose, the joint actuator 10260 extends distally beyond the joint 10500 and, in this embodiment, is partially visible to a physician holding the surgical instrument.The portion of the articulation actuator 10260 visible to the physician is also visible to the physician through an endoscope monitor. In fact, a physician may be able to observe the movement of the articulation actuator 10260 through the endoscope monitor. The visible portion of the articulation actuator 10260 contains symbols, such as symbols 24640a' and 24640b', for example, which correlate the movement of the articulation actuator 10260 to the movement of the end actuator 10400. In at least one instance, the symbols may comprise a first set of symbols that includes a distally directed arrow 24640a' and a circular arrow indicating the direction in which the end actuator 10400 will be rotated if the articulation actuator 10260 is moved distally.The symbols may also comprise a second set of symbols which includes a proximally directed arrow 24640b' and a circular arrow in the opposite direction indicating the direction in which the end actuator 10400 will be rotated if the. Petition 870250025520, dated 03 / 31 / 2025, page 90 / 323 87 / 150 joint actuator 10260 for moved proximally. Figure 28 shows an alternative joint actuator 10260' comprising a laterally extending portion that may be readily visible to the physician. In such cases, the symbols discussed above are positioned on the laterally extending portion.

[0177] A surgical instrument 19000 is illustrated in Figure 19. Surgical instrument 19000 is similar to surgical instrument 15000 in many respects. Surgical instrument 19000 comprises a handle 19100 and an end actuator 10200 extending from the handle 19100. The handle 19100 comprises a joint actuator 19160 communicating with the control system of the surgical instrument 19000. Unlike the joint actuator 10160, which is arranged vertically, the joint actuator 19160 is arranged horizontally. The joint actuator 19160 comprises a sliding element 19162 that slides along a geometric axis that is parallel, or at least substantially parallel, to the longitudinal geometric axis of the drive shaft 10200. In at least one instance, the geometric axis of the joint actuator 19160 is aligned with the longitudinal geometric axis of the drive shaft 10200.The sliding element 19162 is positioned within a slot 19164 in the handle 19100 of the surgical instrument 19000. The sliding element 19162 slides distally to articulate the end actuator 10400 to the right of the handle 19100 and proximally to articulate the end actuator 10400 to the left of the handle 19100. This is true regardless of whether the end actuator 10400 is rotated up or down due to the inversion responsiveness of the control when the end actuator 10400 is rotated beyond 90 degrees from its position. Petition 870250025520, dated 03 / 31 / 2025, page 91 / 323 88 / 150 TDC in either direction. That said, the 19160 articulation actuator controls can be reversed as described above.

[0178] The joint actuator 19160 comprises a distal contact that is part of a first joint control circuit and a proximal contact that is part of a second joint control circuit. The sliding element 19162 engages the distal contact and closes the first joint control circuit when the sliding element 19162 is in its distal position. The sliding element 19162 is not in contact with the proximal contact when the sliding element 19162 is in its distal position, and thus the second joint control circuit is open. Similarly, the sliding element 19162 engages the proximal contact and closes the second joint control circuit when the sliding element 19162 is in its proximal position.Correspondingly, the sliding element 19162 is not in contact with the distal contact when the sliding element 19162 is in its proximal position, and thus the first joint control circuit is open. In any case, the joint actuator 19160 comprises a detent 19163 in the middle of the range of motion of the sliding element 19162. The detent 19163 is configured to resist the movement of the sliding element 19162 as the sliding element 19162 moves from one side of the joint actuator 19160 to the other. Such resistance to the movement of the sliding element 19162 can signal to the physician that he will articulate the end actuator 10400 in the opposite direction when moving the sliding element 19162 beyond that point. Furthermore, such holder 19163 provides a place to park the sliding element 19162 so that the end actuator 10400 is not articulated in any direction.

[0179] A surgical instrument 20000 is illustrated in Figure 20. Surgical instrument 20000 is similar to surgical instrument 10000 in Petition 870250025520, dated 03 / 31 / 2025, page 92 / 323 89 / 150 many aspects. The surgical instrument 20000 comprises a handle 20100 and a drive shaft 12200 extending from the handle 20100. The handle 20100 comprises an articulation actuator 20160 communicating with the control system of the surgical instrument 20000. The articulation actuator 20160 comprises a two-dimensional joystick movable within a plane that is aligned with, parallel to, or at least substantially parallel to the longitudinal geometric axis of the drive shaft 12200. The joystick is movable distally to articulate the end actuator 10400 to the right of the handle 20100 and proximally to articulate the end actuator 10400 to the left of the handle 20100. In at least one example, the joystick comprises a handle having an inner end that is positioned in a sensor seat communicating with the control system of the surgical instrument. 20000.The joystick is pivoted within the sensor seat by the physician when he manipulates the outer end of the joystick grip. This joystick movement is detectable by the control system that operates the articulation system in response to the signal received from the sensor seat. The articulation actuator 20160 comprises one or more propulsion mechanisms, such as springs, configured to propel the joystick grip to a centered, or at least substantially centered, position in the sensor seat, in which the control system does not articulate the end actuator 10400.

[0180] As discussed above, the 10400 end actuator is articulable within one plane. In alternative embodiments, a surgical instrument comprises a second articulation joint. In such embodiments, the 10400 end actuator is rotatable within more than one plane. In several embodiments, a surgical instrument comprises an articulation joint that enables the actuator to Petition 870250025520, dated 03 / 31 / 2025, page 93 / 323 The 90 / 150 end 10400 is rotated within a three-dimensional spherical range of positions. With reference to Figure 21, a surgical instrument 21000 comprises a drive shaft 21200 that includes a joint 21500 enabling such articulation movement of the end actuator 10400. The surgical instrument 21000 further comprises a handle 21100 that includes a joint actuator 21160 communicating with a surgical instrument control system 21000. The joint actuator 21160 comprises a three-dimensional joystick movable proximally, distally, upwards, downwards, and in compound directions. The joystick is movable distally to articulate the end actuator to the right of the handle 20100 and proximally to articulate the end actuator to the left of the handle 21100.The joystick is movable upwards to articulate the end actuator upwards and downwards to articulate the end actuator downwards, for example. The joystick is also movable in a direction that is both upwards and distally to move the end actuator in a direction that is both upwards and to the right, for example. The joystick is also movable in a direction that is both downwards and proximally to move the end actuator in a direction that is both downwards and to the left, for example. In at least one example, the joystick comprises a grip that has an inner end that is positioned in a sensor seat in communication with the surgical instrument control system 21000. The joystick is orbitable within the sensor seat by the physician when he manipulates the outer end of the grip.This joystick movement is detectable by the control system that operates the articulation system in response to input received from the sensor seat. The 21160 articulation actuator comprises one or more propulsion mechanisms, such as springs, configured to propel the joint. Petition 870250025520, dated 03 / 31 / 2025, page 94 / 323 91 / 150 joystick grip for a centered, or at least substantially centered, position on the sensor seat, in which the control system does not articulate the end actuator 10400.

[0181] A surgical instrument 22000 is illustrated in the Figures 22A and 22B. Surgical instrument 22000 is similar to surgical instrument 21000 in many respects. Surgical instrument 22000 comprises a handle 22100 and a drive shaft 21200 extending from the handle 22100. The handle 22100 comprises the articulation actuator 21160 positioned on the side of the handle 22100 and, in addition, an articulation actuator 22160 positioned on the front of the handle 22100. Similar to the articulation actuator 21160, the articulation actuator 22160 comprises a three-dimensional joystick communicating with the control system of surgical instrument 21000 and is capable of articulating the end actuator of surgical instrument 21000 in a three-dimensional field. The 22160 front articulation actuator is readily accessible by the index finger of a physician holding a 22100 pistol grip.Alternative configurations are foreseen that include the 22160 articulation actuator, but not the 22160 articulation actuator.

[0182] With reference to Figure 23, a surgical instrument 23000 comprises a drive shaft 21200 which includes an articulation joint 21500 that enables three-dimensional articulation movement of the end actuator 10400. The surgical instrument 23000 further comprises a handle 23100 which includes a housing 23120 and, in addition, an articulation actuator 23160 communicating with a surgical instrument control system 23000. The articulation actuator 23160 comprises a four-way tactile control movable proximally, distally, upwards, downwards and Petition 870250025520, dated 03 / 31 / 2025, page 95 / 323 92 / 150 in compound directions. The four-way tactile control is movable distally to articulate the end actuator to the right of the grip 23100 and proximally to articulate the end actuator to the left of the grip 23100. The four-way tactile control is movable upwards to articulate the end actuator upwards and downwards to articulate the end actuator downwards. The four-way tactile control is also movable in a compound direction that is both upwards and distal to move the end actuator in a direction that is both upwards and to the right, for example. The four-way tactile control is also movable in a compound direction that is both downwards and proximal to move the end actuator in a direction that is both downwards and to the left, for example.In at least one instance, the four-way tactile control comprises four pressable actuators – one for each direction right, left, up and down – each of which forms part of a control circuit communicating with the surgical instrument control system 23000. The movement of the four-way tactile control is detectable by the control system operating the articulation system in a three-dimensional range in response to action received from the articulation actuator 23160. The articulation actuator 23160 comprises one or more propulsion mechanisms, such as springs, for example, configured to propel the four-way tactile control to a centralized, or at least substantially centralized, position in which the control system does not articulate the end actuator 10400.

[0183] A surgical instrument 24000 is illustrated in Figure 24. The surgical instrument 24000 is similar to the surgical instrument 23000 in many respects. The surgical instrument 24000 comprises a handle 24100 which includes a joint actuator 24160. Similar to the joint actuator 23160, the joint actuator 24160 Petition 870250025520, dated 31 / 03 / 2025, page 96 / 323 93 / 150 comprises a four-way tactile control. That said, the articulation actuator 24160 comprises an integral recentering feature. More specifically, the articulation actuator 24160 comprises a push-button actuator positioned in the middle of the articulation actuator 24160 in communication with the surgical instrument control system 24000. When the central actuator is pressed, the control system operates to realign the end actuator 10400 with the longitudinal geometric axis of the drive shaft 10200, very similar to the actuation of the actuator 10170 discussed above. As a result of the above, the recentering actuator is positioned in the middle of the four directional actuators creating a compact and intuitive arrangement.

[0184] A surgical instrument 25000 is illustrated in Figure 25. The surgical instrument 25000 is similar to the surgical instrument 24000 in many respects. The surgical instrument 25000 comprises a handle 25100 which includes a joint actuator 25160. Similar to the joint actuator 23160, the joint actuator 25160 comprises a four-way control in communication with a control system of the surgical instrument 25000. That said, the four-way control comprises a capacitive surface that enables a physician to touch and / or drag their finger across the surface of the joint actuator 25160 to control the articulation of the end actuator in a three-dimensional range. In at least one case, the joint actuator comprises a touch screen and an array of capacitive sensors positioned under the touch screen configured to detect the presence and / or movement of the physician's finger, for example.In use, lightly tapping the top of the capacitive surface articulates the end actuator 10400 upwards, lightly tapping the bottom of the capacitive surface articulates the end actuator 10400 downwards, and lightly tapping the distal end of the... Petition 870250025520, dated 03 / 31 / 2025, page 97 / 323 94 / 150 capacitive surface articulates the end actuator 10400 to the right, and lightly tapping the proximal end of the capacitive surface articulates the end actuator 10400 to the left, for example. Lightly tapping the center of the articulation screen recenters the end actuator 10400 along the longitudinal geometric axis of the drive shaft 21200. When a rotational movement is made on the surface of the articulation actuator 25160, the control system rotates the end actuator 10400 in the direction and / or speed indicated by the rotational movement. In several cases, the control system of the surgical instrument 25000 comprises a pulse width modulation (PWM) control circuit to control the speed of the electric motor used to drive the articulation system of the surgical instrument 25000.In at least one embodiment, the control system comprises a frequency modulation (FM) control circuit in addition to or in place of the PWM control circuit to control the speed of the articulation motor.

[0185] As discussed above, an end actuator of a surgical instrument may be rotatable in more than one direction and / or plane. To achieve this, in various embodiments, a surgical instrument comprises a first motor-driven system to move the end actuator from left to right and a second motor-driven system to move the end actuator from top to bottom. Both motor-driven systems are in communication with the surgical instrument control system and are actuatable sequentially and / or simultaneously by the control system to position the end actuator in the direction indicated by the action received from the articulation actuator or articulation actuators.

[0186] Many of the surgical instruments described above Petition 870250025520, dated 03 / 31 / 2025, page 98 / 323 95 / 150 comprise a handle configured to be held by a physician to rotate the drive shaft around a longitudinal geometric axis. In several cases, the physician may hold the handle with one hand and may extend his index finger, for example, from that hand to hold the handle and rotate the drive shaft. Such an arrangement, however, requires the physician to have a somewhat larger hand. Although such a surgical instrument may be operated with one hand, a surgical instrument 27000 is illustrated in Figures 29 and 30 which may be easier to use. The surgical instrument 27000 comprises a handle 27100 and a drive shaft 27200 extending from the handle 27100 which is rotatable around a longitudinal geometric axis. The handle 27100 comprises a handle frame 27110 and a housing that rotatably supports the drive shaft 27200.The handle 27100 further comprises an actuator 27220 positioned on the front side of the handle housing 27110 which, when rotated by the physician, rotates the drive shaft 27200 about its longitudinal geometric axis L. The actuator 27220 is rotatably mounted in the handle housing 27110 and rotates about a geometric axis A which is parallel, or at least substantially parallel, to the longitudinal geometric axis of the drive shaft 27200. The actuator 27220 comprises a gear tooth ring extending around its perimeter which is operatively engaged with a gear tooth ring extending around the perimeter of the drive shaft 27200 by means of a transmission gear 27225 such that when the actuator 27220 is rotated about its geometric axis, the drive shaft 27200 is rotated about its longitudinal geometric axis.That said, the gear teeth of actuator 27220 are not directly engaged with the gear teeth of drive shaft 27200; instead, a. Petition 870250025520, dated 03 / 31 / 2025, page 99 / 323 The 96 / 150 intermediate gear 27225 – which is rotatably mounted on the handle 27100 – is directly engaged with the gear teeth of the actuator 27220 and the drive shaft 27200. This arrangement synchronizes the movement of the actuator 27220 and the drive shaft 27200; that is, rotating the actuator 27220 to the right rotates the drive shaft 27200 to the right, and rotating the actuator 27220 to the left rotates the drive shaft 27200 to the left. Without the intermediate gear 27225, the drive shaft 27200 would rotate in the opposite direction, but this arrangement provides a torque balance that promotes instrument stability.

[0187] In addition to the above, embodiments are provided in which the rotation of the drive shaft 27200 is driven by an electric motor. In several embodiments, the actuator 27220, when rotated in the first direction, operates the electric motor to rotate the drive shaft 27200 in the first direction. Similarly, the electric motor rotates the drive shaft 27200 in the second direction when the actuator 27220 is rotated in the second direction. In at least one embodiment, the output drive shaft of the electric motor comprises a pinion gear operationally meshed with the gear tooth ring around the drive shaft 27200. Furthermore, in at least one embodiment, the actuator 27220 comprises one or more sensors configured to detect the direction and degree of rotation of the actuator 27220 that are in communication with a surgical instrument control system. With this data, the control system is configured to control the direction and speed of the electric motor.In cases where the actuator 27220 is rotated a small amount in the first direction, for example, the drive shaft 27220 is rotated slowly in the first direction while the drive shaft 27220 is rotated rapidly in the first direction when the... Petition 870250025520, dated 03 / 31 / 2025, page 100 / 323 The 97 / 150 actuator 27220 is rotated a greater amount in the first direction.

[0188] In addition to the above, the actuator 27220 comprises a bar having a first end and a second end. The orientation of the bar is synchronized with the orientation of the drive shaft 27200. When the first end of the bar is directly above the second end, that is, the first end is closest to the drive shaft 27200, the drive shaft 27200 is in its top dead center (TDC) position. Correspondingly, the shaft 27200 is in its bottom dead center (BDC) position when the second end of the bar is directly above the first end, that is, the second end is closest to the drive shaft 27200. As a result of this arrangement, the user of the surgical instrument has an intuitive feeling of the orientation of the drive shaft 27200 based on the orientation of the actuator 27220.

[0189] A surgical instrument 30000 is illustrated in Figures 51 and 52. The surgical instrument is similar to surgical instrument 10000 in many respects. Unlike the vertical articulation actuator 10160, the handle of surgical instrument 30000 comprises a horizontal articulation actuator 30160. The horizontal articulation actuator 30160 comprises a swing key that can be swinged distally to rotate the end actuator to the right and swinged proximally to rotate the end actuator to the left. A surgical instrument 31000 is illustrated in Figures 53 and 54. The surgical instrument is similar to surgical instrument 10000 in many respects. Unlike the vertical articulation actuator 10160, the surgical instrument handle 31000 comprises an articulation actuator 31160. The articulation actuator 31160 comprises a multi-axial oscillating key that can be rotated proximally to distally to articulate the actuator. Petition 870250025520, dated 31 / 03 / 2025, p. 101 / 323 98 / 150 end in one plane and from top to bottom to articulate the end actuator in another plane. In many cases, the articulation planes are orthogonal to each other, but they can be arranged in any suitable way.

[0190] As discussed above, the control system of a surgical instrument may comprise an algorithm that, according to predetermined criteria, reverses and / or otherwise reorients the controls of the surgical instrument in certain cases. In several cases, as also discussed above, the algorithm may be configured to reverse the articulation controls of the surgical instrument based on the rotation of the drive shaft relative to the handle. With reference to Figure 59, a surgical instrument comprises a handle comprising a Hall effect sensor 33130 and / or any other suitable sensor, communicating with the surgical instrument control system and, in addition, a drive shaft 33200 comprising an array of magnets 33230 arranged in a circular, or annular, pattern around the housing, or grip, 10220 of the drive shaft 33200.Each magnet 33230 comprises a north (N) pole and a south (S) pole, and the magnets 33230 are arranged as shown in Figure 59 – the N poles of some of the magnets 33230 are facing the handle while some S poles are facing the handle. When the drive shaft 33200 is rotated relative to the handle, this arrangement of the magnets 33230 enables the control system to track the position of the drive shaft 33200 and understand the orientation, or rotation, of the drive shaft 33200 relative to the handle. Within any three consecutive magnets 33230, for example, the magnet pattern 33230 creates a unique identifiable signature for a given direction of rotation. That said, any suitable number and / or arrangement of distinct magnets could be used. Although twelve. Petition 870250025520, dated 03 / 31 / 2025, page 102 / 323 If 99 / 150 magnets 33230 are used, fewer than twelve magnets could be used - such as six magnets, for example. Furthermore, more than twelve magnets could be used.

[0191] With reference to Figure 60, a surgical instrument comprises a handle comprising a Hall effect sensor 34130 and / or any other suitable sensor, in communication with the surgical instrument control system and, in addition, a drive shaft 34200 that includes a continuous annular magnet 34230 fixed to the housing, or handle, 10220 of the drive shaft 34200. In several cases, the annular magnet 34230 comprises a disc or ring embedded with magnetic microstructures that is detectable by the Hall effect sensor. The annular magnet 34230 comprises a continuous, but variable, magnetic pattern around its perimeter, which provides a traceable pattern for the control system to evaluate the orientation, or rotation, of the drive shaft 34200. In other embodiments, the annular magnet 34230 comprises an intermittent magnetic pattern around its perimeter that is traceable by the control system.

[0192] With reference to Figure 61, a surgical instrument comprises a handle comprising an RFID reader 35130 communicating with the surgical instrument control system and, in addition, a drive shaft 35200 comprising a circular or annular array of RFID integrated circuits 35230 surrounding the casing, or grip, 10220 of the drive shaft 35200. Each RFID integrated circuit comprises a unique identifier that is detectable by the RFID reader 35130 and, with this information, the control system is able to evaluate the orientation, or rotation, of the drive shaft 35200 relative to the handle. Notably, the RFID reader 35130 has a limited range for reading the RFID integrated circuits 35230 and, thus, may only be able to read the most adjacent RFID integrated circuit. Petition 870250025520, dated 03 / 31 / 2025, page 103 / 323 100 / 150 35230. In some cases, the RFID reader 35130 may have sufficient range to read the two most adjacent RFID integrated circuits 35230. The drive shaft 35200 comprises four RFID integrated circuits 35230, but may comprise any suitable number of RFID integrated circuits 35230. That said, the accuracy, or resolution, of the evaluation made by the control system may be improved with more RFID integrated circuits in several cases.

[0193] With reference to Figure 62, a surgical instrument comprises a handle comprising a Hall effect sensor 36130a and / or any other suitable sensor, communicating with the surgical instrument control system and, in addition, a drive shaft 36200 comprising an array of magnets 33230a arranged in a circular or annular pattern around the drive shaft housing 36200. The handle also comprises an RFID reader 36130b communicating with the surgical instrument control system and, in addition, a circular or annular array of RFID integrated circuits 36230b around the drive shaft housing 36200. The control system is configured to use the data from the Hall effect sensor 36130a and the RFID reader 36130b to evaluate the orientation of the drive shaft 36200 relative to the handle.Notably, the 36230b RFID integrated circuits are positioned between the 36230a magnets, which provides the control system with detectable resolution between adjacent 36230a magnets. Similarly, the 36230a magnets are positioned between the 36230b RFID integrated circuits, which provides the control system with detectable resolution between the 36230b RFID integrated circuits.

[0194] A surgical instrument 37000 is illustrated in Figures 63 to 66. The surgical stapling system 37000 comprises a Petition 870250025520, dated 03 / 31 / 2025, page 104 / 323 The surgical instrument 37000 comprises a 101 / 150 handle 37100 and an end actuator 37200 extending from the handle 37100. The surgical instrument 37000 further comprises a sliding joint 37900 between the handle 37100 and the drive shaft 37200. The sliding joint 37900 comprises an electrical interface between the handle 37100 and the drive shaft 37200. The sliding joint 37900 comprises annular rings 37930 mounted on the drive shaft 37200. Four annular rings 37930 are shown in Figures 63 and 64, but a sliding joint may comprise any suitable number of rings. The sliding joint 37900 further comprises electrical contacts 37130 in the handle 37100. For example, the sliding joint 37900 comprises a first electrical contact 37130 engaged with a first annular ring 37930 and a second electrical contact 37130 engaged with a second annular ring 37930.That said, the sliding joint 37900 may comprise any suitable number of electrical contacts to maintain power supply and / or signal communication between the handle and the drive shaft. Throughout the rotation of the drive shaft 37200, i.e., throughout the entire 360 ​​degrees, the electrical contacts 37130 remain in electrical contact with their respective annular rings 37930. In several cases, each electrical contact 37130 comprises a spring element configured to tend the electrical contact towards its respective annular ring 37930. The electrical contacts 37130 are in communication with the surgical instrument control system 37000 – via separate circuits – so that the control system can evaluate the resistance of the circuits and / or any other electrical properties of the circuits between the control system and the sliding joint 37900.That said, the electrical contacts and rings of the 37900 sliding joint can be part of any suitable circuit arrangement. Petition 870250025520, dated 03 / 31 / 2025, p. 105 / 323 102 / 150

[0195] In addition to the above, the sliding joint 37900 can be used as an absolute position sensor for the drive shaft 37200 relative to the handle 37100. More specifically, an intermediate annular ring 37930, that is, the annular ring 37930 between the first ring 37930 and the second ring 37930, can be used by the control system to evaluate the orientation of the drive shaft 37200. For this purpose, the sliding joint 37900 comprises an intermediate electrical contact 37130 in electrical communication with the intermediate annular ring 37930 and the control system as part of an intermediate electrical circuit. The intermediate annular ring 37930 comprises a high-strength material, compared to the first and second annular rings 37930, and provides a resistance of 10,000 ohms, for example.The intermediate annular ring 37930 has a first portion that is electrically coupled to the first annular ring 37930, a second annular portion that is electrically coupled to the second annular ring 37930, and a small break between them. When the drive shaft 37200 is rotated relative to the handle 37100, the intermediate electrical contact 37130 slides along the intermediate annular ring 37930, and the resistance and voltage of the intermediate electrical circuit vary in a manner detectable by the control system due to the closing and opening of the break by the intermediate contact 37130. The signal from the intermediate electrical circuit is digitized by an analog-to-digital converter of the control system, whose data can be used by the control system to evaluate the orientation of the drive shaft 37200.In many cases, any suitable number of gaps in the intermediate annular ring 37930 and / or in the intermediate contacts 37130 can be used to provide a signal with sufficient resolution to determine the orientation, or rotation, of the drive shaft 37200 relative to the handle 37100.

[0196] In several applications, a resistive material is Petition 870250025520, dated 03 / 31 / 2025, page 106 / 323 103 / 150 incorporated into the drive shaft of a surgical instrument that is part of an electrical circuit that passes through a slip ring. As the drive shaft rotates, the resistance in the electrical circuit changes - which is detectable by the surgical instrument's control system to assess the angular orientation of the drive shaft relative to the handle.

[0197] A representation of a surgical instrument 38000 is illustrated in Figure 67. The surgical instrument 38000 comprises a handle 38100 and an end actuator 38200 extending from the handle 38100. The handle 38100 comprises an annular array of Hall effect sensors 38130 fixed to the frame and / or housing of the handle 38100. The Hall effect sensors 38130 are positioned along a circumference on the handle 38100, as illustrated in Figure 67. The Hall effect sensors 38130 are in communication with the control system via electrical circuits. The drive shaft 38200 comprises a magnet 38230 mounted in the drive shaft housing 38200 which is aligned, or at least substantially aligned, with the circumference of the Hall effect sensors 38130. When the drive shaft 38200 is rotated about its longitudinal geometric axis, the magnet 38230 moves along the circumference of the sensors.The sensors 38130 are positioned and arranged so that one or more of the sensors 38130 can detect the position of the magnet 38230, and in this way, the control system can determine the orientation of the drive shaft 38200 in relation to the grip 38100 based on which Hall effect sensors 38130 detected the magnetic distortion and the intensity of distortion created by the magnet 38230.

[0198] In several embodiments, a surgical instrument may include one or more optical sensors configured to detect the Petition 870250025520, dated 03 / 31 / 2025, page 107 / 323 104 / 150 orientation of the drive shaft relative to the handle. In at least one embodiment, the surgical instrument handle comprises a light emitter and a light detector that are in communication with the surgical instrument control system. The drive shaft comprises a reflective surface that rotates with the shaft. The light emitter emits light onto the reflective surface, and the light is reflected back to the light detector. The reflective surface comprises different portions with different reflectivities that create patterns in the light reflected back to the light detector. With this information, the control system can evaluate the orientation of the drive shaft relative to the handle. In several cases, the reflective surface comprises openings and solid areas to create a binary off-on or low-high reflection response signal, for example.

[0199] In several embodiments, a surgical instrument comprises an electromechanical transducer, such as a linear variable differential transformer, for example, used in connection with a mechanical cam to measure the cam depth and relate it to the angle of rotation of the drive shaft. In several embodiments, the handle of a surgical instrument comprises a magnetometer in communication with the control system and, in addition, the drive shaft comprises a magnet that is detectable by the magnetometer.

[0200] In several embodiments, the drive shaft of a surgical instrument comprises a gyroscope sensor on the drive shaft that is used by the control system to evaluate the orientation of the drive shaft relative to the handle. In at least one such embodiment, the handle also comprises a gyroscope sensor communicating with the control system, such that the relative orientation of the handle and the drive shaft is determined. Petition 870250025520, dated 03 / 31 / 2025, page 108 / 323 105 / 150 actuation can be evaluated. In several embodiments, the drive shaft of a surgical instrument comprises a tilt sensor that is used by the control system to evaluate the orientation of the drive shaft relative to the handle. In at least one embodiment, an SQ-MIN-200 sensor can be used. An SQ-MIN-200 sensor acts as a normally closed sensor that oscillates between open and closed as it is tilted or vibrated. That said, any suitable omnidirectional sensor, for example, could be used.

[0201] In several embodiments, a detectable element can be positioned on the clamping actuator or closing tube of the drive shaft. When the drive shaft is rotated, the closing tube rotates with the drive shaft. In this way, one or more sensors in the grip can detect the orientation of the drive shaft relative to the grip through the detectable element on the drive shaft. When the closing tube is translated to close the end actuator, as described herein, the detectable element moves relative to one or more sensors. This translation of the detectable element can also be used to verify the closing of the end actuator. In at least one case, a Hall effect sensor can be used to detect the rotation and translation of the detectable element.In many cases, the control system of a surgical instrument is configured to prevent the end actuator from being articulated while the end actuator is closed. This arrangement provides feedback to the control system to determine not only the responsiveness of the articulation controls, but also whether or not the control system should be responsive to actions received from the articulation controls.

[0202] In various forms, again with reference to Petition 870250025520, dated 03 / 31 / 2025, page 109 / 323 106 / 150 Figures 27 and 28 show that the distal end of the articulation actuator 10260 of the surgical instrument 10000 is fixed to the end actuator 10400 so that proximal and distal translation of the articulation actuator 10260 rotates the end actuator 10400 around the articulation joint 10500. With reference to Figure 32, the drive shaft 10200 of the surgical instrument 10000 comprises a drive shaft structure 10210 that slides to support the articulation actuator 10260. Although not illustrated in Figure 32, the drive shaft 10200 further comprises a pivot pin 10215 extending from the structure 10210. The pivot pin 10215 is received narrowly within a pivot opening 10415, defined in the clamp cartridge gripper 10410 of the end actuator 10400, which defines a geometric axis of articulation AA of the articulation joint 10500.The articulation actuator 10260 comprises a distal end that includes an opening 10262 defined therein, and the end actuator 10400 further comprises an articulation pin 10460 extending from the proximal end of the clamp cartridge gripper 10410 into the opening 10262. When the articulation actuator 10260 is translated, as described above, the side walls of the opening 10262 engage the articulation pin 10460 and push or pull the articulation pin 10460 – depending on the direction in which the articulation actuator 10260 is translated. The disclosure of U.S. Patent No. 9,101,358, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, granted August 11, 2015, is incorporated herein by reference in its entirety. The disclosure of U.S. Patent No. 5,865,361, entitled SURGICAL STAPLING APPARATUS and granted on February 2, 2019, is incorporated herein by reference in its entirety.

[0203] In addition to the above, the 10400 end actuator defines a geometric axis EA of the end actuator and the axis of Petition 870250025520, dated 03 / 31 / 2025, page 110 / 323 The 107 / 150 drive 10200 defines a longitudinal geometric axis LSA of the drive shaft. When the end actuator 10400 is in a non-articulated position, the geometric axis EA of the end actuator is aligned, or at least substantially aligned, with the longitudinal geometric axis LSA of the drive shaft. When the end actuator 10400 is in an articulated position, as illustrated in Figure 32, the geometric axis EA of the end actuator is transverse to the longitudinal geometric axis LSA of the drive shaft. The opening 10262 is elongated to accommodate the relative movement between the articulation pin 10460 and the articulation actuator 10260; however, for large articulation angles, the articulation actuator 10260 may engage and / or flex, which may, without further ado, result in the disengagement of the articulation actuator 10260 from the articulation pin 10460.Bearing this in mind, the end actuator 10400 further comprises a retaining plate 10600 configured to hold the articulation actuator 10260 in engagement with the articulation pin 10460. The retaining plate 10600 comprises a flat, or at least substantially flat, portion extending over the distal end of the articulation actuator 10260 and comprising an opening 10660 defined therein, the side walls of which are engaged with the articulation pin 10460. As a result, the articulation actuator 10260 is trapped between the staple cartridge gripper 10410 and the retaining plate 10600, so that the articulation actuator 10260 does not unintentionally disengage from the staple cartridge gripper 10410. The retaining plate 10600 is fixedly mounted to the staple cartridge gripper 10410, so that that there is little or no relative movement between the retaining plate 10600 and the clip cartridge gripper 10410.The 10410 staple cartridge claw comprises a 10430 retaining tab and a plate. Petition 870250025520, dated 31 / 03 / 2025, p. 111 / 323 108 / 150 retention 10600 comprises an opening 10630 defined therein, the side walls of which are engaged with the retention tab 10430 to secure the retention plate 10600 to the clamp cartridge jaw 10410. In several cases, the retention plate 10600 may comprise a spring and / or a protrusion member.

[0204] In addition to, or in place of, the retaining plate 10600, now with reference to Figure 33, a surgical instrument 10000' comprises an end actuator 10400' and a joint 10500' rotatably connecting the end actuator to the drive shaft 10200'. In addition to the above, the joint 10500' comprises a pin 10560' extending from a drive shaft structure 10210' of the drive shaft 10200' which is received narrowly within a defined opening in the clamp cartridge gripper 10410' which defines the articulation shaft AA for the joint 10500'. The surgical instrument 10000' also comprises a joint actuator 10260' comprising a distal end 10264' including a defined slot 10262' therein.Similarly to what is described above, the staple cartridge gripper 10410' comprises a hinge pin 10460' extending from the staple cartridge gripper 10410' that extends into the slot 10262' of the distal end 10264' and the interaction between the side walls of the slot 10262' and the hinge pin 10460' actuates the end actuator 10400' around the hinge joint 10500'. Notably, the pin 10560 of the articulation joint 10500 comprises a clearance relief 10564 set therein to provide clearance for the longitudinal movement of the articulation actuator 10260. The clip cartridge claw 10410 also comprises a clearance relief 10414 set therein to enable clearance for the rotation of the clip cartridge claw 10410 around the articulation joint. Petition 870250025520, dated 31 / 03 / 2025, p. 112 / 323 109 / 150 10500'. To prevent the articulation actuator 10260' from being disengaged from the staple cartridge gripper 10410', with reference to Figures 34 to 37, the articulation pin 10460' comprises a retaining stop 10464' extending from a cylindrical portion 10462'. The retaining stop 10464' extends over a portion of the distal end 10264' of the articulation actuator 10260' along the articulation of the end actuator 10400'. Thus, regardless of whether the end actuator 10400'' is articulated all the way to the left (Figure 35) or all the way to the right (Figure 37), or anywhere in between, the retaining guard 10464' prevents, or at least limits the possibility of, the articulation actuator 10260' disengaging from the clamp cartridge gripper 10410'.

[0205] In several embodiments, in addition to the above, the clearance relief 10414' comprises a retaining guard or edge that prevents the articulation actuator 10260' from disengaging from the articulation pin 10460'. The retaining guard 10464' of the articulation pin 10460' is dimensioned and configured so that the width of the retaining guard 10464' is wider than the width of the slot 10262'. That said, the slot 10262' comprises a length that is greater than its width, which allows the retaining guard 10464' to be inserted through the slot 10262', so that the articulation actuator 10260' can be mounted on the articulation pin 10460'. The width of the slot 10262' is defined along a geometric axis that is parallel to the longitudinal geometric axis of the drive shaft, while the length of the slot 10262' is defined along a geometric axis that is orthogonal to the longitudinal geometric axis of the drive shaft.This arrangement allows the end actuator to be articulated relative to the drive shaft while minimizing the connection between the end actuator and the drive shaft. Petition 870250025520, dated 03 / 31 / 2025, page 113 / 323 110 / 150 articulation actuator 10260'. That said, the articulation actuator 10260' is comprised of a flexible material that enables the articulation actuator 10260' to be resiliently flexed to accommodate the end articulation of the end actuator.

[0206] As discussed above, the end actuator 10400 comprises a staple cartridge gripper 10410 configured to receive a replaceable staple cartridge, such as the staple cartridge 10430, for example, and an anvil gripper 10420 configured to deform the staples ejected from the staple cartridge 10430. The staple cartridge gripper 10410 comprises a channel that includes a bottom support and two upward-extending side walls configured to receive the staple cartridge 10430. The staple cartridge 10430 comprises a proximal end 10432, a distal end 10434, and a platform 10433 extending between the proximal end 10432 and the distal end 10434. When the staple cartridge 10430 is inserted into the staple cartridge gripper 10410, the proximal end 10432 is guided into position between the clamp cartridge gripper 10410 and the anvil gripper 10420 and then seated in the clamp cartridge gripper 10410.The anvil gripper 10420 comprises a proximal end 10422, a distal end 10424, a tissue compression surface 10423 extending between the proximal end 10422 and the distal end 10424, and a pivot 10421 rotatably connecting the anvil gripper 10420 to the staple cartridge gripper 10410. With reference to Figure 44, the anvil gripper 10420 comprises lateral pins extending into the openings 10411 defined in the staple cartridge gripper 10410. As discussed above, the anvil gripper 10420 is rotatable in a closed, or clamped, position by the closing actuation of the stapling instrument 10000. When the actuation... Petition 870250025520, dated 03 / 31 / 2025, page 114 / 323 111 / 150 closure is retracted, the anvil claw 10420 is opened. With reference to Figures 38 to 43, the stapling instrument 10000 further comprises one or more propensity members, or springs, 10446 configured to open the anvil claw 10420 when the closure drive is retracted. The surgical instrument 10000 comprises two opening springs 10446, but could comprise any suitable number of propensity members. In any case, each spring 10446 is positioned in a recess 10416 defined in the staple cartridge claw 10410. The recesses 10416 closely receive the springs 10446 so that the springs 10446 do not bend under a compressive load; However, recesses 10416 are sized and configured to accommodate any lateral expansion of springs 10446 as anvil gripper 10420 is closed.

[0207] With reference primarily to Figure 42, the anvil gripper 10420 comprises side tabs 10426 adjacent to the proximal end 10422 of the anvil 10420 which are in contact with the springs 10446. When the anvil gripper 10420 is closed, the springs 10446 are compressed between the side tabs 10426 and the bottom of the recesses 10416. When the closing system is retracted, the springs 10446 resiliently expand again and push the side tabs 10426 upward to rotate the anvil gripper 10420 to its open, or ungripped, position. Notably, with reference primarily to Figure 40, the clamp cartridge gripper 10410 has a stop portion 10419 defined thereon which contacts the proximal end 10422 of the anvil 10420 when the anvil 10420 reaches its fully open position. The anvil 10420 comprises a proximal stop surface 10429 which contacts the stop portion 10419 of the clamp cartridge gripper 10410.In such cases, the anvil claw 10420. Petition 870250025520, dated 31 / 03 / 2025, p. 115 / 323 112 / 150 cannot be opened further. As a result of the above, springs 10446 hold anvil claw 10420 against the stop portion 10419 of the clamp cartridge claw 10410 until anvil claw 10420 is closed once more.

[0208] When the anvil gripper 10420 is in its open position, the staple cartridge gripper 10410 is positioned on one side of the tissue to be stapled and the anvil gripper 10420 is positioned on the opposite side. In such cases, the end actuator 10400 is moved relative to the tissue until the tissue is properly positioned between the staple cartridge gripper 10410 and the anvil gripper 10420. The anvil gripper 10420 comprises lateral tissue stops 10427 that extend downward along the staple cartridge gripper 10410 which are configured to ensure that the tissue positioned within the end actuator 10400 is positioned over the staple cavities in the staple cartridge 10430. With reference primarily to Figure 39, the tissue stops 10427 extend distally relative to the more proximal staple cavities 10440.In at least one instance, the fabric stops 10427 extend distally relative to at least one staple cavity 10440 in each longitudinal row of staple cavities 10440. As a result, the fabric stops 10427 ensure that the fabric captured in the end actuator 10400 is not cut by the fabric cutting knife without being stapled. When the anvil gripper 10420 is closed, the fabric stops 10427 move relative to the staple cartridge gripper 10410. The fabric stops 10427 are sized and configured so that the fabric is not accidentally compressed between the fabric stops 10427 and the lateral sides of the staple cartridge gripper 10410. More specifically, the lower edges 10428 of the fabric stops. Petition 870250025520, dated 03 / 31 / 2025, pp. 116 / 323 113 / 150 10427 are configured so that they extend along the lateral sides of the staple cartridge gripper 10410 even when the anvil gripper 10420 is in its fully open position, as illustrated in Figure 39. Notably, the lateral sides 10415 of the staple cartridge gripper 10410 extend upwards above the platform 10433 to ensure that there is overlap between the fabric stops 10427 and the lateral sides 10415 of the staple cartridge gripper 10410 – when viewed from the side – throughout the entire range of motion of the anvil gripper 10420.

[0209] In several embodiments, in addition to the above, the distal edges of the tissue stops 10427 extend below the platform 10433 throughout the entire range of motion of the anvil gripper 10420. Thus, the distal edges of the tissue stops 10427 extend below the top surface of the platform 10433 when the anvil gripper 10420 is in its fully open position and in its fully closed position. This arrangement reduces the possibility of the tissue being pinched when the anvil gripper 10420 is moved. In certain embodiments, the staple cartridge comprises tissue stops that extend upward from the platform 10433 along the tissue stops 10427. Similarly to the above, the distal edges of the tissue stops 10427 extend below the cartridge tissue stops through the entire range of motion of the anvil gripper 10420.This arrangement also reduces the possibility of the tissue being pinched when the anvil gripper 10420 is moved. Furthermore, these arrangements would be useful in embodiments where the staple cartridge gripper 10410 moves relative to the anvil gripper 10420.

[0210] As discussed above and with reference primarily to Figures 44, 45A and 45B, the end actuator 10400 comprises Petition 870250025520, dated 03 / 31 / 2025, page 117 / 323 114 / 150 a cartridge claw 10410 which includes spring recesses 10416 set therein comprising wider top openings 10416'. The spring recesses 10416 further support the springs 10446 and prevent them from bending, but the wider top openings 10416' of the spring recesses 10416 provide clearance for the side tabs 10426 when the anvil claw 10420 is in its closed position. In such an arrangement, the side tabs 10426 can move into the clamp cartridge claw 10410 to compress the springs 10446. In such cases, the springs 10446 can be highly compressed by the anvil claw 10420, thus ensuring a large opening force of the springs 10446 when the anvil claw 10420 is released by the closing actuation. Considering what has been said above, embodiments without the wider top openings 10416' are contemplated.In such embodiments, the springs are received tightly by the spring recesses 10416 along the length of the springs 10446.

[0211] The tissue cutting member 10251 of the stapling instrument firing drive 10000 is illustrated in Figures 46 and 47 and comprises a body including a distal tip 10258 and a tissue cutting edge 10259 that pass through the end actuator 10400 during a staple firing stroke. The tissue cutting member 10251 further comprises an upper cam member 10255 configured to engage the anvil gripper 10420 and a lower cam member 10256 configured to engage the staple cartridge gripper 10410 during the staple firing stroke. A longitudinal cam surface 10425 in a longitudinal slot of the anvil gripper 10420 can be seen in Figure 46 which is engaged by the upper cam member 10255 during the staple firing stroke. The claw of the 10410 staple cartridge also has a longitudinal cam surface 10419 that is engaged by the member of Petition 870250025520, dated 03 / 31 / 2025, pp. 118 / 323 115 / 150 lower cam 10256. Cam members 10255 and 10256 position claws 10410 and 10420 relative to each other during the staple firing stroke and maintain claws 10410 and 10420 in their closed configuration throughout the staple firing stroke. Cam members 10255 and 10256 also define the staple forming gap between the staple triggers on the staple cartridge and the forming pockets defined on the anvil claw 10420.

[0212] Notably, Figures 46 and 47 illustrate the anvil gripper 10420 in its open position and the tissue cutting member 10251 in its unfired position, that is, in its position before the staple firing stroke has begun. The anvil gripper 10420 comprises a clearance pocket 10450 defined thereon which is aligned with the upper cam member 10255 of the tissue cutting member 10251 when the tissue cutting member 10251 is in its unfired position. Such an arrangement enables the tissue cutting member 10251 to be stationed immediately proximal to the longitudinal cam surface 10425 on the anvil gripper 10420 and to the corresponding cam surface on the staple cartridge gripper 10410, when the tissue cutting member 10251 is in its unfired position. This arrangement provides a shorter, more maneuverable end actuator for a given staple line length.Furthermore, the tissue cutting member 10251 comprises a tissue cutting edge 10259 that is positioned proximally with respect to the staple cavities defined in the staple cartridge and proximally with respect to the distal edges of the tissue stops when the tissue cutting member is in its unfired position. As a result, the tissue being inserted into the end actuator is unlikely to be cut by the tissue cutting edge 10259 until the tissue cutting member 10251 is advanced distally from its position. Petition 870250025520, dated 03 / 31 / 2025, page 119 / 323 116 / 150 position not fired during a firing course.

[0213] In addition to the above, it is desirable that the fabric cutting member 10251 be in its non-fired position at the start of the staple firing stroke. If the fabric cutting member 10251 is not in its non-fired position at the start of the staple firing stroke, a spent cartridge / missing cartridge lockup of the stapling instrument 10000 may be accidentally missed. With reference to Figure 41, the locking mechanism of the stapling instrument 10000 comprises a stop 10417 set at the bottom of the staple cartridge gripper 10410. If a suitable unused staple cartridge is seated in the staple cartridge gripper 10410 at the beginning of the staple firing stroke, and the tissue cutting member 10251 is in its unfired position at the beginning of the staple firing stroke, the tissue cutting member 10251 will be lifted above the locking stop 10417.More specifically, with reference to Figure 46, the tip 10258 of the fabric cutting member 10251 will be supported by a staple drive slider in the staple cartridge so that the locking tabs 10257 of the firing member 10251, and / or any other portion of the firing member 10251, do not contact the locking stop 10417. If, however, a staple cartridge is not seated in the staple cartridge gripper 10410, a staple cartridge is seated in the staple cartridge gripper 10410 but has been previously spent, or an incorrect staple cartridge is seated in the staple cartridge gripper 10410, the slider will not support the tip 10258 of the fabric cutting member 10251 and the locking tabs 10257 will contact the locking stop. 10417 at the beginning of the wiretapping firing cycle, thus preventing the wiretapping firing cycle. If the member of... Petition 870250025520, dated 03 / 31 / 2025, pp. 120 / 323 If the tissue cutting tool 10251 is somehow positioned distally in relation to the locking stop 10417 at the beginning of the staple firing stroke, the advantages provided by the locking of the surgical instrument 10000 are lost.

[0214] The entirety of the descriptions of U.S. Patent No. 7,143,923, entitled SURGICAL STAPLING INSTRUMENT HAVING A FIRING LOCKOUT FOR AN UNCLOSED ANVIL, which was granted on December 5, 2006; of U.S. Patent No. 7,044,352, entitled SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING, which was granted on May 16, 2006; of U.S. Patent No. 7,000,818, SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which was granted on February 21, 2006; US Patent No. 6,988,649, entitled "Surgical stapling instrument having a spent cartridge lockout," which was granted on January 24, 2006; and US Patent No. 6,978,921, "Surgical stapling instrument incorporating an E-beam firing mechanism," which was granted on December 27, 2005, are incorporated herein by reference.

[0215] Considering what has been said above, with reference to Figure 48, the anvil gripper 10420 comprises stops, or abutments, 10455 defined therein, which are configured to make contact with the upper cam member 10255 of the tissue cutting member 10251 when the anvil gripper 10420 is moved to its open position. In such cases, the anvil gripper 10420 positions the tissue cutting member 10251 in its unfired position even if the tissue cutting member 10251 has been accidentally moved or positioned too distally. Such an arrangement is particularly useful after the surgical instrument 10000 has already been used at least once and the staple firing system has been reset, or retracted, given that, in some Petition 870250025520, dated 03 / 31 / 2025, pp. 121 / 323 In 118 / 150 cases, the tissue cutting member 10251 may not have fully returned to its non-firing position after the last staple firing stroke. As a result of the above, the possibility of accidental deviation of the surgical instrument locking mechanism 10000 is reduced. Notably, the stoppers 10455 and the clearance pocket 10450 are positioned proximally to the distal edges of the tissue stops 10427, which ensures that the tissue cutting member 10251 is positioned proximally to the tissue captured inside the end actuator, so that the tissue is not accidentally cut against the tissue cutting member 10251.

[0216] As discussed above, the articulation actuator 10260 is transferable proximally and distally to articulate the end actuator 10400 around the articulation joint 10500. That said, the articulation actuator 10260 is, in fact, a distal articulation actuator of the articulation actuation system. With reference to Figures 72 and 74 to 76, the articulation actuation system further comprises a transferable proximal articulation actuator 10270 that moves the distal articulation actuator 10260. The articulation actuation system also comprises an articulation lock 10280 positioned between the proximal articulation actuator 10270 and the distal articulation actuator 10260, as described in more detail below. The proximal articulation actuator 10270 comprises an articulation rod 10272, a proximal pushing projection 10274 extending from the articulation rod 10272, and a distal pulling projection 10276 extending from the articulation rod 10272.When the proximal joint actuator 10270 is pushed distally, the proximal push projection 10274 comes into contact with the joint lock 10280, unlocking the lock. Petition 870250025520, dated 03 / 31 / 2025, pp. 122 / 323 119 / 150 of articulation 10280 and drives the distal articulation actuator 10260 distally to articulate the end actuator 10400. When the proximal articulation actuator 10270 is stopped, the articulation lock 10280 is automatically re-locked and holds the end actuator 10400 in position. When the proximal articulation actuator 10270 is pulled proximally, the distal traction projection 10276 contacts the articulation lock 10280, unlocks the articulation lock 10280 and pulls the distal articulation actuator 10260 proximally to articulate the end actuator 10400. Similarly to the above, the articulation lock 10280 is automatically re-locked when the proximal articulation actuator 10270 stops. When the 10280 linkage lock is engaged, the 10400 end actuator is prevented from being unintentionally moved back or out of position.When the articulation lock 10280 is unlocked, the end actuator 10400 can be articulated to a new position.

[0217] In addition to the above, with reference to Figure 72, a space 10275 is defined between the projections 10274 and 10276 of the proximal joint actuator 10270. The distal joint actuator 10260 comprises a similar arrangement. More specifically, the distal joint actuator 10260 comprises a proximal projection 10269 and a distal projection 10267 with a space defined between them. The projections 10274 and 10276 of the proximal articulation actuator 10270 are positioned within, and move within, the space defined between the projections 10267 and 10269 of the distal articulation actuator 10260. The articulation lock 10280 comprises a stationary rod 10282 extending through the distal articulation actuator 10260 and locking members 10284 rotatably and slidingly mounted on the stationary rod 10282. The locking members 10284 are propendent Petition 870250025520, dated 03 / 31 / 2025, pp. 123 / 323 120 / 150 to a locked position by a spring 10286 positioned between two sets of locking members 10284, which causes the locking members 10284 to lock onto the stationary rod 10282. When the proximal articulation rod 10270 is translated, however, the proximal articulation rod 10270 pushes the locking members 10284 to rotate them out of their locked position, so that the end actuator 10400 can be articulated.

[0218] In addition to the above, projections 10274 and 10276 of the proximal joint actuator 10270 come into direct contact with the locking members 10284. With reference to Figure 74A, each of the projections 10274 and 10276 comprises a projection, or protrusion, 10277 that extends from it and engages the locking members 10284. The projections 10277 provide a large pushing area so that the proximal joint actuator 10270 is pushed against the locking members 10284. For comparison, Figures 73 and 73A illustrate a proximal joint actuator 10270' that does not have the protrusions 10277 on its projections 10274' and 10276'. The arrangement shown in Figures 73 and 73A is still useful, but the contact area between the proximal joint actuator 10270' and the locking members 10284 is smaller than the contact area between the proximal joint actuator 10270 and the locking members 10284.As a result of the larger contact area with the locking members 10284, the stress and mechanical strain on the proximal joint actuator 10270 are lower than those of the proximal joint actuator 10270'. Furthermore, the arrangement of the protrusions 10277 can increase the torque arm between the proximal joint actuator 10270 and the locking members 10284, thus decreasing the force required to unlock the joint lock 10280.

[0219] Several mechanisms and methods for determining the orientation of the drive shaft in relation to the are described here. Petition 870250025520, dated 03 / 31 / 2025, pp. 124 / 323 121 / 150 grip. Many of these mechanisms are capable of evaluating the drive shaft orientation in real time and without considering the previous orientation(s) of the drive shaft. Such arrangements are particularly useful when the surgical instrument loses power, for example. When the surgical instrument is powered on again, the control system can immediately evaluate the drive shaft orientation and the proper responsiveness of the articulation controls, for example. Furthermore, the surgical instruments described here can be configured to immediately evaluate the articulation angle of the end actuator when the surgical instrument is powered on again. After re-energization, the control system will evaluate whether the end actuator is in a closed or open configuration.If the end actuator is in a closed configuration after re-energization, the control system will determine that the surgical instrument lost power during staple firing mode and instruct the physician to retract the staple firing system. If the end actuator is in an open configuration after re-energization, or when the end actuator is in an open position after re-energization, the control system will attempt to ensure that the articulation drive system is engaged with the staple firing system so that the end actuator can be straightened, or otherwise properly guided by the physician, to remove the surgical instrument from the patient. Figure 78 represents a 39000 algorithm for the control system to ensure that the articulation system is engaged with the staple firing drive.In this algorithm, the control system scans the clamp firing actuator between the positions associated with the rightmost position of the end actuator and its leftmost position. Petition 870250025520, dated 31 / 03 / 2025, pages 125 / 323 The 122 / 150 end actuator is designed so that if the articulation actuator were not already coupled to the trigger actuator, it would couple. These rightmost and leftmost orientations of the end actuator correspond to the most distal and most proximal positions of the 10260 articulation actuator, as illustrated in Figure 77. These positions are also the most distal and most proximal positions, respectively, of the 10270 articulation actuator. The control system comprises one or more non-volatile device memories to store information regarding the most distal (rightmost orientation) and most proximal (leftmost orientation) positions of the articulation actuation system. In this way, this information is available to the control system after re-energization, and the control system can limit its evaluation to this range.In several embodiments, the surgical instrument may include a sensor configured to assess whether or not the articulation actuation is mechanically coupled to the staple firing actuation.

[0220] In addition to the above, algorithm 39000 comprises a step 39100 in which the control system evaluates whether an articulation button is pressed or not during the initialization of the surgical instrument. If it is determined in step 39100 that an articulation button is not pressed, the algorithm follows the logical path 39200. In the logical path 39200, the control system actuates the electric motor that drives the articulation system in step 39300 to push the articulation actuator 10260 distally to articulate the end actuator to the right. The control system then waits a predetermined time interval in step 39400 before proceeding to step 39600, in which the control system actuates the motor in an opposite direction to pull the articulation actuator 10260 proximally and articulate the Petition 870250025520, dated 03 / 31 / 2025, pp. 126 / 323 123 / 150 left end actuator. The control system then waits again for a predetermined time interval at step 39700 and, after that time, waits for an input command at step 39800. In several embodiments, the control system comprises a timer circuit to count the appropriate time interval. If, on the other hand, the control system detects that the left linkage control is actuated at step 39100, algorithm 39000 follows logical path 39500 and articulates the left end actuator. If the control system detects that the right linkage control is actuated at step 39100, algorithm 39000 follows a logical path that articulates the right end actuator.

[0221] During a staple firing stroke, as described above, the staples of a staple cartridge are progressively ejected by a firing member. The firing member ejects the proximal staples from the staple cartridge at the beginning of the staple firing stroke and the distal staples at the end of the staple firing stroke. In cases where all the staples of a staple cartridge properly contact their staple-forming pockets on the anvil positioned on the opposite side of the staple cartridge, the staples will form properly and the staple firing force will be low. In cases where some of the staples do not enter their staple-forming pockets, such staples may become defective, thus increasing the force required to execute the staple firing stroke. Decelerating the staple firing stroke can improve staple formation and reduce the force required to execute the staple firing stroke.In many cases, the force being applied by the staple firing system can be detected directly through one or more devices. Petition 870250025520, dated 31 / 03 / 2025, pp. 127 / 323 124 / 150 force sensors and / or strain gauges, for example. In other cases, force detection can be achieved by a current sensor or ammeter circuit, for example, which measures the current to the electric motor of the staple firing drive. The disclosure of US patent application serial number 16 / 361,793, entitled SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM, filed March 22, 2019, is incorporated herein by reference in its entirety. These approaches may be suitable in various cases, but embodiments and methods that evaluate the duty cycle of the staple firing system during the staple firing course are described below.

[0222] In addition to the above, the control system of the 10000 surgical instrument comprises a pulse width modulation (PWM) control circuit configured to control the speed of the firing drive electric motor. The PWM control circuit applies voltage pulses to the firing drive electric motor to execute the staple firing stroke. In several cases, the PWM control circuit increases the duration of the voltage pulses it applies to the firing drive electric motor in order to increase the speed of the firing drive electric motor and, correspondingly, the speed of the staple firing stroke. In other cases, the PWM control circuit reduces the duration of the voltage pulses it applies to the firing drive electric motor in order to reduce the speed of the firing drive electric motor and, correspondingly, the speed of the staple firing stroke.In any case, the PWM control circuit can make these pulse length adjustments without substantially increasing or decreasing the magnitude of the voltage pulses being applied to the motor. That said, they are anticipated. Petition 870250025520, dated 03 / 31 / 2025, pp. 128 / 323 125 / 150 modes in which the magnitude of the voltage pulses, or certain voltage pulses, could be altered. In any case, as described in more detail below, the control system is configured to trigger the clamp firing mechanism at a constant, or nearly constant, speed by adjusting the pulse duration via the PWM circuit. The disclosure of U.S. Patent No. 8,499,992, entitled DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE, granted August 6, 2013, is incorporated herein by reference in its entirety.

[0223] The ratio between the time the voltage is applied to the electric motor (ON time) by the PWM circuit divided by the total time (ON time + OFF time) is the duty cycle of the clamp-on drive motor. Thus, the duty cycle can range from 0% (completely OFF) to 100% (completely ON), i.e., a constant voltage without periodic interruptions. The terms ON and OFF suggest non-zero voltage and zero voltage; however, the terms ON and OFF include HIGH and LOW voltages, respectively. The terms ON or OFF include zero voltage and non-zero voltages that have a magnitude that is less than the HIGH or ON voltage.In view of the above, another way to express the duty cycle of the electric motor drive is the ratio between the time during which voltage is applied to the electric motor (HIGH time) by the PWM circuit divided by the total time (HIGH time + LOW time).

[0224] The PWM control circuit applies voltage pulses to the electric drive motor at regular intervals; however, the control system may include a frequency modulation (FM) control circuit to change the frequency. Petition 870250025520, dated 03 / 31 / 2025, pp. 129 / 323 126 / 150 of the voltage pulse intervals. In several cases, the FM control circuit decreases the interval between voltage pulses to increase the speed of the trigger drive electric motor and the trigger stroke of staples. Correspondingly, the FM control circuit increases the interval between voltage pulses to decrease the speed of the trigger drive electric motor and the trigger stroke of staples. In addition to, or instead of, the above, the control system may increase the magnitude of the voltage it applies to the trigger drive electric motor to increase the speed of the trigger drive electric motor and the trigger stroke of staples and / or decrease the magnitude of the voltage it applies to the trigger drive electric motor to decrease the speed of the trigger drive electric motor and the trigger stroke of staples.

[0225] The surgical instrument control system 10000 comprises an algorithm for controlling the speed of the staple firing member. With reference to Figure 79, the control system includes an algorithm 50000 configured to actuate the staple firing member at a low speed, an intermediate speed, and a high speed. The low speed is 6 mm / s or approximately 6 mm / s. The intermediate speed is 12 mm / s or approximately 12 mm / s. The high speed is 20 mm / s, or approximately 20 mm / s. That said, a control system can be configured to operate the staple firing actuator at any suitable number of speeds and / or at any suitable speed.The control system is configured to monitor the speed of the staple firing mechanism via a motor speed sensor and adjust the length of the voltage pulses applied to the electric motor of the staple firing mechanism to adjust the speed of the staple firing mechanism based on the target speed. Petition 870250025520, dated 03 / 31 / 2025, pp. 130 / 323 For example, if the target speed of the staple firing actuator at a given point in the staple firing stroke is 12 mm / s and the actual speed is 11 mm / s, the control system increases the length of the voltage pulses it is applying to the electric motor to increase the speed of the staple firing actuator. In other words, the control system increases the duty cycle of the electric motor of the firing actuator to increase the speed of the staple firing actuator. Correspondingly, the control system is configured to shorten the length of the voltage pulses it is applying to the electric motor of the firing actuator if the speed of the staple firing actuator exceeds the target speed until the speed of the staple firing actuator reaches the target speed.In other words, the control system is configured to decrease the duty cycle of the electric stapling drive motor to reduce the speed of the stapling drive. It is important to note that the target speed of the stapling drive may change during the stapling stroke, as described in more detail below.

[0226] As discussed above, the firing member of the staple firing actuator is moved distally during the staple firing stroke. With reference to Figures 47 and 79, the firing member is advanced distally from its unfired proximal position to move the upper cam member 10255 of the firing member upwards on the internal slot ramp 10425 set on the anvil 10420. The distance between the unfired proximal position and the distal end of the internal slot ramp is 15 mm, or approximately 15 mm, for example. This initial 15 mm movement of the firing member can be used to close the end actuator and / or pass over the firing lock described above, if a staple cartridge Petition 870250025520, dated 03 / 31 / 2025, pp. 131 / 323 128 / 150 not properly worn if seated in the end actuator. That said, during this range of motion, the control system moves the firing member distally at an intermediate speed of 12 mm / s and assesses the duty cycle required to actuate the staple firing member at that speed. If the duty cycle is between 40% and 60% in this initial range, the control system continues to actuate the staple firing drive at an intermediate speed of 12 mm / s. If the duty cycle is above 60%, the control system decreases the target speed of the staple firing drive to the low speed of 6 mm / s. Such cases may arise when there is thick tissue between the anvil 10420 and the staple cartridge 10430. On the other hand, if the duty cycle is below 40% during this initial range, the control system increases the target speed to the high speed of 20 mm / s.Such cases may arise when there is thin tissue between the anvil 10420 and the staple cartridge 10430. In Figure 79, the end of this initial range is marked by point A and, notably, staples are not deployed, or fired, during this initial range. After point A, the firing limb fires the staples as the firing limb advances distally until the firing limb reaches the end of the staple firing stroke and / or the physician interrupts the staple firing stroke by releasing the firing trigger.

[0227] With reference to algorithm 50000 in Figure 79, it can be noted that the staple firing member was actuated at an intermediate speed of 12 mm / s for the first 15 mm and then at a high speed of 20 mm / s for the remainder of the staple firing stroke. As described above, this change in speed occurred because the control system measured that the duty cycle was below 40% during the first 15 mm of the stroke. Petition 870250025520, dated 31 / 03 / 2025, pp. 132 / 323 129 / 150 staple firing. If the firing member had been blocked by the locking mechanism in the first 15 mm, however, the duty cycle would have immediately increased to 100%, and the control system would be configured to immediately interrupt the staple firing stroke in response to such asymptotic duty cycle spikes. Once the firing member has passed this initial 15 mm distance, in many cases the remainder of the staple firing stroke comprises approximately 30 mm, approximately 45 mm, or approximately 60 mm, for example. These lengths represent the different staple pattern lengths that are currently desirable in many staple cartridges, but any suitable staple pattern lengths could be used.In some embodiments, the control system does not re-evaluate the duty cycle of the staple firing actuator to adjust the target speed of the firing member after an initial evaluation of the duty cycle of the firing actuator. The control system of the embodiment in Figure 79, however, continues to evaluate the duty cycle of the staple firing actuator throughout the entire staple firing stroke. At point C in the staple firing stroke, the control system makes another adjustment to the target speed or maintains the target speed according to the criteria presented above. As represented in Figure 79, the duty cycle of the staple firing actuator was determined to be between 40% and 60% at point C, and thus the control system maintained the target speed of 20 mm / s. Point C is halfway between point A and the end of the staple firing stroke, that is, halfway along the staple pattern.That said, point C can be in any suitable location. Furthermore, the control system can be configured to adjust the target speed of the staple firing mechanism at any suitable number of points. Petition 870250025520, dated 03 / 31 / 2025, pp. 133 / 323 130 / 150 during the staple firing course. In at least one case, the control system can make a target velocity adjustment every 15 mm during the staple firing course, for example. For a 30 mm staple cartridge, the control system could make a total of two target velocity adjustments, as illustrated in Figure 79. For a 45 mm staple cartridge, the control system could make a total of three target velocity adjustments at 15 mm intervals, and for a 60 mm staple cartridge, the control system could make a total of four target velocity adjustments at 15 mm intervals, for example.

[0228] For the examples given above, the control system used the same set of criteria to evaluate the duty cycle at each target speed setpoint. That said, with reference to Figure 80, embodiments are foreseen in which the control system uses different sets of duty cycle criteria at different target speed setpoints. For example, the control system may use a first set of duty cycle criteria at the first target speed setpoint and a second set of duty cycle criteria at the second target speed setpoint. In at least one case, with reference to algorithm 51000 in Figure 80, the control system increases the target speed of the clamp firing actuator if the duty cycle is below 45% at the first target speed setpoint.That said, the control system increases the target speed of the staple firing actuator at the second target speed setpoint if the duty cycle is below 40%. Any suitable limit or limits may be used. In the embodiment illustrated in Figure 80, the upper duty cycle limit of 60% is the same at both the first and second target speed setpoints in algorithm 51000. If the duty cycle is above 60%, the system... Petition 870250025520, dated 03 / 31 / 2025, pp. 134 / 323 The 131 / 150 control shortens the voltage pulses to slow down the staple firing system. In other modes, the upper duty cycle limit may differ at the first and second target speed adjustment points.

[0229] In addition to the above, with reference to Figure 81, the control system algorithm increased the target speed at point A from intermediate speed to high speed, but then decreased the target speed at point C from high speed to intermediate speed. At point C, the control system determined that the duty cycle of the electric motor of the clamp trigger was above 60% and decreased the target speed by one level, that is, from high speed to intermediate speed. Notably, the control system did not decrease the target speed from high speed to low speed at point C, since the control system is configured to increase or decrease the target speed only one level at each checkpoint. For the target speed of the clamp trigger to be reduced from high speed to low speed, the duty cycle would have to exceed the upper duty cycle limit at two checkpoints.These checkpoints can be consecutive checkpoints or non-consecutive checkpoints. That said, there are modes in which the control system comprises a safety duty cycle limit which, if exceeded, would cause the control system to reduce the target speed of the staple trigger to the low speed, regardless of the speed of the staple trigger before that checkpoint.

[0230] Figure 82A represents two graphs – a duty cycle graph (i) and a firing force graph (ii) of the clamp firing drive. The duty cycle graph (i) and the firing force graph (ii) are correlated to demonstrate three Petition 870250025520, dated 03 / 31 / 2025, pages 135 / 323 132 / 150 different staple firing courses. Two of the staple firing courses in Figure 82A remain below the 40% duty cycle limit because the firing force is low. In such staple firing courses, the control system increases the target speed of the staple firing system at each checkpoint according to the current algorithm, although other algorithms are possible. One of the staple firing courses in Figure 82A reaches a 100% duty cycle because the firing force is high. When the duty cycle is above 60% at a target speed setpoint, the control system decreases the target speed of the staple firing system according to the current algorithm, although other algorithms are possible.Notably, the duty cycle of this staple firing is not above the 60% limit at the beginning of the staple firing stroke, and as a result, the control system may not, in fact, reduce the target speed if the duty cycle does not exceed the upper limit of 60% until after the checkpoint, or checkpoints.

[0231] Figure 82B represents two graphs – a duty cycle graph (i) and a firing force graph (ii) of the staple firing drive. The duty cycle graph (i) and the firing force graph (ii) are correlated to demonstrate three different staple firing strokes. Two of the staple firing strokes in Figure 82B remain between the 40% duty cycle limit and the 60% duty cycle limit, as the firing force is relatively low. In such staple firing strokes, the control system does not alter the target speed of the staple firing system, according to the current algorithm, although other algorithms are possible. One of the staple firing strokes in Figure 82B reaches a 100% duty cycle, however, as the firing force is high. When the duty cycle is above 60% in a Petition 870250025520, dated 03 / 31 / 2025, pp. 136 / 323 At the 133 / 150 target speed setpoint, the control system decreases the target speed of the staple firing system according to the current algorithm, although other algorithms are possible. In this case, the duty cycle exceeded the upper duty cycle limit by approximately 20 mm distal to the initial non-firing proximal position of the staple firing limb. In other words, the duty cycle jumped above 60% as soon as the staple firing actuator began firing staples, i.e., 5 mm beyond the initial 15 mm range discussed above. As a result, the control system may not react to the elevated duty cycle until after a checkpoint of 30 mm, for example.

[0232] Notably, in addition to the above, the graphs of Figures 82A and 82B, and several other graphs, represent a stream of points along the clamp firing path. These points represent data samples taken by the control system. The proximity of the points represents a reasonably high data sampling rate, although lower or higher data sampling rates could be used. As can be seen in these figures, the data are subject to a certain amount of fluctuation or oscillation, which can cause the control system to react to external data, especially when the duty cycle data are close to the upper or lower duty cycle limits. In several cases, the control system may utilize a data smoothing algorithm that uses averages and / or other statistical evaluations of the data across multiple collected data points to determine the duty cycle at the target speed evaluation points.In at least one of these cases, the control system uses the average of three consecutive duty cycle measurements, for example, to determine the duty cycle value used to evaluate the algorithm's criteria. Petition 870250025520, dated 03 / 31 / 2025, pp. 137 / 323 134 / 150

[0233] Figure 83A represents three graphs – a duty cycle graph (i), a firing force graph (ii), and a firing speed graph (iii) of the staple firing drive. The duty cycle graph (i), firing force graph (ii), and firing speed graph (iii) are correlated to demonstrate a staple firing stroke. The duty cycle of the staple firing stroke jumps from below the lower duty cycle limit of 40% to above the upper duty cycle limit of 60% at approximately the 30 mm mark, which is about 15 mm in staple deformation. This jump in duty cycle was not due to an increase in firing force; but the jump in duty cycle occurred because the control system increased the duty cycle to increase the speed of the staple firing drive according to its target speed selection criteria.Figure 83B depicts a similar jump in the duty cycle of approximately 20 mm; however, this jump in the duty cycle occurred because the staple firing member encountered high resistance during staple deformation, and the control system responded by increasing the length of the voltage pulses it was applying to the electric motor to maintain the staple firing speed at its target speed. In other words, the control system stopped the duty cycle because it was having difficulty maintaining the intermediate speed, i.e., 12 mm / s, of the staple firing system. This situation did not last long, as the control system again decreased the duty cycle at the target speed checkpoint of 30 mm while simultaneously reducing the speed of the staple firing stroke to its low target speed, i.e., 6 mm / s.

[0234] Figures 84A and 84B show graphs demonstrating that the firing force of the staple firing mechanism for stapling and cutting real tissue follows that of the force of Petition 870250025520, dated 03 / 31 / 2025, pp. 138 / 323 135 / 150 shot for stapling and cutting a fabric analogue, such as foam, for example.

[0235] Figures 85A and 85B depict several examples of staple firing strokes that occurred during gastric tissue stapling and cutting. The staple firing strokes followed a very similar duty cycle pattern. For example, all staple firing strokes started below the lower duty cycle limit, and in response, the control system increased the speed of the staple firing stroke from intermediate speed to high speed. To do this, the control system increased the duration of the voltage pulses being applied to the electric motor of the staple drive system at a first checkpoint. In doing so, however, the duty cycle jumped above the upper duty cycle limit, and at the next checkpoint, the control system shortened the voltage pulses to decrease the duty cycle and reduce the speed of the staple firing stroke back to its intermediate speed.Notably, in one example, the speed of the staple firing actuator was maintained at high speed. In this example, the staples being deformed were smaller compared to the staples used during the other staple firing strokes, and the duty cycle remained just below the limit.

[0236] Figure 86A depicts the duty cycle of two staple firing strokes simultaneously stapling the thin jejunum tissue – one occurring when the end actuator was articulated and the other occurring when the end actuator was not articulated. As can be seen in Figure 86A, the two duty cycle curves are very similar and are notably between approximately 60% and approximately 80% of the duty cycle. Figure 86B depicts the duty cycle of two staple firing strokes simultaneously stapling the Petition 870250025520, dated 03 / 31 / 2025, pp. 139 / 323 136 / 150 thick jejunal tissue – one that occurred when the end actuator was articulated and another that occurred when the end actuator was not articulated. As can be seen in Figure 86B, the two duty cycle curves are very similar and are, notably, between about 60% and about 80% of the duty cycle. Furthermore, notably, the duty cycle is somewhat higher for thick jejunal tissue (Figure 86B) compared to thin jejunal tissue (Figure 86A). Figure 86C depicts the duty cycle of two staple firing strokes during gastric tissue stapling – one stroke that occurred when the end actuator was articulated and another when the end actuator was not articulated.As can be seen in Figure 86C, the two duty cycle curves are very similar and, notably, reach the maximum duty cycle when the staple firing actuator begins to deform the staples approximately 15 mm from the unfired proximal position of the firing member.

[0237] Figure 87 comprises a graph 63000 which represents the duty cycle of a staple firing stroke. As illustrated in graph 63000, the duty cycle is at or just below 40% for the first 30 mm of the staple firing stroke (15 mm of initial trajectory and 15 mm of staple firing) and is then increased by the control system to increase the speed of the staple firing drive. Similarly to what is shown above, increasing the duty cycle in this case overloaded the duty cycle above the upper duty cycle limit of 60% where it remained for the remainder of the staple firing stroke, i.e., the last 30 mm.

[0238] Figure 88 comprises a 64000 graph representing the duty cycle of a staple firing stroke. As illustrated in graph 64000, the duty cycle begins below the limit. Petition 870250025520, dated 31 / 03 / 2025, p. 140 / 323 The 137 / 150 duty cycle is 40%, but then gradually increases into the zone between the upper and lower duty cycle limits. In this zone, the control system neither increases nor decreases the speed of the staple firing system and / or otherwise adjusts the duty cycle of the electric motor driving the firing system, while maintaining the staple firing system speed at the intermediate target speed. As such, a smooth duty cycle curve is seen without abrupt changes.

[0239] Figure 89 comprises a 65000 graph representing the duty cycle of a staple firing stroke. As illustrated in graph 65000, the duty cycle begins at approximately 40% of the lower duty cycle limit and then rapidly increases as the firing member begins to deform staples at the 15 mm point. In fact, the duty cycle increases to almost 100% until the next checkpoint is reached at 30 mm where, as described above, the control system reduced the duty cycle to delay the staple firing actuation. Figure 89 depicts a drastic drop in the duty cycle at this point, but returns to a high state just above the upper duty cycle limit during the remainder of the staple firing stroke.

[0240] The lower limit of the duty cycle is described as being 40% in many cases and 45% in others. That said, the lower limit of the duty cycle can be any suitable value, such as 30%, 33%, 35%, or 50%, for example. Similarly, the upper limit of the duty cycle is described as being 60%. That said, the upper limit of the duty cycle can be any suitable value, such as 50%, 55%, 65%, 67%, 70%, or 75%, for example.

[0241] As mentioned above, the staple firing mechanism stops when the physician releases the trigger. When the Petition 870250025520, dated 31 / 03 / 2025, page 141 / 323 138 / 150 The physician activates the trigger again, and the staple firing course is resumed. In such cases, the control system returns the speed of the staple firing course to the speed immediately before the staple firing course was interrupted. The control system comprises one or more memory devices to store the speed of the staple firing course during the staple firing course so that the control system can access the stored speed to restart the staple firing course. If the control system does not have access to this data, the control system may restart the staple firing course at its intermediate speed, for example.

[0242] As described herein, the surgical instrument 10000 is configured to evaluate the speed of the staple firing stroke and compare the measured speed of the staple firing stroke to a target speed. The surgical instrument 10000 comprises an encoder communicating with the control system that is configured to measure the speed of the staple firing stroke. In at least one instance, a gear in the staple firing drive is observed by the encoder to evaluate the speed of the staple firing stroke. The gear comprises teeth that pass in front of the encoder as the gear is rotated during the staple firing stroke. The speed at which the teeth pass the encoder is used by the control system to evaluate the speed of the staple firing drive. In at least one instance, the gear makes a complete rotation during the entire staple firing stroke.In addition to or in place of the above, the gear is comprised of metal and the control system comprises a Hall effect sensor configured to detect the rate at which the teeth of the metal gear pass the sensor. Petition 870250025520, dated 03 / 31 / 2025, pp. 142 / 323 139 / 150 Hall effect. In several embodiments, the control system is configured to evaluate the speed of a translational component of the staple firing drive.

[0243] As described herein, a control system algorithm uses the duty cycle of the electric motor drive to evaluate whether the speed of the staple firing drive should be adapted, and in which direction, i.e., slower or faster. Several other algorithms use data beyond the duty cycle of the electric motor drive to adapt the speed of the staple firing stroke. For example, a speed adaptation algorithm might utilize the articulation angle of the end actuator, the initial battery voltage, the operating battery voltage, the current through the motor, the proportional-integral-derivative (PID) error, and / or any characterization of the PWM circuit made during the surgical instrument manufacturing process, for example.These parameters, among others, can be used in a mathematical operation, or evaluation equation, to determine whether or not the firing speed of staples should be adapted, the direction in which the speed should be adapted, and / or the amount of adaptation. The parameters used can be instantaneous measurements and / or weighted measurements over several readings. The parameters used may include the rate of change, or change in the angular coefficient, of the measurements. The parameter values ​​can be added, subtracted, multiplied, and / or divided according to the evaluation equation.

[0244] Figures 68 to 71 show an end actuator. 40000 comprising an anvil gripper 40420 and a cartridge gripper 10410. The anvil gripper 40420 comprises a proximal portion 40100 and a distal portion, or tip, 40200 attached to the proximal portion 40100. The distal portion 40200 is rotatable between a first Petition 870250025520, dated 03 / 31 / 2025, pp. 143 / 323 140 / 150 operational guidance (Figure 68) and a second operational guidance (Figure 70 and Figure 71) to provide a physician with the ability to choose between a straight anvil tip and an angled anvil tip before using the 40000 end actuator.

[0245] The proximal portion 40100 comprises an angled distal end that can be characterized by a first angle 40120 and a second angle 40130. The first angle 40120 is measured with reference to a top plane defined by the top of the proximal portion 40100, while the second angle 40130 is measured with reference to a bottom plane defined by the bottom of the proximal portion 40100. In several cases, the first angle 40120 and the second angle 40130 are supplementary angles. In at least one case, the first angle 40120 and / or the second angle 40130 are substantially supplementary. The distal portion 40200 comprises an angled proximal end that is attached to the distal end of the proximal portion 40100. The angled proximal end of the distal portion 40200 can be characterized by a first angle 40220 and a second angle 40230. In several cases, the first angle 40220 and the second angle 40230 are supplementary angles.In at least one case, the first angle 40220 and / or the second angle 40230 are substantially supplementary. In several cases, the first angle 40120 and the first angle 40220 are supplementary angles, and the second angle 40130 and the second angle 40230 are supplementary angles. This configuration allows the proximal portion 40100 and the distal portion 40200 of the anvil claw 40420 to have a complementary angled fixation plane in which a distal face 40110 of the proximal portion 40100 and a proximal face 40210 of the distal portion 40200 are contiguous with each other in both the first and second orientations.

[0246] Using a fastening mechanism, with reference to Petition 870250025520, dated 03 / 31 / 2025, page 144 / 323 141 / 150 In Figures 69 and 69A, the distal portion 40200 is rotatable relative to the proximal portion 40100 so that the distal portion 40200 can be rotated in different orientations. To move the distal portion 40200 to the second orientation shown in Figure 70, the distal portion 40200 is rotated 180 degrees from the first orientation shown in Figure 68. This configuration allows a user to exchange the anvil gripper 40420 for an anvil gripper with a straight tip and an anvil gripper with an angled tip. In the second orientation shown in Figures 70 and 71, the first angle 40120 and the second angle 40230 are contiguous to each other and, correspondingly, the first angle 40220 and the second angle 40130 are contiguous to each other. The angles at the fastening interface in the second orientation (Figure 70) are not complementary, since they were in the first orientation (Figure 68).

[0247] The fixation mechanism used may be any suitable fixation mechanism. In at least one case, with reference to Figure 69A, the fixation mechanism comprises a flexible rotating pin 40300 anchored to the proximal portion 40100 and the distal portion 40200. Such a mechanism enables rotation of the rotating portion between different orientations while keeping the proximal portion 40100 and the distal portion 40200 fixed to each other. One or more spring elements and / or retainers may be used in conjunction with the pin to maintain the portions in the first operating orientation or the second operating orientation. The fixation mechanism may be embedded in the proximal portion 40100 and / or the distal portion 40200. The fixation mechanism may comprise a bistable conformance mechanism configured to tilt the portion 40200 to any orientation to prevent inadvertent partial rotation of the rotating distal portion 40200.The fastening mechanism may comprise spring-loaded retainers, a live joint, or sliding members. Petition 870250025520, dated 03 / 31 / 2025, page 145 / 323 142 / 150 and / or various other locking members. The fastening mechanisms may also include friction and / or interference fit interfaces between the proximal portion 40100 and the distal portion 40200.

[0248] In addition to the above, and again with reference to Figure 69A, the flexible pin 40300 comprises a first spherical end 40310 mounted in a defined chamber in the proximal anvil portion 40100, a second spherical end 40320 mounted in a defined chamber in the distal anvil portion 40200, and a flexible connector 40330 connecting the first end 40310 and the second end 40320. The first spherical end 40310 and the second spherical end 40320 can rotate within their respective chambers, so that the flexible pin 40300 can rotate relative to the proximal portion 40100 and / or so that the distal portion 40200 can rotate relative to the flexible pin 40300. In either case, such relative rotation enables rotation of the distal portion 40200 as described above. The length of the flexible connector 40330 is selected so that the flexible connector 40300 is in a resiliently extended state for each orientation of the distal portion 40200.As a result, the flexible connector 40330 acts to pull the distal portion 40200 against the first anvil portion 40100. Given that the proximal portion 40100 includes the staple-forming pockets and the distal portion 40200 does not include staple-forming pockets, the retention force provided by the pin 40300 does not need to withstand the staple-forming forces and is sufficient to hold the distal portion 40200 in place while the end actuator 40000 is being positioned in the patient. The pin can be spring-pressed into the socket so that the spring pulls the head proximally into the chamber, thus holding the proximal portion 40100 and the distal portion 40200 together. To rotate the distal portion 40200 between orientations, the distal portion 40200 can be pulled distally to overcome the protrusion force, twisted into one. Petition 870250025520, dated 03 / 31 / 2025, pp. 146 / 323 143 / 150 another orientation and released so that the spring can pull the distal portion 40200 against the proximal portion 40100. The interface between the distal portion 40200 and the proximal portion may further comprise interlocking features extending from them to prevent inadvertent movement of one relative to the other. For example, teeth may extend from one portion and into corresponding slots defined in the other portion when the distal portion 40200 is in its first and second orientations, but not when the distal portion 40200 is pulled in the opposite direction to the proximal portion 40100.

[0249] In at least one case, the distal portion 40200 comprises two halves, for example, which are assembled around the fixation mechanism. The two halves may use an elastomer to hold the halves together around the pin, for example. In at least one case, a press-fit mechanism may be used to assemble the two halves together around the fixation mechanism.

[0250] In several cases, the proximal portion 40100 and the distal portion 40200 are comprised of one or more materials. For example, the proximal portion 40100 may be comprised of one or more materials and the distal portion 40200 may be comprised of one or more materials. In at least one case, the distal portion 40200 is comprised of metal towards the fixation interface and comprises an overmolded soft tip extending distally from the metal portion. The soft tip may be comprised of rubber and / or plastic, for example. The anvil gripper 40410 may further comprise an intermediate component positioned between the proximal portion 40100 and the distal portion 40200. The intermediate component may house one or more parts of the fixation mechanism. The intermediate component may also provide a functional and / or aesthetically pleasing transition piece. Petition 870250025520, dated 03 / 31 / 2025, page 147 / 323 144 / 150 pleasant between the proximal portion 40100 and the distal portion 40200 which may be useful in a scenario where the proximal portion 40100 and the distal portion 40200 comprise more than one material.

[0251] In at least one case, the first portion 40100 and the second portion 40200 comprise edges designed to eliminate any sharp edges presented by the rotation of the second portion 40200 relative to the first portion 40100.

[0252] As discussed above, the surgical instruments described herein may comprise control systems. Each of the control systems may comprise a circuit board that has one or more processors and / or memory devices. Among other things, the control systems are configured to store sensor data, for example. They are also configured to store data that identifies the type of staple cartridge attached to the stapling instrument, for example. More specifically, the type of staple cartridge can be identified by the sensors when attached to the stapling instrument, and the sensor data can be stored in the control system. This information can be obtained by the control system to assess whether or not the staple cartridge is suitable for use.

[0253] The surgical instrument systems described herein are driven by an electric motor; however, the surgical instrument systems described herein may be driven in any suitable manner. In certain cases, the motors described herein may comprise a portion or portions of a robotically controlled system. U.S. Patent Application Serial No. 13 / 118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Patent No. 9,072,535, for example, discloses several examples of a robotic surgical instrument system in more detail. Petition 870250025520, dated 03 / 31 / 2025, pp. 148 / 323 145 / 150, the disclosure of which is incorporated herein by reference in its entirety. The descriptions of international patent publication no. WO 2017 / 083125, entitled STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE, published on May 18, 2017, international patent publication no. WO 2017 / 083126, entitled STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS, published on May 18, 2017, international patent publication no. WO 2015 / 153642, entitled SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION, published on October 8, 2015, US patent application publication no. 2017 / 0265954, filed on March 17, 2017, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS, US patent application publication no. 2017 / 0265865, filed on February 15, 2017, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DISTAL PULLEY, and US patent publication no. 2017 / 0290586, entitled STAPLING CARTRIDGE,Deposited on March 29, 2017, the documents are incorporated herein in their entirety by reference.

[0254] The surgical instrument systems described herein have been described in connection with the implantation and deformation of staples; however, the embodiments described in the present invention are not limited in this way. Several embodiments are contemplated which implant fasteners other than staples, such as clips or tacks, for example. In addition, several embodiments are contemplated which utilize any suitable means to seal the tissue. For example, an end actuator, according to various embodiments, may comprise electrodes configured to heat and seal the tissue. Similarly, for example, an end actuator according to certain embodiments may apply energy. Petition 870250025520, dated 03 / 31 / 2025, page 149 / 323 146 / 150 vibrational for sealing the fabric.

[0255] The entirety of the descriptions of: - US patent no. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which was granted on April 4, 1995; - US patent no. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which was granted on February 21, 2006; - US patent no. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which was granted on September 9, 2008; - US patent no. 7,464,849, entitled ELECTROMECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which was granted on December 16, 2008; - US patent no. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which was granted on March 2, 2010; - US patent no. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which was granted on July 13, 2010; - US patent no. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, which was granted on March 12, 2013; - US patent application serial number 11 / 343,803, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now US patent number 7,845,537; - US patent application serial number 12 / 031,573, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed on February 14, 2008; - US patent application serial number 12 / 031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING Petition 870250025520, dated 03 / 31 / 2025, page 150 / 323 147 / 150 INSTRUMENT, filed February 15, 2008, now U.S. Patent No. 7,980,443; - US patent application serial number 12 / 235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now US patent number 8,210,411; - US patent application serial number 12 / 235,972, entitled MOTORIZED SURGICAL INSTRUMENT, now US patent number 9,050,083; - US patent application serial number 12 / 249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now US patent number 8,608,045; - US patent application serial number 12 / 647,100, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filed December 24, 2009, now US patent number 8,220,688; - US patent application serial number 12 / 893,461, entitled STAPLE CARTRIDGE, filed September 29, 2012, now US patent number 8,733,613; - US patent application serial number 13 / 036,647, entitled SURGICAL STAPLING INSTRUMENT, filed February 28, 2011, now US patent number 8,561,870; - US patent application serial number 13 / 118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now US patent number 9,072,535; - US patent application serial number 13 / 524,049, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on June 15, 2012, now US patent number 9,101,358; Petition 870250025520, dated 03 / 31 / 2025, page 151 / 323 148 / 150 - US patent application serial number 13 / 800,025, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed March 13, 2013, now US patent number 9,345,481; US patent application serial number 13 / 800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed March 13, 2013, now published as US patent application number 2014 / 0263552; - publication of US patent application no. 2007 / 0175955, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, filed on January 31, 2006; and - Publication of US patent application No. 2010 / 0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed on April 22, 2010, now US patent No. 8,308,040, is incorporated herein by reference.

[0256] Although various devices have been described herein in connection with specific embodiments, modifications and variations of these embodiments may be implemented. Specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Therefore, the specific features, structures, or characteristics illustrated 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. Furthermore, where materials are described for specific components, other materials may be used. In addition, according to various embodiments, a single component may be replaced by multiple components and multiple components may be replaced by a single component, to perform a Petition 870250025520, dated 03 / 31 / 2025, pp. 152 / 323 149 / 150 or more specified functions. The description mentioned above and the following embodiments are intended to cover all such modifications and variations.

[0257] The devices described herein may be designed to be discarded after a single use, or they may be designed to be used multiple times. In either case, however, a device may be reconditioned for reuse after at least one use. Reconditioning may include any combination of steps including, but not limited to, disassembly of the device followed by cleaning or replacement of specific device parts and subsequent reassembly of the device. In particular, a reconditioning facility and / or surgical team may disassemble a device and, after cleaning and / or replacing particular parts of the device, the device may be reassembled for subsequent use. Those skilled in the art will understand that the reconditioning of a device may use a variety of techniques for disassembly, cleaning / replacement, and reassembly.The use of these techniques, as well as the resulting refurbished device, are all within the scope of this application.

[0258] The devices described here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can 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 can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays, and / or high-energy electrons. The radiation can kill bacteria on the instrument and in the container. The sterilized instrument can then be stored in a sterile container. The sealed container can maintain the Petition 870250025520, dated 03 / 31 / 2025, pp. 153 / 323 150 / 150 sterile instrument until opened in the medical facility. A device may also be sterilized using any other known technique, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and / or water vapor.

[0259] Although this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. It is therefore intended that this application cover any variations, uses or adaptations of the invention using its general principles.

Claims

1. Surgical instrument (15000, 26000), comprising: a housing (26100, 15100); a drive shaft (10200, 12200) extending from said housing (26100, 15100); an end actuator (18400, 26400) comprising: a first gripper (26410); a second gripper (10420) rotating relative to said first gripper (26410); a first lateral side; a second lateral side; a first articulation indicator light (18260a, 26460a); an articulation joint (10500) rotatably connecting said end actuator (18400, 26400) to said drive shaft (10200, 12200); and a control system comprising: a processor; an electric motor; an articulation actuator (10260) actuated by said electric motor;and a joint actuator (10160) in communication with said processor, wherein said joint actuator (10160) is actuatable in a first state to actuate said joint actuator (10260) and articulate said end actuator (18400, 26400) in a first direction, and in a second state to actuate said joint actuator (10260) and articulate said end actuator (18400, 26400) in a second direction; and a first indicator light circuit, wherein said Petition 870250025520, dated 31 / 03 / 2025, p. 155 / 323 2 / 7 first indicator light is in communication with said processor through said first indicator light circuit, and wherein said processor is configured to illuminate said first indicator light when said articulation actuator (10160) is in said first state to indicate that said end actuator (18400, 26400) is being articulated in said first direction;characterized in that: the first articulation indicator light (18260a, 26460a) is positioned on the first lateral side of the end actuator; the end actuator further comprises a second articulation indicator light (18260b, 26460b) positioned on the second lateral side; said control system further comprises a second indicator light circuit, wherein said second indicator light is in communication with said processor through said second indicator light circuit, and wherein said processor is configured to illuminate said second indicator light when said articulation actuator (10160) is in said second state to indicate that said end actuator (18400, 26400) is being articulated in said second direction.

2. Surgical instrument, according to claim 1, characterized in that it further comprises: another first articulation indicator light (18260a') positioned on a first side of said drive shaft (10200, 12200), wherein said first side of said drive shaft (10200, 12200) is aligned with said first lateral side of said end actuator (18400, 26400), wherein said other first articulation indicator light (18260a') is in communication with said processor through said first indicator light circuit and is illuminated with said first indicator light of Petition 870250025520, dated 31 / 03 / 2025, page.156 / 323 3 / 7 articulation (18260a, 26460a), when said articulation actuator (10160) is in said first state; and another second articulation indicator light (18260b') positioned on a second side of said drive shaft (10200, 12200), wherein said second side of said drive shaft (10200, 12200) is aligned with said second lateral side of said end actuator (18400, 26400), wherein said other second articulation indicator light (18260b') is in communication with said processor through said second indicator light circuit and is illuminated with said second articulation indicator light (18260b, 26460b), when said articulation actuator (10160) is in said second state.

3. Surgical instrument, according to claim 1, characterized in that it further comprises: another first articulation indicator light (18260a') positioned on a first side of said drive shaft (10200, 12200), wherein said first side of said drive shaft (10200, 12200) is aligned with said first lateral side of said end actuator (18400, 26400), and wherein said other first articulation indicator light (18260a') is in communication with said processor through said first indicator light circuit and is illuminated with said first articulation indicator light (18260a, 26460a), when said articulation actuator (10160) is in said first state;and another second articulation indicator light (18260b') positioned on said first side of said drive shaft (10200, 12200), wherein said other second articulation indicator light (18260b') is in communication with said processor through said second indicator light circuit and is illuminated with said second articulation indicator light (18260b, 26460b), when said articulation actuator (10160) is in said second state.

4. Surgical instrument, according to claim 3, characterized in that said other first articulation indicator light (18260a') is adjacent to said other second articulation indicator light (18260b').

5. Surgical instrument, comprising: a housing (15100); a drive shaft (10200, 12200) extending from said housing (15100), wherein said drive shaft (10200, 12200) comprises: a first lateral side; a second lateral side; a first articulation indicator light (18260a, 18260a'); and a second articulation indicator light (18260b, 18260b'); an end actuator (18400); comprising: a first gripper; and a second gripper movable in relation to said first gripper; a joint (10500) rotatably connecting said end actuator (18400) to said drive shaft (10200, 12200), wherein said first articulation indicator light (18260a, 18260a') and said second articulation indicator light (18260b, 18260b') are adjacent to said joint (10500); and a control system comprising: a processor; an electric motor;a joint actuator (10260) actuatable by Petition 870250025520, dated 31 / 03 / 2025, page 158 / 323 5 / 7 said electric motor; and a joint actuator (10160) in communication with said processor, wherein said joint actuator (10160) is actuatable in a first state to actuate said joint actuator (10260) and articulate said end actuator (18400) in a first direction, and in a second state to actuate said joint actuator (10260) and articulate said end actuator (18400) in a second direction; and a first indicator light circuit, wherein said first indicator light is in communication with said processor through said first indicator light circuit, and wherein said processor is configured to illuminate said first indicator light when said articulation actuator (10160) is in said first state to indicate that said end actuator (18400) is being articulated in said first direction;characterized by the fact that: said first articulation indicator light (18260a, 18260a') is positioned on said first lateral side; and the second articulation indicator light (18260b, 18260b') is positioned on said first lateral side, wherein said first articulation indicator light (18260a, 18260a') is adjacent to said second articulation indicator light (18260b, 18260b'); said control system further comprises a second indicator light circuit, wherein said second indicator light is in communication with said processor through said second indicator light circuit, and wherein said processor is configured to illuminate said second indicator light when said articulation actuator (10160) is in said second state to indicate that the Petition 870250025520, dated 31 / 03 / 2025, p. 159 / 323 6 / 7 said end actuator (18400) is being articulated in said second direction.; 6. Surgical instrument, according to claim 1 or 5, characterized in that said housing (15100) comprises a handle.

7. Surgical instrument, according to claim 6, characterized in that it further comprises a rotary joint that rotatably connects said drive shaft (10200, 12200) to said handle around a longitudinal geometric axis.

8. Surgical instrument, according to claim 6, characterized in that said electric motor is positioned in said handle, and in that said articulation actuator (10160) extends through said drive shaft (10200, 12200).

9. Surgical instrument, according to claim 8, characterized in that said drive shaft (10200, 12200) comprises an opening adjacent to said articulation joint (10500), and wherein said articulation actuator (10160, 10260') comprises: a first directional arrow (24640a') pointing distally and a first circular arrow to indicate that said end actuator (18400) will articulate in said first direction when said articulation actuator (10160) is moved distally;and a second directional arrow (24640b') pointing proximally and a second circular arrow in the opposite direction to the first circular arrow to indicate that said end actuator (18400) will articulate in said second direction when said articulation actuator (10160) is moved proximally, wherein said first directional arrows (24640a') and circular arrows and said second directional arrows (24640b') and circular arrows are all visible to a physician Petition 870250025520, dated 31 / 03 / 2025, page 160 / 323 7 / 7 through said opening when the physician is observing said drive shaft (10200, 12200).

10. Surgical instrument, according to claim 9, characterized in that said first directional arrow (24640a') is adjacent to said second directional arrow (24640b').

11. Surgical instrument, according to claim 1 or 5, characterized in that said end actuator (18400) further comprises a staple cartridge that includes removable staples stored inside, and wherein said surgical instrument further comprises a staple firing mechanism configured to eject said staples from said staple cartridge during a firing stroke.

12. Surgical instrument, according to claim 1 or 5, characterized in that said housing comprises an assembly configured to be attached to a robotic surgical system.

13. Surgical instrument, according to claim 1 or 5, characterized in that said first articulation indicator light (18260a, 18260a') comprises a first directional arrow (18260a') pointing in said first direction, and said second articulation indicator light (18260b, 18260b') comprises a second directional arrow (18260b') pointing in said second direction.

14. Surgical instrument, according to claim 5, characterized in that said first joint indicator light (18260a, 18260a') comprises a first directional arrow (24640a') pointing distally, and said second joint indicator light (18260b, 18260b') comprises a second directional arrow (24640b') pointing proximally.

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