Switch arrangement for a motor-electrically articulatable surgical instrument

Abstract

A surgical instrument is disclosed, the surgical instrument comprising a surgical end effector capable of articulating relative to an axis between an original position and a maximum articulation position. A motor is operably coupled to the surgical end effector to move the end effector between the original position and the maximum articulation position. The motor is configured to be operable at a first motor speed to articulate the end effector from the original position to a first articulation position between the original position and the maximum articulation position, and to be operable at a second motor speed to articulate the surgical end effector from the first articulation position to the maximum articulation position.

Description

Technical Field

[0001] The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments designed to stapling and cutting tissue and staple cartridges for use therewith. Summary of the invention

[0002] On the one hand, the present invention provides a surgical instrument, comprising: a housing; a slender shaft assembly, which is operably connected to the housing and defines a shaft axis; a surgical end actuator, which defines an end actuator axis and is operably connected to the slender shaft assembly for selective joint movement relative to the slender shaft assembly between a first original position and a maximum joint movement position, in which the end actuator axis is aligned with the shaft axis and in which the end actuator axis is positioned at a maximum joint movement angle relative to the shaft axis; and an joint movement motor, which is operably supported by the housing and operably connected to the surgical end actuator. The invention relates to a method for interlocking the surgical end effector with a first motor speed to move the surgical end effector between the first original position and the maximum articulation position, the articulation motor being configured to be operable at a first motor speed to articulate the end effector from the first original position to a first articulation position, in which the end effector axis is positioned at a first articulation angle relative to the shaft axis, and wherein the first articulation angle is less than the maximum articulation angle, and the articulation motor being further configured to be operable at a second motor speed to articulate the surgical end effector from the first articulation position to the maximum articulation position, wherein the second motor speed is different from the first motor speed

[0003] On the other hand, the present invention provides a surgical instrument, comprising: a housing; a slender shaft assembly, which is operably connected to the housing and defines a shaft axis; a surgical end effector, which defines an end effector axis and is operably connected to the slender shaft assembly for selective joint movement relative to the slender shaft assembly between a central home position and a first maximum joint movement position located on a first side of the shaft axis and a second maximum joint movement position located on a second side of the shaft axis, wherein the end effector axis is aligned with the shaft axis, in the first maximum joint movement position, the end effector axis is positioned at a first maximum joint movement angle relative to the shaft axis, and in the second maximum joint movement position, the end effector axis is positioned at a second maximum joint movement angle relative to the shaft axis; and an articulation motor, which is operably connected to the surgical end effector to move the surgical end effector between the central home position and the first maximum joint movement position and the second maximum joint movement position, and the articulation motor is The invention is configured to be operable at a first motor speed to articulate the end effector from the central home position to a first articulation position located on the first side of the shaft axis, in which the end effector axis is positioned at a first articulation angle relative to the shaft axis, and wherein the first articulation angle is less than the first maximum articulation angle, the articulation motor being configured to be operable at the first motor speed to articulate the end effector from the central home position to a second articulation position located on the second side of the shaft axis, in which the end effector axis is positioned at a second articulation angle relative to the shaft axis, and wherein the second articulation angle is less than the second maximum articulation angle, the articulation motor being further configured to be operable at a second motor speed to articulate the surgical end effector from the first articulation position to the first maximum articulation position and from the second articulation position to the second maximum articulation position, wherein the second motor speed is different from the first motor speed BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The various features of the embodiments described herein, together with their advantages, may be understood from the following description in conjunction with the following drawings:

[0005] Figure 1 is a perspective view of an electric surgical suturing system;

[0006] Figure 2 for Figure 1 An exploded assembly view of a shaft assembly of an electric surgical stapling system;

[0007] Figure 3 for Figure 1 A cross-sectional view of a portion of a shaft assembly and a surgical end effector of a powered surgical stapling system, wherein an anvil of the surgical end effector is in an open position;

[0008] Figure 4 For non-joint motion positions Figure 3 A top view of a shaft assembly and a portion of a surgical end effector;

[0009] Figure 5 For joint motion Figure 3 another top view of a shaft assembly and a portion of a surgical end effector;

[0010] Figure 6 for Figure 1 An exploded assembly view of a handle or housing of an electric surgical stapling system;

[0011] Figure 7 for Figure 6 a cross-sectional view of a handle of wherein portions of the shaft assembly are omitted for clarity;

[0012] Figure 8 for Figure 7 an enlarged cross-sectional view of the handle and shaft assembly;

[0013] Fig. 9 for Figure 7 Another enlarged cross-sectional view of the handle and shaft assembly;

[0014] Fig.10 The surgical end effector is in a position that causes the jaws of the surgical end effector to be oriented in an open position. Figure 7 Another side cross-sectional view of the handle and shaft assembly;

[0015] Fig.11 is in a position causing the jaws of the end effector to close Figure 7 Another side cross-sectional view of the handle and shaft assembly;

[0016] Fig.12 A graphical comparison of the closing forces between an embodiment of a surgical instrument using a progressive closing drive system and two prior surgical instruments using different closing drive system arrangements;

[0017] Fig.13A A graphical depiction of the firing force (FTF) and closing force (FTC) experienced by a prior surgical instrument embodiment employing a camming surface on an anvil as its firing member or blade travels through the anvil from a proximal-most starting position in the anvil to a distal-most ending position (chuck distance in inches);

[0018] Fig. 13B A graphical depiction of firing force (FTF) and closing force (FTC), anvil height, and spring height experienced by an embodiment of a surgical instrument employing a progressive closure drive system;

[0019] Fig.14 is a partial perspective view of a portion of a shaft assembly;

[0020] Fig.15 is a side elevation view of a portion of another powered surgical instrument;

[0021] Fig.16 for Fig.15 A partial perspective view of a portion of an electric surgical instrument with various portions thereof omitted for clarity;

[0022] Fig.17 for Fig.15 Another partial perspective view of a portion of an electric surgical instrument of the type shown in FIG. 1 , with various portions thereof omitted for clarity;

[0023] Fig.18 for Fig.15 Another partial perspective view of a portion of an electric surgical instrument of the type shown in FIG. 1 , with various portions thereof omitted for clarity;

[0024] Fig.19 for Fig.15 A perspective view of a motor switch system for an electric surgical instrument of the type shown in FIG. 1 , with various portions thereof omitted for clarity;

[0025] Fig. 20 for Fig.15 A perspective view of a proximal nozzle end or fin segment of a nozzle assembly of an electric surgical instrument;

[0026] Fig.21 for Fig.15 A partial perspective view of multiple portions of an electric surgical instrument, wherein a distal nozzle portion is omitted for clarity;

[0027] Fig. 22 for Fig.15 A side elevation view of a base portion and a portion of a proximal nozzle segment of an electric surgical instrument with portions of a nozzle assembly thereof omitted for clarity;

[0028] Fig.23 About Fig.15 The joint motion position of the end effector of the electric surgical instrument, Fig.19 A graphical depiction of a position of a switch of a switching system relative to a position of a switch slide thereof;

[0029] Fig.24 About Fig.15The joint motion position of the end effector of the electric surgical instrument, Fig.19 another graphical depiction of a position of a switch of the switching system relative to another position of a switch slide;

[0030] Fig.25 About Fig.15 The joint motion position of the end effector of the electric surgical instrument, Fig.19 another graphical depiction of a position of a switch of the switching system relative to another position of a switch slide;

[0031] Fig.26 About Fig.15 The joint motion position of the end effector of the electric surgical instrument, Fig.19 another graphical depiction of a position of a switch of the switching system relative to another position of a switch slide;

[0032] Fig. 27 Shows the available Fig.19 shapes of multiple parts of three different switch slide embodiments in a switch system;

[0033] Fig.28 for Fig. 27 a graphical comparison of motor speed and articulation angle of a surgical end effector coupled thereto for each geometric switch slide shape shown; and

[0034] Fig.28A shows the control Fig.16 A form of control circuit for an articulation motor of an electric surgical instrument.

[0035] Corresponding reference characters indicate corresponding parts throughout the several views.The exemplification described herein illustrates various embodiments of the invention in one form, and such exemplification should not be construed as limiting the scope of the invention in any way. DETAILED DESCRIPTION

[0036] The applicant of the present application owns the following U.S. patent applications and U.S. patents, each of which is incorporated herein by reference in its entirety:

[0037] - U.S. Patent Application Serial No. 15 / 386,185, entitled “SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLY HEREFORM,” U.S. Patent Application Publication No. 2018 / -0168642;

[0038] - U.S. Patent Application Serial No. 15 / 386,230, entitled “ARTICULATABLE SURGICAL STAPLING INSTRUMENTS,” U.S. Patent Application Publication No. 2018 / -0168649;

[0039] - U.S. Patent Application Serial No. 15 / 386,221, entitled “LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS,” U.S. Patent Application Publication No. 2018 / -01686;

[0040] - U.S. Patent Application Serial No. 15 / 386,209, entitled “SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF,” U.S. Patent Application Publication No. 2018-0168645;

[0041] - U.S. Patent Application Serial No. 15 / 386,198, entitled “LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES,” U.S. Patent Application Publication No. 2018-0168644;

[0042] - U.S. Patent Application Serial No. 15 / 386,240, entitled “SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR,” U.S. Patent Application Publication No. 2018-0168651;

[0043] - U.S. Patent Application Serial No. 15 / 385,939, entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN,” U.S. Patent Application Publication No. 2018-0168629;

[0044] - U.S. Patent Application Serial No. 15 / 385,941, entitled “SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FORSHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS,” U.S. Patent Application Publication No. 2018-0168630;

[0045] - U.S. Patent Application Serial No. 15 / 385,943, entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS,” U.S. Patent Application Publication No. 2018-0168631;

[0046] - U.S. Patent Application Serial No. 15 / 385,950, entitled “SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES,” U.S. Patent Application Publication No. 2018-0168635;

[0047] - U.S. Patent Application Serial No. 15 / 385,945, entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN”; U.S. Patent Application Publication No. 2018-0168632;

[0048] - U.S. Patent Application Serial No. 15 / 385,946, entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS,” U.S. Patent Application Publication No. 2018-0168633;

[0049] -The beauty titled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASINGA JAW OPENING DISTANCE"

[0050] U.S. Patent Application Serial No. 15 / 385,951, U.S. Patent Application Publication No. 2018-0168636; - U.S. Patent Application Serial No. 15 / 385,953, entitled “METHODS OF STAPLING TISSUE,” U.S. Patent Application Publication No. 2018 / -0168637;

[0051] - U.S. Patent Application Serial No. 15 / 385,954, entitled “FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS,” U.S. Patent Application Publication No. 2018-0168638; - U.S. Patent Application Serial No. 15 / 385,955, entitled “SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOPARRANGEMENTS,” U.S. Patent Application Publication No. 2018-0168639;

[0052] - U.S. Patent Application Serial No. 15 / 385,948, entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS,” U.S. Patent Application Publication No. 2018-0168584;

[0053] - U.S. Patent Application Serial No. 15 / 385,956, entitled “SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES,” U.S. Patent Application Publication No. 2018-0168640;

[0054] - U.S. Patent Application Serial No. 15 / 385,958, entitled “SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT,” U.S. Patent Application Publication No. 2018-0168641;

[0055] - U.S. Patent Application Serial No. 15 / 385,947, entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN,” U.S. Patent Application Publication No. 2018-0168634;

[0056] - U.S. Patent Application Serial No. 15 / 385,896, entitled “METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT,” U.S. Patent Application Publication No. 2018-0168597;

[0057] - U.S. Patent Application Serial No. 15 / 385,898, entitled “STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENTTYPES OF STAPLES,” U.S. Patent Application Publication No. 2018-0168599;

[0058] - U.S. Patent Application Serial No. 15 / 385,899, entitled “SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL,” U.S. Patent Application Publication No. 2018-0168600;

[0059] - U.S. Patent Application Serial No. 15 / 385,901, entitled “STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWSDEFINED THEREIN,” U.S. Patent Application Publication No. 2018-0168602;

[0060] - U.S. Patent Application Serial No. 15 / 385,902, entitled “SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER,” U.S. Patent Application Publication No. 2018-0168603;

[0061] - U.S. Patent Application Serial No. 15 / 385,904, entitled “STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / ORSPENT CARTRIDGE LOCKOUT,” U.S. Patent Application Publication No. 2018-0168605;

[0062] - U.S. Patent Application Serial No. 15 / 385,905, entitled “FIRING ASSEMBLY COMPRISING A LOCKOUT,” U.S. Patent Application Publication No. 2018-0168606;

[0063] - U.S. Patent Application Serial No. 15 / 385,907, entitled “SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUTAND A FIRING ASSEMBLY LOCKOUT,” U.S. Patent Application Publication No. 2018-0168608;

[0064] - U.S. Patent Application Serial No. 15 / 385,908, entitled “FIRING ASSEMBLY COMPRISING A FUSE,” U.S. Patent Application Publication No. 2018-0168609;

[0065] - U.S. Patent Application Serial No. 15 / 385,909, entitled “FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE,” U.S. Patent Application Publication No. 2018-0168610;

[0066] - U.S. Patent Application Serial No. 15 / 385,920, entitled “STAPLE-FORMING POCKET ARRANGEMENTS,” U.S. Patent Application Publication No. 2018-0168620;

[0067] - U.S. Patent Application Serial No. 15 / 385,913, entitled “ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS,” U.S. Patent Application Publication No. 2018-0168614; - U.S. Patent Application Serial No. 15 / 385,914, entitled “METHOD OF DEFORMING STAPLESFROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT,” U.S. Patent Application Publication No. 2018-0168615;

[0068] - U.S. Patent Application Serial No. 15 / 385,893, entitled “BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS,” U.S. Patent Application Publication No. 2018-0168594;

[0069] - U.S. Patent Application Serial No. 15 / 385,929, entitled “CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICALINSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS,” U.S. Patent Application Publication No. 2018-0168626; - U.S. Patent Application Serial No. 15 / 385,911, entitled “SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS,” now U.S. Patent Application Publication No. 2018-0168612;

[0070] - U.S. Patent Application Serial No. 15 / 385,927, entitled “SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES,” U.S. Patent Application Publication No. 2018 / -0168625;

[0071] - U.S. Patent Application Serial No. 15 / 385,917, now U.S. Patent Application Publication No. 2018-0168617, entitled “STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS”;

[0072] - U.S. Patent Application Serial No. 15 / 385,900, entitled “STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS,” U.S. Patent Application Publication No. 2018-0168601;

[0073] - U.S. Patent Application Serial No. 15 / 385,931, entitled “NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS,” U.S. Patent Application Publication No. 2018-0168627;

[0074] - U.S. Patent Application Serial No. 15 / 385,915, entitled “FIRING MEMBER PIN ANGLE,” U.S. Patent Application Publication No. 2018-0168616;

[0075] - U.S. Patent Application Serial No. 15 / 385,897, entitled “STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES,” U.S. Patent Application Publication No. 2018-0168598;

[0076] - U.S. Patent Application Serial No. 15 / 385,922, entitled “SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES,” U.S. Patent Application Publication No. 2018-0168622;

[0077] - U.S. Patent Application Serial No. 15 / 385,924, entitled “SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS,” U.S. Patent Application Publication No. 2018-0168624;

[0078] - U.S. Patent Application Serial No. 15 / 385,910, entitled “ANVIL HAVING A KNIFE SLOT WIDTH,” U.S. Patent Application Publication No. 2018-0168611;

[0079] - U.S. Patent Application Serial No. 15 / 385,903, entitled “CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS,” U.S. Patent Application Publication No. 2018 / -0168604;

[0080] - U.S. Patent Application Serial No. 15 / 385,906, entitled “FIRING MEMBER PIN CONFIGURATIONS,” U.S. Patent Application Publication No. 2018-0168607;

[0081] - U.S. Patent Application Serial No. 15 / 386,188, entitled “STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES,” U.S. Patent Application Publication No. 2018-0168585;

[0082] - U.S. Patent Application Serial No. 15 / 386,192, entitled “STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAPSETTING FEATURES,” U.S. Patent Application Publication No. 2018-0168643;

[0083] - U.S. Patent Application Serial No. 15 / 386,206, entitled “STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES,” U.S. Patent Application Publication No. 2018-0168586;

[0084] - U.S. Patent Application Serial No. 15 / 386,226, entitled “DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS,” U.S. Patent Application Publication No. 2018-0168648;

[0085] - U.S. Patent Application Serial No. 15 / 386,222, entitled “SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES,” U.S. Patent Application Publication No. 2018-0168647;

[0086] - U.S. Patent Application Serial No. 15 / 386,236, entitled “CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICALSTAPLING INSTRUMENTS,” U.S. Patent Application Publication No. 2018-0168650;

[0087] - U.S. Patent Application Serial No. 15 / 385,887, entitled “METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICALINSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT,” U.S. Patent Application Publication No. 2018-0168589;

[0088] - U.S. Patent Application Serial No. 15 / 385,889, entitled “SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM,” U.S. Patent Application Publication No. 2018-0168590;

[0089] - U.S. Patent Application Serial No. 15 / 385,890, entitled “SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE ANDRETRACTABLE SYSTEMS,” U.S. Patent Application Publication No. 2018-0168591;

[0090] - U.S. Patent Application Serial No. 15 / 385,891, entitled “SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS,” U.S. Patent Application Publication No. 2018-0168592;

[0091] - U.S. Patent Application Serial No. 15 / 385,892, entitled “SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO ANARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM,” U.S. Patent Application Publication No. 2018-0168593;

[0092] - U.S. Patent Application Serial No. 15 / 385,894, entitled “SHAFT ASSEMBLY COMPRISING A LOCKOUT,” U.S. Patent Application Publication No. 2018-0168595;

[0093] - U.S. Patent Application Serial No. 15 / 385,895, entitled “SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS,” U.S. Patent Application Publication No. 2018-0168596;

[0094] - U.S. Patent Application Serial No. 15 / 385,916, entitled “SURGICAL STAPLING SYSTEMS,” U.S. Patent Application Publication No. 2018-0168575;

[0095] - U.S. Patent Application Serial No. 15 / 385,918, entitled “SURGICAL STAPLING SYSTEMS,” U.S. Patent Application Publication No. 2018-0168618;

[0096] - U.S. Patent Application Serial No. 15 / 385,919, entitled “SURGICAL STAPLING SYSTEMS,” U.S. Patent Application Publication No. 2018-0168619;

[0097] - U.S. Patent Application Serial No. 15 / 385,921, entitled “SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES,” U.S. Patent Application Publication No. 2018-0168621;

[0098] - U.S. Patent Application Serial No. 15 / 385,923, entitled “SURGICAL STAPLING SYSTEMS,” U.S. Patent Application Publication No. 2018-0168623;

[0099] - U.S. Patent Application Serial No. 15 / 385,925, entitled “JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OFA FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE ISINSTALLED IN THE END EFFECTOR,” U.S. Patent Application Publication No. 2018-0168576;

[0100] - U.S. Patent Application Serial No. 15 / 385,926, entitled “AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS,” U.S. Patent Application Publication No. 2018-0168577;

[0101] - U.S. Patent Application Serial No. 15 / 385,928, entitled “PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT,” U.S. Patent Application Publication No. 2018-0168578;

[0102] - U.S. Patent Application Serial No. 15 / 385,930, entitled “SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS,” U.S. Patent Application Publication No. 2018-0168579;

[0103] - U.S. Patent Application Serial No. 15 / 385,932, entitled “ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFTARRANGEMENT,” U.S. Patent Application Publication No. 2018-0168628;

[0104] - U.S. Patent Application Serial No. 15 / 385,933, entitled “ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK,” U.S. Patent Application Publication No. 2018-0168580;

[0105] -The beauty titled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR INAN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM"

[0106] U.S. Patent Application Serial No. 15 / 385,934, U.S. Patent Application Publication No. 2018-0168581; - U.S. Patent Application Serial No. 15 / 385,935, entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN ENDEFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION," U.S. Patent Application Publication No. 2018-0168582;

[0107] - U.S. Patent Application Serial No. 15 / 385,936, entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKEAMPLIFICATION FEATURES,” U.S. Patent Application Publication No. 2018-0168583;

[0108] - U.S. Patent Application Serial No. 14 / 318,996, entitled “FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS,” U.S. Patent Application Publication No. 2015-0297228;

[0109] - U.S. Patent Application Serial No. 14 / 319,006, entitled “FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDINGFASTENER CONTROL FEATURES,” now U.S. Patent No. 10,010,324;

[0110] - U.S. Patent Application Serial No. 14 / 318,991, entitled “SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS,” now U.S. Patent No. 9,833,241;

[0111] - U.S. Patent Application Serial No. 14 / 319,004, now U.S. Patent No. 9,844,369, entitled “SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS”;

[0112] - U.S. Patent Application Serial No. 14 / 319,008, entitled “FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS,” U.S. Patent Application Publication No. 2015-0297232;

[0113] - U.S. Patent Application Serial No. 14 / 318,997, now U.S. Patent Application Publication No. 2015-0297229, entitled “FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS”;

[0114] - U.S. Patent Application Serial No. 14 / 319,002, entitled “FASTENER CARTRIDGE COMPRISING TISSUE CONTROL FEATURES,” now U.S. Patent No. 9,877,721;

[0115] - U.S. Patent Application Serial No. 14 / 319,013, entitled “FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVERARRANGEMENTS,” U.S. Patent Application Publication No. 2015-0297233; and

[0116] - U.S. Patent Application Serial No. 14 / 319,016, entitled “FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO,” U.S. Patent Application Publication No. 2015-0297235.

[0117] The applicant of the present application owns the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety:

[0118] - U.S. Patent Application Serial No. 15 / 191,775, entitled “STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES”;

[0119] - U.S. Patent Application Serial No. 15 / 191,807, entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES";

[0120] - U.S. Patent Application Serial No. 15 / 191,834, entitled “STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME”;

[0121] - U.S. Patent Application Serial No. 15 / 191,788, entitled “STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES”; and

[0122] - U.S. Patent Application Serial No. 15 / 191,818, entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS."

[0123] The applicant of the present application owns the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety:

[0124] - U.S. Design Patent Application Serial No. 29 / 569,218, entitled “SURGICAL FASTENER”;

[0125] - U.S. Design Patent Application Serial No. 29 / 569,227, entitled “SURGICAL FASTENER”;

[0126] - U.S. Design Patent Application Serial No. 29 / 569,259, entitled “SURGICAL FASTENER CARTRIDGE”; and

[0127] - U.S. Design Patent Application Serial No. 29 / 569,264, entitled "SURGICAL FASTENER CARTRIDGE."

[0128] The applicant of this application owns the following patent applications filed on April 1, 2016, each of which is incorporated herein by reference in its entirety:

[0129] - U.S. Patent Application Serial No. 15 / 089,325, entitled “METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM”;

[0130] - U.S. Patent Application Serial No. 15 / 089,321, entitled “MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY”;

[0131] - U.S. Patent Application Serial No. 15 / 089,326, entitled “SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD”;

[0132] - U.S. Patent Application Serial No. 15 / 089,263, entitled “SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIPPORTION”;

[0133] - U.S. Patent Application Serial No. 15 / 089,262, entitled "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM";

[0134] - U.S. Patent Application Serial No. 15 / 089,277, entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVILCONCENTRIC DRIVE MEMBER";

[0135] - U.S. Patent Application Serial No. 15 / 089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL ENDEFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS";

[0136] - U.S. Patent Application Serial No. 15 / 089,258, entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION"; - U.S. Patent Application Serial No. 15 / 089,278, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE";

[0137] - U.S. Patent Application Serial No. 15 / 089,284, entitled “SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT”;

[0138] - U.S. Patent Application Serial No. 15 / 089,295, entitled “SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT”;

[0139] - U.S. Patent Application Serial No. 15 / 089,300, entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT";

[0140] - U.S. Patent Application Serial No. 15 / 089,196, entitled “SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT”;

[0141] - U.S. Patent Application Serial No. 15 / 089,203, entitled “SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT”;

[0142] - U.S. Patent Application Serial No. 15 / 089,210, entitled “SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT”;

[0143] - U.S. Patent Application Serial No. 15 / 089,324, entitled “SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM”;

[0144] - U.S. Patent Application Serial No. 15 / 089,335, entitled “SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS”;

[0145] - U.S. Patent Application Serial No. 15 / 089,339, entitled “SURGICAL STAPLING INSTRUMENT”;

[0146] - U.S. Patent Application Serial No. 15 / 089,253, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS";

[0147] - U.S. Patent Application Serial No. 15 / 089,304, entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET";

[0148] - U.S. Patent Application Serial No. 15 / 089,331, entitled “ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS”;

[0149] - U.S. Patent Application Serial No. 15 / 089,336, entitled “STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES”;

[0150] - U.S. Patent Application Serial No. 15 / 089,312, entitled “CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUESUPPORT”;

[0151] - U.S. Patent Application Serial No. 15 / 089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and

[0152] - U.S. Patent Application Serial No. 15 / 089,349, entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL."

[0153] The applicant of the present application also owns the following U.S. patent applications filed on December 31, 2015, each of which is incorporated herein by reference in its entirety:

[0154] - U.S. Patent Application Serial No. 14 / 984,488, entitled “MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE INPOWERED SURGICAL INSTRUMENTS”;

[0155] - U.S. Patent Application Serial No. 14 / 984,525, entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”; and

[0156] - U.S. Patent Application Serial No. 14 / 984,552, entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROLCIRCUITS."

[0157] The applicant of the present application also owns the following U.S. patent applications filed on February 9, 2016, each of which is incorporated herein by reference in its entirety:

[0158] - U.S. Patent Application Serial No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLYTRANSLATABLE END EFFECTOR";

[0159] - U.S. Patent Application Serial No. 15 / 019,228, entitled “SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS”;

[0160] - U.S. Patent Application Serial No. 15 / 019,196, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";

[0161] - U.S. Patent Application Serial No. 15 / 019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLYARTICULATABLE RELATIVE TO AN ELONGATED SHAFT ASSEMBLY";

[0162] - U.S. Patent Application Serial No. 15 / 019,215, entitled “SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS”;

[0163] - U.S. Patent Application Serial No. 15 / 019,227, entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATIONLINK ARRANGEMENTS”;

[0164] - U.S. Patent Application Serial No. 15 / 019,235, entitled “SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLEDRIVEN ARTICULATION SYSTEMS”;

[0165] - U.S. Patent Application Serial No. 15 / 019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAMARRANGEMENTS"; and

[0166] - U.S. Patent Application Serial No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS."

[0167] The applicant of the present application also owns the following U.S. patent applications filed on February 12, 2016, each of which is incorporated herein by reference in its entirety:

[0168] - U.S. Patent Application Serial No. 15 / 043,254, entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”;

[0169] - U.S. Patent Application Serial No. 15 / 043,259, entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”;

[0170] - U.S. Patent Application Serial No. 15 / 043,275, entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”; and

[0171] - U.S. Patent Application Serial No. 15 / 043,289 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS."

[0172] The applicant of the present application owns the following patent applications filed on June 18, 2015, each of which is incorporated herein by reference in its entirety:

[0173] - U.S. Patent Application Serial No. 14 / 742,925, entitled “SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS”;

[0174] - U.S. Patent Application Serial No. 14 / 742,941, entitled “SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES”;

[0175] - U.S. Patent Application Serial No. 14 / 742,914, entitled “MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS”;

[0176] - U.S. Patent Application Serial No. 14 / 742,900, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAMSTRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT";

[0177] - U.S. Patent Application Serial No. 14 / 742,885, entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS"; and

[0178] - U.S. Patent Application Serial No. 14 / 742,876 entitled "PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS."

[0179] The applicant of the present application owns the following patent applications filed on March 6, 2015, each of which is incorporated herein by reference in its entirety:

[0180] - U.S. Patent Application Serial No. 14 / 640,746, now U.S. Patent Application Publication No. 2016 / 0256184, entitled “POWERED SURGICAL INSTRUMENT”;

[0181] - U.S. Patent Application Serial No. 14 / 640,795, now U.S. Patent Application Publication No. 2016 / 02561185, entitled “MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS”;

[0182] - U.S. Patent Application Serial No. 14 / 640,832, now U.S. Patent Application Publication No. 2016 / 0256154, entitled “ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES”;

[0183] -Named "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF)

[0184] ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION” U.S. Patent Application Serial No. 14 / 640,935, now U.S. Patent Application Publication No. 2016 / 0256071;

[0185] - U.S. Patent Application Serial No. 14 / 640,831, now U.S. Patent Application Publication No. 2016 / 0256153, entitled “MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS”;

[0186] - U.S. Patent Application Serial No. 14 / 640,859, now U.S. Patent Application Publication No. 2016 / 0256187, entitled “TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINESTABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES”;

[0187] - U.S. Patent Application Serial No. 14 / 640,817, now U.S. Patent Application Publication No. 2016 / 0256186, entitled “INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS”;

[0188] - U.S. Patent Application Serial No. 14 / 640,844, now U.S. Patent Application Publication No. 2016 / 0256155, entitled “CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULARSHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE”;

[0189] - U.S. Patent Application Serial No. 14 / 640,837, now U.S. Patent Application Publication No. 2016 / 0256163, entitled “SMART SENSORS WITH LOCAL SIGNAL PROCESSING”;

[0190] - U.S. Patent Application Serial No. 14 / 640,765, now U.S. Patent Application Publication No. 2016 / 0256160, entitled “SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGEINTO A SURGICAL STAPLER”;

[0191] - U.S. Patent Application Serial No. 14 / 640,799, now U.S. Patent Application Publication No. 2016 / 0256162, entitled “SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON AROTATABLE SHAFT”; and

[0192] - U.S. Patent Application Serial No. 14 / 640,780, entitled “SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING,” now U.S. Patent Application Publication No. 2016 / 0256161.

[0193] The applicant of the present application owns the following patent applications filed on February 27, 2015, each of which is incorporated herein by reference in its entirety:

[0194] - U.S. Patent Application Serial No. 14 / 633,576, now U.S. Patent Application Publication No. 2016 / 0249919, entitled “SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION”;

[0195] - U.S. Patent Application Serial No. 14 / 633,546, now U.S. Patent Application Publication No. 2016 / 0249915, entitled “SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND”;

[0196] - U.S. Patent Application Serial No. 14 / 633,560, now U.S. Patent Application Publication No. 2016 / 0249910, entitled “SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES”;

[0197] - U.S. Patent Application Serial No. 14 / 633,566, now U.S. Patent Application Publication No. 2016 / 0249918, entitled “CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY”;

[0198] - U.S. Patent Application Serial No. 14 / 633,555, now U.S. Patent Application Publication No. 2016 / 0249916, entitled “SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TOBE SERVICED”;

[0199] - U.S. Patent Application Serial No. 14 / 633,542, now U.S. Patent Application Publication No. 2016 / 0249908, entitled “REINFORCED BATTERY FOR A SURGICAL INSTRUMENT”;

[0200] - U.S. Patent Application Serial No. 14 / 633,548, now U.S. Patent Application Publication No. 2016 / 0249909, entitled “POWER ADAPTER FOR A SURGICAL INSTRUMENT”;

[0201] - U.S. Patent Application Serial No. 14 / 633,526, now U.S. Patent Application Publication No. 2016 / 0249945, entitled “ADAPTABLE SURGICAL INSTRUMENT HANDLE”;

[0202] - U.S. Patent Application Serial No. 14 / 633,541, now U.S. Patent Application Publication No. 2016 / 0249927, entitled “MODULAR STAPLING ASSEMBLY”; and

[0203] - U.S. Patent Application Serial No. 14 / 633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFEPARAMETER,"

[0204] Now U.S. Patent Application Publication No. 2016 / 0249917.

[0205] The applicant of the present application owns the following patent applications filed on December 18, 2014 and each of which is incorporated herein by reference in its entirety:

[0206] - U.S. Patent Application Serial No. 14 / 574,478, now U.S. Patent Application Publication No. 2016 / 0174977, entitled “SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE ENDEFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER”;

[0207] - U.S. Patent Application Serial No. 14 / 574,483, now U.S. Patent Application Publication No. 2016 / 0174969, entitled “SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS”;

[0208] - U.S. Patent Application Serial No. 14 / 575,139, now U.S. Patent Application Publication No. 2016 / 0174978, entitled “DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS”;

[0209] - U.S. Patent Application Serial No. 14 / 575,148, now U.S. Patent Application Publication No. 2016 / 0174976, entitled “LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS”;

[0210] - U.S. Patent Application Serial No. 14 / 575,130, now U.S. Patent Application Publication No. 2016 / 0174972, entitled “SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLEABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE;

[0211] - U.S. Patent Application Serial No. 14 / 575,143, now U.S. Patent Application Publication No. 2016 / 0174983, entitled “SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS”;

[0212] - U.S. Patent Application Serial No. 14 / 575,117, now U.S. Patent Application Publication No. 2016 / 0174975, entitled “SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS”;

[0213] - U.S. Patent Application Serial No. 14 / 575,154, now U.S. Patent Application Publication No. 2016 / 0174973, entitled “SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS”;

[0214] - U.S. Patent Application Serial No. 14 / 574,493, now U.S. Patent Application Publication No. 2016 / 0174970, entitled “SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLEARTICULATION SYSTEM”; and

[0215] - U.S. Patent Application Serial No. 14 / 574,500, entitled “SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM,” now U.S. Patent Application Publication No. 2016 / 0174971.

[0216] The applicant of the present application owns the following patent applications filed on March 1, 2013 and each of which is incorporated herein by reference in its entirety:

[0217] - U.S. Patent Application Serial No. 13 / 782,295, now U.S. Patent Application Publication No. 2014 / 0246471, entitled “Articulatable Surgical Instruments With Conductive Pathways For Signal Communication”;

[0218] - U.S. Patent Application Serial No. 13 / 782,323, now U.S. Patent Application Publication No. 2014 / 0246472, entitled “Rotary Powered Articulation Joints For Surgical Instruments”;

[0219] - U.S. Patent Application Serial No. 13 / 782,338, now U.S. Patent Application Publication No. 2014 / 0249557, entitled “Thumbwheel Switch Arrangements For Surgical Instruments”;

[0220] - U.S. Patent Application Serial No. 13 / 782,499, now U.S. Patent Application Publication No. 9,358,003, entitled “Electromechanical Surgical Device with Signal Relay Arrangement”;

[0221] - U.S. Patent Application Serial No. 13 / 782,460, now U.S. Patent Application Publication No. 2014 / 0246478, entitled “MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICALINSTRUMENTS”;

[0222] - U.S. Patent Application Serial No. 13 / 782,358, now U.S. Patent Application Publication No. 9,326,767, entitled “JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS”;

[0223] - U.S. Patent Application Serial No. 13 / 782,481, now U.S. Patent Application Publication No. 9,468,438, entitled “Sensor Straightened End Effector During Removal Through Trocar”;

[0224] - U.S. Patent Application Serial No. 13 / 782,518, now U.S. Patent Application Publication No. 2014 / 0246475, entitled “Control Methods for Surgical Instruments with Removable Implement Portions”;

[0225] - U.S. Patent Application Serial No. 13 / 782,375, now U.S. Patent Application Publication No. 9,398,911, entitled “Rotary Powered Surgical Instruments With Multiple Degrees of Freedom”; and

[0226] - U.S. Patent Application Serial No. 13 / 782,536, entitled "SURGICAL INSTRUMENT SOFT STOP," now U.S. Patent Application Publication No. 9,307,986.

[0227] The applicant of the present application also owns the following patent applications filed on March 14, 2013 and each of which is incorporated herein by reference in its entirety:

[0228] - U.S. Patent Application Serial No. 13 / 803,097, now U.S. Patent Application Publication No. 2014 / 0263542, entitled “ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE”;

[0229] - U.S. Patent Application Serial No. 13 / 803,193, entitled “CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALINSTRUMENT,”

[0230] Now U.S. Patent Application Publication No. 9,332,987;

[0231] - U.S. Patent Application Serial No. 13 / 803,053, now U.S. Patent Application Publication No. 2014 / 0263564, entitled “INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALINSTRUMENT”;

[0232] - U.S. Patent Application Serial No. 13 / 803,086, now U.S. Patent Application Publication No. 2014 / 0263541, entitled “ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK”;

[0233] - U.S. Patent Application Serial No. 13 / 803,210, now U.S. Patent Application Publication No. 2014 / 0263538, entitled “SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS”;

[0234] - U.S. Patent Application Serial No. 13 / 803,148, now U.S. Patent Application Publication No. 2014 / 0263554, entitled “MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT”;

[0235] - U.S. Patent Application Serial No. 13 / 803,066, now U.S. Patent Application Publication No. 2014 / 0263565, entitled “DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”;

[0236] - U.S. Patent Application Serial No. 13 / 803,117, now U.S. Patent Application Publication No. 9,351,726, entitled “ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS”;

[0237] - U.S. Patent Application Serial No. 13 / 803,130, now U.S. Patent Application Publication No. 9,351,727, entitled “DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”; and

[0238] - U.S. Patent Application Serial No. 13 / 803,159, entitled “METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT,” now U.S. Patent Application Publication No. 2014 / 0277017.

[0239] The applicant of the present application also owns the following patent application filed on March 7, 2014 and incorporated herein by reference in its entirety:

[0240] - U.S. Patent Application Serial No. 14 / 200,111, entitled “CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS,” now U.S. Patent Application Publication No. 2014 / 0263539.

[0241] The applicant of the present application also owns the following patent applications filed on March 26, 2014, each of which is incorporated herein by reference in its entirety:

[0242] - U.S. Patent Application Serial No. 14 / 226,106, now U.S. Patent Application Publication No. 2015 / 0272582, entitled “POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS”;

[0243] - U.S. Patent Application Serial No. 14 / 226,099, now U.S. Patent Application Publication No. 2015 / 0272581, entitled “STERILIZATION VERIFICATION CIRCUIT”;

[0244] - U.S. Patent Application Serial No. 14 / 226,094, now U.S. Patent Application Publication No. 2015 / 0272580, entitled “VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT”;

[0245] - U.S. Patent Application Serial No. 14 / 226,117, now U.S. Patent Application Publication No. 2015 / 0272574, entitled “POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL”;

[0246] - U.S. Patent Application Serial No. 14 / 226,075, now U.S. Patent Application Publication No. 2015 / 0272579, entitled “MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES”;

[0247] - U.S. Patent Application Serial No. 14 / 226,093, now U.S. Patent Application Publication No. 2015 / 0272569, entitled “FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALINSTRUMENTS”;

[0248] - U.S. Patent Application Serial No. 14 / 226,116, now U.S. Patent Application Publication No. 2015 / 0272571, entitled “SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION”;

[0249] - U.S. Patent Application Serial No. 14 / 226,071, now U.S. Patent Application Publication No. 2015 / 0272578, entitled “SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR”;

[0250] - U.S. Patent Application Serial No. 14 / 226,097, now U.S. Patent Application Publication No. 2015 / 0272570, entitled “SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS”;

[0251] - U.S. Patent Application Serial No. 14 / 226,126, now U.S. Patent Application Publication No. 2015 / 0272572, entitled “INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS”;

[0252] -US patent named "MODULAR SURGICAL INSTRUMENT SYSTEM"

[0253] U.S. Patent Application Serial No. 14 / 226,133, now U.S. Patent Application Publication No. 2015 / 0272557; - U.S. Patent Application Serial No. 14 / 226,081, entitled “SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT,” now U.S. Patent Application Publication No. 2015 / 0277471;

[0254] - U.S. Patent Application Serial No. 14 / 226,076, now U.S. Patent Application Publication No. 2015 / 0280424, entitled “POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLEVOLTAGE PROTECTION”;

[0255] - U.S. Patent Application Serial No. 14 / 226,111, now U.S. Patent Application Publication No. 2015 / 0272583, entitled “SURGICAL STAPLING INSTRUMENT SYSTEM”; and

[0256] - U.S. Patent Application Serial No. 14 / 226,125, entitled “SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT,” now U.S. Patent Application Publication No. 2015 / 0280384.

[0257] The applicant of the present application also owns the following patent applications filed on September 5, 2014 and each of which is incorporated herein by reference in its entirety:

[0258] - U.S. Patent Application Serial No. 14 / 479,103, now U.S. Patent Application Publication No. 2016 / 0066912, entitled “CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE”;

[0259] - U.S. Patent Application Serial No. 14 / 479,119, now U.S. Patent Application Publication No. 2016 / 0066914, entitled “ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION”;

[0260] - U.S. Patent Application Serial No. 14 / 478,908, entitled “MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION,”

[0261] Now U.S. Patent Application Publication No. 2016 / 0066910;

[0262] - U.S. Patent Application Serial No. 14 / 478,895, now U.S. Patent Application Publication No. 2016 / 0066909, entitled “MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION”;

[0263] - U.S. Patent Application Serial No. 14 / 479,110, now U.S. Patent Application Publication No. 2016 / 0066915, entitled “POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE”;

[0264] - U.S. Patent Application Serial No. 14 / 479,098, now U.S. Patent Application Publication No. 2016 / 0066911, entitled “SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION”;

[0265] - U.S. Patent Application Serial No. 14 / 479,115, now U.S. Patent Application Publication No. 2016 / 0066916, entitled “MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE”; and

[0266] - U.S. Patent Application Serial No. 14 / 479,108, entitled “LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION,” now U.S. Patent Application Publication No. 2016 / 0066913.

[0267] The applicant of the present application also owns the following patent applications filed on April 9, 2014 and each of which is incorporated herein by reference in its entirety:

[0268] - U.S. Patent Application Serial No. 14 / 248,590, now U.S. Patent Application Publication No. 2014 / 0305987, entitled “MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVESHAFTS”;

[0269] - U.S. Patent Application Serial No. 14 / 248,581, now U.S. Patent Application Publication No. 2014 / 0305989, entitled “SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRINGDRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT”;

[0270] - U.S. Patent Application Serial No. 14 / 248,595, now U.S. Patent Application Publication No. 2014 / 0305988, entitled “SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLINGTHE OPERATION OF THE SURGICAL INSTRUMENT”;

[0271] - U.S. Patent Application Serial No. 14 / 248,588, now U.S. Patent Application Publication No. 2014 / 0309666, entitled “POWERED LINEAR SURGICAL STAPLER”;

[0272] - U.S. Patent Application Serial No. 14 / 248,591, now U.S. Patent Application Publication No. 2014 / 0305991, entitled “TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT”;

[0273] - U.S. Patent Application Serial No. 14 / 248,584, now U.S. Patent Application Publication No. 2014 / 0305994, entitled “MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS”;

[0274] - U.S. Patent Application Serial No. 14 / 248,587, now U.S. Patent Application Publication No. 2014 / 0309665, entitled “POWERED SURGICAL STAPLER”;

[0275] - U.S. Patent Application Serial No. 14 / 248,586, now U.S. Patent Application Publication No. 2014 / 0305990, entitled “DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICALINSTRUMENT”; and

[0276] - U.S. Patent Application Serial No. 14 / 248,607, entitled “MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS,” now U.S. Patent Application Publication No. 2014 / 0305992.

[0277] The applicant of the present application also owns the following patent applications filed on April 16, 2013, each of which is incorporated herein by reference in its entirety:

[0278] - U.S. Provisional Patent Application Serial No. 61 / 812,365, entitled “SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”;

[0279] - U.S. Provisional Patent Application Serial No. 61 / 812,376, entitled “LINEAR CUTTER WITH POWER”;

[0280] - U.S. Provisional Patent Application Serial No. 61 / 812,382, entitled “LINEAR CUTTER WITH MOTOR AND PISTOL GRIP”;

[0281] - U.S. Provisional Patent Application Serial No. 61 / 812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL"; and

[0282] - U.S. Provisional Patent Application Serial No. 61 / 812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR."

[0283] Many specific details are listed herein to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and shown in the drawings. Well-known operations, parts, and elements are not described in detail to avoid obscuring the embodiments described in the specification. The reader will understand that the embodiments described and shown herein are non-limiting examples, so that it can be recognized that the specific structural and functional details disclosed herein can be representative and illustrative. These embodiments can be modified and changed without departing from the scope of the claims.

[0284] The terms "comprise" (and any form of "comprise", such as "comprises" and "comprising"), "have" (and any form of "have", such as "has" and "having"), "include" (and any form of "include", such as "includes" and "including"), and "contain" (and any form of "contain", such as "contains" and "containing") are open-ended linking verbs. Thus, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Likewise, an element of a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

[0285] The terms "proximal" and "distal" are used herein relative to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion positioned away from the clinician. It should also be understood that for brevity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used herein in conjunction with the accompanying drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0286] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in a variety of surgical procedures and applications, including, for example, in conjunction with open surgical procedures. Continuing to refer to this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural cavity, through an incision or puncture formed in the tissue, etc. The working portion or end effector portion of the instrument can be inserted directly into the patient's body or can be inserted through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced.

[0287] The surgical stapling system may include an axis and an end effector extending from the axis. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge can be inserted into the first jaw and can be removed from the first jaw; however, other embodiments are envisioned in which the staple cartridge cannot be removed from the first jaw or can at least be easily replaced from the first jaw. The second jaw includes an anvil configured to deform the staples ejected from the staple cartridge. The second jaw can pivot relative to the first jaw about a closed axis; however, other embodiments are envisioned in which the first jaw can pivot relative to the second jaw. The surgical stapling system also includes an articulation joint configured to allow the end effector to rotate or articulate relative to the axis. The end effector can rotate around an articulation axis extending through the articulation joint. Other embodiments are envisioned that do not include an articulation joint.

[0288] The staple cartridge comprises a cartridge body. The cartridge body comprises a proximal end, a distal end and a platform extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of a tissue to be sutured, and the anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress the tissue and clamp it against the platform. The staples removably stored in the cartridge body can then be deployed into the tissue. The cartridge body comprises a staple cavity defined therein, wherein the staples are removably stored in the staple cavity. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples are also possible.

[0289] The nail is supported by a nail driver in the magazine body. The driver can move between a first or non-firing position and a second or firing position to eject the nail from the nail magazine. The driver is retained in the magazine body by a retainer, which extends around the bottom of the magazine body and includes a resilient member configured to grip the magazine body and retain the retainer to the magazine body. The driver can move between its non-firing position and its firing position by a slide. The slide can move between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slide includes a plurality of ramp surfaces that are configured to slide under the driver toward the anvil and lift the driver, and the nail is supported on the driver.

[0290] In addition to the above, the slider can also move distally through the firing member. The firing member is configured to contact the slider and push the slider toward the distal end. The longitudinal slot defined in the magazine body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member also includes a first cam engaging the first jaw and a second cam engaging the second jaw. As the firing member advances distally, the first cam and the second cam can control the distance or tissue gap between the platform of the nail magazine and the anvil. The firing member also includes a knife configured to cut into the tissue captured between the nail magazine and the anvil. It is desired that the knife is positioned at least partially close to the ramp surface so that the nail is ejected before the knife.

[0291] Figure 1 A reusable or non-reusable motor-driven surgical cutting and fastening instrument 10 is shown. In the illustrated embodiment, the instrument 10 includes a housing 100 including a handle 110 configured to be grasped, manipulated, and actuated by a clinician. In the illustrated example, a dedicated shaft assembly 1000 is operably coupled to the handle 110. However, in alternative embodiments, the handle assembly is configured to be used with a variety of different interchangeable shaft assemblies, each having a surgical end effector operably coupled thereto that is configured to perform one or more surgical tasks or procedures. For example, the interchangeable shaft assemblies disclosed herein can be used with various robotic systems, instruments, components and methods disclosed in U.S. patent application serial number 13 / 118,241, filed on May 27, 2011 (now U.S. Patent No. 9,072,535), entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,” the entirety of which is incorporated herein by reference.

[0292] Continuing with this detailed description, it will be appreciated that various aspects of shaft assembly 1000 may also be effectively used in conjunction with a robotically controlled surgical system. Thus, the term "housing" may also encompass a housing or similar portion of a robotic system that houses or otherwise operably supports or is otherwise associated with at least one drive system that is configured to generate and apply at least one control action that can be used to actuate the interchangeable shaft assemblies disclosed herein and their respective equivalents. The term "frame" may refer to a portion of a handheld surgical instrument. The term "frame" may also refer to a portion of a robotically controlled surgical instrument and / or a portion of a robotic system that can be used to operably control a surgical instrument. Additionally, various components may be "housed" or contained in a housing, or various components may be "associated" with a housing. In such instances, the components may not be housed within or directly supported by the housing.

[0293] The illustrated embodiments are endoscopic instruments, and generally, the embodiments of the instrument 10 described herein are endoscopic surgical cutting and fastening instruments. However, it should be noted that according to various embodiments, the instrument can be, for example, a non-endoscopic surgical cutting and fastening instrument. Various surgical instruments are disclosed in the following patents: U.S. Patent 7,845,537, entitled "SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES"; U.S. Patent 8,608,045, entitled "POWEREDSURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM"; and U.S. Patent 9,050,083, entitled "MOTORIZED SURGICAL INSTRUMENT", the entire disclosures of which are hereby incorporated herein by reference.

[0294] Go to Figure 2In the illustrated example, the shaft assembly 1000 includes an end effector 1500 configured to cut and staple tissue. The end effector 1500 includes a first jaw 1510 and a second jaw 1600 movably supported on the first jaw 1510. The first jaw includes an elongated channel 1520 configured to operably support a surgical staple cartridge 1540 therein. The second jaw 1600 includes an anvil 1610 including an elongated anvil body 1612 and an anvil mounting portion 1620. However, alternative arrangements are contemplated in which the first jaw includes an anvil and the second jaw includes a surgical staple cartridge or a channel configured to support a surgical staple cartridge. In the illustrated example, the elongated anvil body 1612 includes a staple forming lower surface 1614 thereon that is adapted to be in a facing relationship with the surgical staple cartridge 1540. The anvil 1610 is pivotally supported or movably supported on the elongated channel 1520 by a pair of anvil trunnions 1622 formed on the anvil mounting portion 1620. Each trunnion 1622 is pivotally received in a corresponding trunnion bracket 1524 formed in the proximal end portion of the elongated channel 1520. The trunnions 1622 are pivotally retained within their corresponding brackets 1524 by anvil retainers 1530.

[0295] Still see Figure 2 , shaft assembly 1000 includes spine assembly 1200, which includes spine shaft 1210, which is configured to: (a) slidably support firing member assembly 1900 therein, and (b) slidably support closing member assembly 2000 extending around spine assembly 1200. Spine assembly 1200 also includes upper spine strut 1220 and lower spine strut 1230 supported by spine shaft 1210. Figure 212, the distal end 1212 of the spine shaft 1210 terminates in an upper lug mounting feature 1240 and a lower lug mounting feature 1250. The upper lug mounting feature 1240 has a lug slot 1242 formed therein that is adapted to seatably support therein the distal end 1222 of the upper spine strut 1220. Similarly, the lower lug mounting feature 1250 has a lug slot 1252 formed therein that is adapted to seatably support therein the distal end 1232 of the lower spine strut 1230. The distal end 1222 of the upper spine strut 1220 includes a pivot bearing socket 1224 therein that is adapted to rotatably receive therein a pivot pin 1532 formed on the channel cover or anvil retainer 1530. The distal end 1232 of the lower spine strut 1230 includes a lower pivot pin 1234 that is adapted to be received within a pivot hole (not shown) formed in the proximal end portion 1522 of the elongated channel 1520. The lower pivot pin 1234 is vertically aligned with the pivot bearing socket 1224 to define an articulation axis AA about which the surgical end effector 1500 can be articulated relative to the shaft 1000. See FIG. Figure 3 .

[0296] In the illustrated arrangement, the closure member assembly 2000 includes a proximal closure tube segment or closure member segment 2010. The proximal closure tube segment 2010 is operably coupled to a dual pivot closure sleeve assembly 2020 defining an articulation joint 2105 about which the end effector 1500 can be articulated relative to the remainder of the shaft assembly 1000. However, other shaft assemblies may not be articulated. Figure 2 As can be seen in the drawings, in one form, the dual pivot closure sleeve assembly 2020 includes an intermediate closure tube segment 2030 attached to the distal end 2012 of the proximal closure tube segment 2010. In addition, the dual pivot closure sleeve assembly 2020 includes an end effector closure tube or distal closure tube 2040 having a distally protruding upper shank 2042 and a lower shank 2044. The upper dual pivot connector 2060 includes an upwardly protruding distal pivot pin and a proximal pivot pin that respectively engage an upper distal pin hole in the proximally protruding upper shank 2042 and an upper proximal pin hole in the distally protruding upper shank 2032 on the intermediate closure tube segment 2030. The lower dual pivot connection 2070 includes an upwardly projecting distal pivot pin and a proximal pivot pin that respectively engage a lower distal pin hole in the proximally projecting lower shank 2044 and a lower proximal pin hole in the distally projecting lower shank 2034. Figure 2 and Figure 3 .

[0297] As will be discussed in further detail below, the anvil 1610 is moved from the open position to the closed position by translating the closure member assembly 2000 in the distal direction (direction "DD"). The anvil 1610 is opened by translating the closure member assembly 2000 proximally, which causes the end effector closure sleeve 2020 to interface with the anvil 1610 and pivot the anvil to the open position. Figure 4 and Figure 5 In at least one arrangement, the distal closure member or end effector closure tube 2040 employs two axially offset proximal positive jaw opening features 2050 and distal positive jaw opening features 2052. Figure 4 and Figure 5 In the embodiment of the present invention, the proximal positive jaw opening feature 2050 is located to the right of the shaft axis SA (as viewed by the user of the tool assembly). The positive jaw opening features 2050, 2052 are configured to interface with corresponding release areas (not shown) and stepped portions (not shown) formed on the anvil mounting portion 1620, as further described in detail in U.S. patent application Ser. No. 15 / 635,631, filed on June 28, 2017, entitled "SURGICALINSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER," and other references incorporated herein, the entire disclosure of which is incorporated herein by reference. Other jaw opening arrangements may also be used.

[0298] In the illustrated example and other anvil configurations disclosed in the references incorporated herein, the anvil mounting portion 1620 has one or more cam surfaces 1624 formed thereon. As the end effector closure tube 2040 moves distally, the cam surfaces formed on the distal end of the end effector closure tube 2040 interface with the cam surfaces 1624 on the anvil mounting portion 1620 to cam the anvil 1610 to the closed position.

[0299] As also described above, the shaft assembly 1000 also includes a firing member assembly 1900 that is supported for axial travel within the spine shaft 1210. The firing member assembly 1900 includes an intermediate firing shaft portion 1910 that is configured for attachment to a distal cutting portion or knife bar 1930. The intermediate firing shaft portion 1910 may include a longitudinal slot 1912 in its distal end that may be configured to receive a tab 1932 on the proximal end of the distal knife bar 1930. The longitudinal slot 1912 and the proximal end tab 1932 may be sized and configured to allow relative movement therebetween and may include a sliding joint 1940. The sliding joint 1940 may, for example, allow the knife bar 1930 to move axially relative to the intermediate firing shaft portion 1910 to accommodate articulation of the end effector 1500. The knife bar 1930 includes a knife portion 1950 including a blade or tissue cutting edge 1952 and includes an upper anvil engaging tab 1954 and a lower channel engaging tab 1956. Various firing member configurations and operations are disclosed in various other references incorporated herein by reference.

[0300] In the illustrated example, the surgical end effector 1500 can be selectively articulated about an articulation axis AA by an articulation drive system 2100. In one form, the articulation drive system 2100 includes a proximal articulation drive 2110 operably coupled to an intermediate articulation drive 2120 pivotally coupled to a distal articulation link 2130. Figure 4 and Figure 5 2, an offset attachment lug 2122 is formed on the distal end of the intermediate articulation driver 2120. A pivot hole 2123 is formed in the offset attachment lug 2122 and is configured to pivotally receive therein a proximal connector pin 2134 formed on the proximal end 2132 of the distal articulation link 2130. The distal end 2136 of the articulation link 2120 includes a pivot hole 2138 that is configured to pivotally receive therein a channel pin 1526 formed on the proximal end portion 1522 of the elongated channel 1520. Thus, axial movement of the intermediate articulation driver 2120 will thereby impart an articulation action to the elongated channel 1520, thereby articulating the surgical end effector 1500 relative to the spine assembly 1200 about the articulation axis AA.

[0301] Now go to Figure 6 and Figure 7, the handle 110 includes handle housing segments 116, 118 that cooperate to form a pistol grip portion 119 that can be grasped and manipulated by a clinician. As will be discussed in more detail below, the handle 110 operably supports a plurality of drive systems therein that are configured to generate and apply various control actions to the shaft assembly 1200. Referring now to Figure 2 , the handle 110 may also include a frame assembly or base 200 that operably supports a plurality of drive systems. For example, the frame assembly 200 may operably support a "first" or closed drive system (generally indicated as 300) that may be used to apply closing and opening motions to the end effector 1500 of the shaft assembly 1000. In the illustrated example, the frame assembly 200 includes a right frame portion 210 and a frame cover 212 that is attached to the frame assembly by snap features, lugs, screws, etc. to define a shuttle cavity 214 therein. See Figure 6 and Figure 7 .

[0302] In at least one form, the closure drive system 300 may include an actuator in the form of a closure trigger 332 that is pivotally supported by the frame assembly 200. More specifically, as Figure 6 and Figure 7 As shown, the closing trigger 332 is pivotally connected to the frame assembly 200 by a pin 333. Such an arrangement structure enables the closing trigger 332 to be manipulated by the clinician so that when the clinician grasps the pistol grip portion 119 of the handle 100, the closing trigger 332 can be easily pivoted from the starting or "unactuated" position to the "actuated" position, and more specifically, to the fully compressed or fully actuated position. The closing trigger 332 can be biased into the unactuated position by a spring or other biasing arrangement structure. In various forms, the closing drive system 300 also includes a closing linkage assembly 340 that is pivotally connected to the closing trigger 1032. As shown in FIG. Figure 6 As can be seen in FIG. 1 , the closure linkage assembly 340 may include a first closure link 342 and a second closure link 344 each pivotally coupled to the closure trigger 332 via a pin 335 .

[0303] Still see Figure 6, it can be observed that the first closure link 342 may have a locking wall or locking end 345 thereon, which is configured to cooperate with a closure release assembly 350 pivotally coupled to the right frame portion 210. In at least one form, the closure release assembly 350 may include a release button assembly 352 having a locking pawl 354 formed thereon and protruding distally. The release button assembly 352 may be pivoted in a counterclockwise direction by a release spring (not shown). When the clinician presses the closure trigger 332 from its unactuated position toward the pistol grip portion 119 of the handle 100, the first closure link 342 pivots upward to a point where the locking pawl 354 falls into engagement with the locking wall 345 on the first closure link 344, thereby preventing the closure trigger 332 from returning to the unactuated position. Therefore, the closure release assembly 350 is used to lock the closure trigger 332 in the fully actuated position. When the clinician desires to unlock the closure trigger 332 to allow it to be biased to the unactuated position, the clinician simply pivots the closure release button assembly 352 so that the locking pawl 354 moves out of engagement with the locking wall 345 on the first closure link 344. When the locking pawl 354 has moved out of engagement with the first closure link 344, the closure trigger 332 can be pivoted back to the unactuated position. Other closure trigger locking arrangements and release arrangements may also be employed.

[0304] In the illustrated example, the arm 355 extends from the closure release button 352. A magnetic element 356, such as a permanent magnet, may be mounted to the arm 355, for example. When the closure release button 352 is rotated from its first position to its second position, the magnetic element 356 may move toward the circuit board 400. The circuit board 400 may include at least one sensor configured to detect the movement of the magnetic element 356. In at least one embodiment, for example, a "Hall Effect" sensor (not shown) may be mounted to the bottom surface of the circuit board 400. The Hall Effect sensor may be configured to detect changes in the magnetic field surrounding the Hall Effect sensor caused by the movement of the magnetic element 356. The Hall Effect sensor may communicate signals with, for example, a microcontroller, which may determine whether the closure release button 352 is in its first position associated with the unactuated position of the closure trigger 332 and the open configuration of the end effector, its second position associated with the actuated position of the closure trigger 332 and the closed configuration of the end effector, and / or any position between the first position and the second position.

[0305] In at least one form, the handle 100 and the frame assembly 200 operably support another drive system, referred to herein as a firing drive system 500, which is configured to apply a firing action to the firing member assembly 1900 of the shaft assembly 1000. The firing drive system 500 may also be referred to herein as a "second drive system." The firing drive system 500 may employ an electric motor 502 positioned in the pistol grip portion 119 of the handle 100. In various forms, the motor 502 may be, for example, a DC brushed drive motor having a maximum speed of approximately 25,000 RPM. In other arrangements, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 502 may be powered by a power source 510, which, in one form, may include a removable power pack 512. As Figure 8 As can be seen, for example, the power pack 512 may support a plurality of batteries 514 therein. The batteries 514 may each include, for example, a lithium ion ("LI") or other suitable battery. The power pack 512 is configured for removably operably attaching to the circuit board assembly 400, which is also operably coupled to the motor 502. A plurality of batteries 514, which may be connected in series, may be used as a power source for the surgical instrument 10. In addition, the power supply 510 may be replaceable and / or rechargeable.

[0306] As outlined above with respect to the other various forms, the electric motor 502 may include a rotatable shaft 506 operably interfaced with a gear reducer assembly 520 mounted in meshing engagement with a set or rack of drive teeth on a longitudinally movable drive member 530. An attachment lug 1916 is formed on the proximal end 1914 of the intermediate firing shaft portion 1910. The attachment lug 1916 is configured to be received within an attachment bracket 536 formed in the distal end of the longitudinally movable drive member 530. In use, the voltage polarity provided by the power source 510 can operate the electric motor 502 in a clockwise direction, wherein the voltage polarity applied to the electric motor by the battery can be reversed so as to operate the electric motor 502 in a counterclockwise direction. When the electric motor 502 rotates in one direction, the drive member 530 will be driven axially in the distal direction "DD". When the motor 502 is driven in the opposite rotational direction, the drive member 530 will be driven axially in the proximal direction "PD". The handle 100 may include a switch that may be configured to reverse the polarity applied by the power source 510 to the electric motor 502. As with other forms described herein, the handle 100 may also include a sensor that is configured to detect the position of the drive member 530 and / or the direction in which the drive member 530 is moving.

[0307] The actuation of the motor 502 can be controlled by a firing trigger 540 pivotally supported on the handle 100. The firing trigger 540 can pivot between an unactuated position and an actuated position. The firing trigger 540 can be biased to the unactuated position by a spring 542 or other biasing arrangement so that when the clinician releases the firing trigger 540, the firing trigger can be pivoted or otherwise returned to the unactuated position by the spring or biasing arrangement. In at least one form, the firing trigger 540 can be positioned "outside" of the closing trigger 332, as discussed above. In at least one form, the firing trigger safety button 550 can be pivotally mounted to the closing trigger 332. The safety button 550 can be positioned between the firing trigger 540 and the closing trigger 332 and have a pivot arm protruding therefrom. When the closure trigger 332 is in the unactuated position, the safety button 550 is housed in the handle 100, and the clinician may not be able to easily reach the button or move the button between the safety position that prevents actuation of the firing trigger 540 and the firing position in which the firing trigger 540 can be fired. When the clinician depresses the closure trigger 332, the safety button 550 and the firing trigger 540 pivot downward and can then be manipulated by the clinician.

[0308] As described above, in at least one form, the longitudinally movable drive member 530 has teeth of a rack formed thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly 520. At least one form also includes a manually actuatable "panic" assembly 560 that is configured to enable a clinician to manually retract the longitudinally movable drive member 530 in the event that the motor 502 becomes inoperable. See Figure 7 The emergency assembly 560 may include a lever or emergency handle assembly 562 that is configured to be manually pivoted into ratcheting engagement with teeth 532 also disposed in the drive member 530. Thus, the clinician may manually retract the drive member 530 by using the emergency handle assembly 562 to engage the drive member 530 in the proximal direction PD. U.S. Patent Application Serial No. 12 / 249,117, filed in October 2008, entitled "POWEREDSURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM" (now U.S. Patent No. 8,608,045), discloses emergency arrangements and other components, arrangements, and systems that may also be used with the various instruments disclosed herein. U.S. Patent No. 8,608,045 is hereby incorporated by reference in its entirety.

[0309] Now refer to Figures 6 to 9A method of attaching a shaft assembly 1000 to a handle is described. In the illustrated example, the shaft assembly 1000 includes a nozzle assembly 2200, which includes a proximal nozzle assembly 2210 and a distal nozzle assembly 2250. The proximal nozzle assembly 2210 includes a right proximal nozzle segment 2220 and a left proximal nozzle segment 2230. The proximal nozzle segments 2220, 2230 can be attached together by snap tabs, screws, adhesives, etc. The distal nozzle assembly 2250 includes a right distal nozzle segment 2260 and a left distal nozzle segment 2270. The right distal nozzle segment 2260 and the left distal nozzle segment 2270 are coupled together by snap features, tabs, screws, adhesives, etc. The proximal nozzle assembly 2210 and the distal nozzle assembly 2250 can be attached together by adhesive, friction, etc. The nozzle assembly 2200 is journaled on the housing 100 for selective rotation relative to the housing about the shaft axis SA. In the illustrated example, the distal nozzle assembly 2250 is provided with an inwardly extending proximal mounting flange 2252 that interfaces with a frame mounting flange 220 formed on the frame portion 210 of the frame assembly 200. The proximal nozzle assembly 2210 is formed with fins 2212 to facilitate rotation of the nozzle assembly 2200 about the shaft axis SA.

[0310] In the illustrated arrangement, the shaft assembly 1000 including the end effector 1500 attached thereto is rotatable about the shaft axis SA by rotating the nozzle assembly 2200 relative to the handle 100. Figure 8 As can be seen, for example, the distal nozzle assembly 2250 includes a shaft engagement flange 2254 that extends inwardly through a nozzle engagement opening 2016 in the proximal end portion 2014 of the proximal closure tube segment 2010. This arrangement allows the shaft assembly 1000 to rotate about the shaft axis SA when the clinician rotates the nozzle assembly 2200. The nozzle engagement opening 2016 is sized to allow the proximal closure tube segment 2010 to move axially relative to the shaft engagement flange 2254. Still referring to Figure 8 , the distal nozzle assembly 2250 may further include a support sleeve portion 2256, which is configured to movably support the proximal closure tube segment 2010 therein. Fig. 9 As can be seen in the figure, the proximal end 1226 of the upper spine strut 1220 and the proximal end 1236 of the lower spine strut 1230 are each supported in a spine bearing 1260, which is rotatably supported in the frame assembly 200.

[0311] See now Figure 6 , Figure 8 and Fig. 9 The proximal end portion 2014 of the proximal closure tube segment 2010 is movably supported in the closure shuttle 360, which is connected to the second closure connector 344 ( Figure 6 ). The closure shuttle 360 ​​is slidably supported in the shuttle cavity 214 in the frame assembly 200. The proximal end portion 2014 of the proximal closure tube segment 2010 extends through the U-shaped bracket opening 362 in the closure shuttle 360 ​​to be rotatably supported therein. Such an arrangement structure allows the proximal end portion 2014 of the proximal closure tube segment 2010 to rotate relative to the closure shuttle 360 ​​when the shaft assembly 1000 is rotated relative to the handle 100. In addition, when the clinician depresses the closure trigger 332, the closure shuttle moves in the distal direction DD within the shuttle cavity 214 and also causes the closure member assembly 2000 to apply a closing action to the end effector 1500 in the distal direction.

[0312] like Figure 8 and Fig. 9 As can be seen in FIG. 1 , the first spring 370 is journaled on the proximal portion 2014 of the proximal closure tube segment 2010 between the bracket wall 362 of the closure shuttle 360 ​​and the distal end wall 219 formed on the right frame portion 210 (first spring space 221). The axial length of the first spring space is designated as X 1。 The first spring 370 biases the closing shuttle 360 ​​proximally (arrow PD) into a starting position corresponding to the fully open position of the anvil. Fig.10 . In the illustrated example, a proximal flange 2018 is formed on a proximal end portion 2014 of the proximal closure tube segment 2010. The proximal flange 2018 is configured to be able to slidably travel within a closing or second cavity 364 formed in the closure shuttle 360, as shown. The axial length of the second cavity or second spring space 363 is designated as X2. In at least one arrangement structure, for example, X1>X2. A second closing spring or biasing member 380 is located in the second spring space 363 to bias the proximal flange 2018 on the proximal closure tube segment 2010 against the bracket wall 362 of the closure shuttle 360 ​​in the distal direction DD.

[0313] During the initial clamping of the target tissue between the anvil 1610 and the surgical staple cartridge 1540, the closure drive system 300 must apply a sufficient amount of axial closing force to the anvil 1610 to pivot the anvil 1610 to the closed position and to keep the anvil 1610 in this position throughout the staple forming process. In at least one application, the term "closing procedure" refers to the process of moving the anvil from a fully open position to a closed position on the target tissue and keeping the anvil in the closed position until the staple forming process is fully completed and the anvil is ready to reopen to release the target tissue from the end effector. The amount of closing force required to close the anvil and keep the anvil in the closed position can vary during the suturing process due to "tissue creep". For example, as the anvil compresses the target tissue, the fluid in the clamped target tissue can "creep" or migrate in the tissue, and even flow to adjacent unclamped tissue. As the knife portion 1950 is driven through the clamped target tissue, additional tissue creep can be experienced. Therefore, tissue creep can also affect the magnitude of the firing force required to cut the target tissue and fire the staples in the staple cartridge. As the blade portion 1950 nears the end of its travel, the amount of firing force required may be reduced because the creeping fluid has migrated into the adjacent un-clamped tissue.

[0314] Fig.10 The closed drive system 300 is shown in an unactuated orientation. Fig.10As can be seen, the first spring 370 has caused the closing shuttle 360 to be displaced proximally in the shuttle cavity 214 of the frame assembly 200 in the PD direction to its most proximal or starting position. Since the closing shuttle 360 is attached to the closing trigger 332 via the closing link assembly 340, the closing trigger 332 pivots to its unactuated starting position. When the closing drive system 300 is in this unactuated position, the anvil 1610 is in its fully open position. In at least one example, the first spring 370 is "weaker" than the second spring 380. In other words, the second spring 380 is stiffer than the first spring 370. That is, the spring constant K1 of the first spring 370 is less than the spring constant K2 of the second spring 380. Thus, K2 > K1. In some arrangements, for example, K2 can be at most ten times K1. In other arrangements, K2 / K1 > 1. In an alternative arrangement, K2 < K1. The clinician initiates the closing process by depressing the closing trigger 332 toward the pistol grip 119 of the housing 100. This action begins to move the closing shuttle 360 in the distal direction DD, which begins to compress the first spring 370. As the closing shuttle 360 begins to move distally, the closing shuttle 360 also begins to move the proximal closing tube section 2010 distally. As the proximal closing tube section 2010 moves distally, the entire closing member assembly 2000 (of which the proximal closing tube section 2010 is a part) moves distally to apply the closing action to the anvil 1610. As the clinician continues to pivot the closing trigger 332 toward the pistol grip 119, the closing shuttle 360 continues to move distally and compress the first spring 370. As the anvil 1610 begins to close, the amount of closing force required can begin to increase as the anvil 1610 begins to compress the target tissue. As the target tissue begins to compress, the fluid contained within the target tissue can begin to creep within the target tissue, which can directly affect the amount of closing force required to fully close the anvil. As the closing resistance increases, the closing member assembly 2000 can move in the proximal direction PD against the closing force applied to the proximal closing tube section 2010 by the second spring 380. Fig.11 FIG. shows the closing drive system 300 in its fully closed position, which corresponds to the fully closed position of the anvil 1610. Thus, the final amount of closing force applied to the anvil 1610 by the closing member assembly 2000 can vary due to the ability of the second spring 380 to compress in response to the closing resistance experienced by the anvil during the closing procedure. Thus, the anvil can "progressively close" as it experiences a varying amount of resistance generated by the target tissue. This can also be referred to herein as generating a "progressive closing force".

[0315] Once the jaws 1510, 1600 are closed onto the target tissue and locked in position, the clinician can initiate the firing process by depressing the firing trigger 540, which causes the knife bar 1910 to drive the knife portion 1950 through the clamped target tissue. As the knife portion 1950 is driven distally through the end effector 1500, the blade 152 of the knife cuts through the target tissue. In addition, in at least one arrangement, the knife portion 1950 engages and drives the cam action assembly distally, sometimes referred to as a wedge slide 1970, which is slidably supported in the surgical staple cartridge 1540. As the wedge slide 1970 is driven distally through the staple cartridge 1540, the cam formed on the wedge slide 1970 engages a staple driver (not shown) movably supported in the staple cartridge 1540 in a camming manner. Each staple driver can support one or more surgical staples thereon. The staple drivers are typically supported in an axial line located on each side of an elongated slot formed in the staple cartridge. As the wedge sleds 1570 contact the staple drivers, they are driven upward (toward the closed anvil) 1610, thereby driving the staples supported thereon through the target tissue and into forming contact with the staple forming lower surface 1614 of the anvil body 1612. The wedge sleds 1570 are positioned distally of the tissue cutting knife blade so that the staples are deployed through the target tissue before the target tissue is cut.

[0316] In addition, as the knife portion 1950 is driven through the target tissue, the insert or flange formed in the knife portion engages the anvil 1610 and the elongated channel 1510, and keeps the anvil 1610 and the channel 1510 closed and spaced apart in the desired spacing arrangement structure during the suturing process. Although such distal advancement of the knife portion can reduce the amount of closing force required for the closure system, the firing system must generate a significant amount of "firing force" to push the knife portion 1950 through the target tissue and overcome the resistance and friction of the system as the wedge-shaped slide actuates the nail driver. Therefore, the firing system must be able to generate enough firing force, and the firing system components must be stable enough to effectively adapt to such forces, while also being flexible enough to adapt to the joint movement of the end actuator. These design requirements of the closure and firing system can also be aggravated by the type and composition of the target tissue. In addition, the components of these systems must be small enough to be inserted through the small cannula of the trocar.

[0317] Fig.121 is a graphical comparison between a surgical instrument 10 employing the above-described progressive closure drive system 300 and two previous surgical instruments A and B employing different closure drive arrangements. The previous surgical instrument A employs a closure drive system that is directly connected to a closure actuator or closure trigger. Although the previous surgical instrument A does employ a spring to bias the closure system to an unactuated position, the previous instrument A does not employ a second biasing member similar to the above-described instrument 10. In addition, the anvil of surgical instrument A lacks one or more camming surfaces similar to the above-described anvil 1610. Instead, the anvil in surgical instrument A has a hard edge that is arranged to be contacted by a closure member or tube. As the closure member contacts the hard edge, the anvil is pivoted closed.

[0318] Still see Fig.12 , the previous surgical instrument B is similar in some respects to the previous surgical instrument A in that the surgical instrument B has a first biasing member that is used to bias the closure system to the unactuated position. However, the surgical instrument B does not employ a second biasing member similar to the above-described instrument 10. However, the anvil of the surgical instrument B does employ a camming surface that is configured to be contacted by the closure member to pivot the anvil to the closed position. Fig.12 FIG. 1 is a graph showing the amount of time to complete a closure procedure versus the amount of closure force required during the procedure for each of three surgical instruments: surgical instrument 10, surgical instrument A, and surgical instrument B. Fig.12 As can be seen in the , the amount of closing force required throughout the closing process for surgical instrument 10 is less than the amount of closing force required for surgical instruments A and B. Although the closing force required for surgical instrument B is less than the closing force required for surgical instrument A, the closing force required for surgical instrument 10 throughout the closing process is significantly less than the closing force required for both A and B.

[0319] Fig.13A and Fig. 13B The firing force (FTF) and closing force (FTC) experienced by surgical instrument 10 and surgical instrument B (having a camming surface on the anvil) as the firing member or knife travels through the anvil from the proximal-most starting position in the anvil to the distal-most ending position (chuck distance) are compared. Fig.13A The FTF, FTC, and anvil height during the firing procedure of surgical instrument B are shown. Fig. 13B The FTF, FTC, anvil height, and spring height of the surgical instrument 10 are shown. Fig.13A and Fig. 13BAs can be seen, the initial anvil height of surgical instrument B is 0.0510 inches, and the initial anvil height of surgical instrument 10 is 0.511 inches. The peak closing force FTC (in pounds) of surgical instrument B is 51.5 pounds, and the peak closing force FTC (in pounds) of surgical instrument 10 is 98.7 pounds. The peak FTC (in pounds) of surgical instrument B is 48.9 pounds, and the peak FTC (in pounds) of surgical instrument 10 is 36.4 pounds. Therefore, surgical instrument 10 experiences a 25.6% reduction in the amount of closing force required for surgical instrument 10. This reduction in the amount of firing force required can allow the firing system components to be made of a lighter and / or smaller component arrangement.

[0320] As described above, the surgical instrument 10 includes an articulation drive system 2100 that is configured to selectively articulate the surgical end effector 1500 relative to the shaft assembly 1000 about an articulation axis AA that is transverse to the shaft axis SA. Fig.14 The articulation drive system 2100 includes an articulation drive assembly 2102 that includes a proximal articulation drive 2110 coupled to an intermediate articulation drive 2120 that is pivotally coupled to a distal articulation link 2130 that is attached to the proximal end of the elongated channel 1520. See Figure 2. In one example, the distal articulation connector 2130 is attached to the intermediate articulation driver 2120 on one side of the shaft axis SA. The distal articulation connector 2130 is attached to the elongated channel 1520 on the opposite side of the shaft axis SA so that the distal articulation connector 2130 extends transversely across the shaft axis SA. In the illustrated example, the joint between the proximal articulation driver 2110 and the intermediate articulation driver 2120 can also be used as an articulation lock assembly 2121, which is used to maintain the surgical end effector 1500 in an articulated position after the articulation action applied to the proximal articulation driver 2110 is stopped. In the illustrated example, the distal end 2112 of the proximal articulation driver 2110 is threaded. The threaded distal end 2112 of the proximal articulation driver 2110 is threadedly engaged with the threaded socket 2126 in the proximal end 2124 of the intermediate articulation driver 2120. Rotation of the proximal articulation driver 2110 in a first rotational direction will cause the intermediate articulation driver 2120 to axially move in a first or distal direction DD. Movement of the intermediate articulation driver 2120 in the distal direction DD will cause the surgical end effector 1500 to pivot about the articulation axis AA in the first articulation direction AD1. Rotation of the proximal articulation driver in a second rotational direction will cause the intermediate articulation driver 2120 to move in a second or proximal direction PD. Axial movement of the intermediate articulation driver 2120 in the proximal direction PD will cause the surgical end effector 1500 to pivot about the articulation axis AA in the second articulation direction AD2.

[0321] In the illustrated example, the housing 100 or the handle 110 defines a longitudinal axis LA. Fig.15 and Fig.16 . As described above, the shaft assembly 1000 also defines a shaft axis SA. The shaft axis SA and the longitudinal axis LA can be coaxial. The longitudinal joint motion drive system 2100 includes an articulation motor 2140, which is mounted in the distal nozzle assembly 2250 for orbital rotation with the distal nozzle assembly about the longitudinal axis LA when the user rotates the nozzle assembly 2250 relative to the housing 100. The distal nozzle assembly 2250 may also be referred to herein as a "shaft rotator assembly," which is configured to rotatably couple the shaft assembly 1000 to the housing 100. In one arrangement structure, the articulation motor 2140 includes a gear configuration that includes a motor output gear 2142. The motor output gear 2142 rotates about a motor axis MA that is parallel to the longitudinal axis LA and offset from the longitudinal axis LA. See. Fig.16. In the illustrated example, the motor output gear 2142 is meshedly engaged with the control switch gear 2152 of the motor switch system 2150. The control switch gear 2152 is meshedly engaged with the proximal articulation drive gear 2118 formed on the proximal end 2116 of the proximal articulation driver 2110. Therefore, rotation of the motor output gear 2142 in one direction will cause the proximal articulation driver 2110 to rotate in a first direction, which will cause the intermediate articulation driver 2120 to articulate in a distal direction and cause the surgical end effector 1500 to articulate in a first articulation direction AD1. Similarly, rotation of the articulation motor in the opposite rotational direction will cause the proximal articulation driver 2110 to rotate in a second rotational direction, thereby causing the intermediate articulation driver 2120 to move in a proximal direction PD. Movement of the intermediate articulation driver 2120 in the proximal direction PD will cause the surgical end effector 1500 to articulate in a second articulation direction AD2. In various embodiments, the articulation motor 2140 and gear configuration may, for example, have a diameter of less than 12 mm and a length of less than 1.5 inches. The articulation motor 2140 may be a brushed design with a power output of less than 1.5 watts. In at least some embodiments, the power output of the motor 2140 is approximately 0.75 watts-1.0 watts. The gear configuration may be supported by the motor housing, or it may be separate from the motor housing. In at least one example, the gear configuration has a reduction of 100:1, but gear configurations with larger reduction ratios may be used. In alternative arrangements, other motor configurations may be used.

[0322] With respect to the articulation lock 2121, the threads on the distal end 2112 of the proximal articulation driver 2110 may, for example, include #2 threads with fine pitch (e.g., 64 threads / inch) or coarse pitch (less than 64 threads / inch), providing a mechanical advantage sufficient to allow the articulation motor 2140 to cause articulation of the surgical end effector 1500 while also acting as a lock to prevent movement of the surgical end effector 1500 after the articulation motor 2140 has been powered off. Figure 2 As can be seen further in FIG. 1 , the proximal articulation driver 2110 can be provided with a support shoulder portion 2119 having a larger diameter than adjacent portions of the proximal articulation driver 2110. The larger shoulder 2119 slidably interfaces with the spine shaft 1210 to provide additional support when in the locked position.

[0323] Still see Figures 16 to 19, the motor switch system 2150 includes a switch slider 2170 that is threadedly connected to a switch drive screw 2160 that is attached to a control switch gear 2152. Rotation of the motor output gear 2142 will cause the control switch gear 2152 to rotate, which ultimately causes the switch drive screw 2160 to rotate. Rotation of the switch drive screw 2160 causes the switch slider 2170 to move axially relative to a switch housing 2162 mounted in the distal nozzle assembly 2250. The switch housing 2162 operably supports a plurality of limit switches that communicate with a control circuit board 400 supported in or otherwise associated with the housing 100, as will be discussed further below. See Fig.16 In the illustrated example, three limit switches are employed: a center limit switch 2172, a proximal limit switch 2174, and a distal limit switch 2176. The switches 2172, 2174, 2176 are wired to a series of circuit traces or conductors 2222, 2224, 2226, 2228 mounted within the proximal nozzle assembly 2210. See Fig. 20 The circuit traces 2222, 2224, 2226, and 2228 are wired or electrically coupled to the articulation motor 2140 and the switches 2172, 2174, 2176 via wires or flexible circuit conductors (not shown). Fig.21 and Fig. 22 , contact block 410 is fixedly mounted to frame assembly 200 and includes contacts 412, 424, 416, and 418 corresponding to circuit traces 2222, 2224, 2226, and 2228, respectively. Contacts 412, 414, 416, 418 are wired to control circuit board 400. As proximal nozzle assembly 2210 rotates relative to housing 100 about shaft axis SA, power / control signals may be provided between control circuit board 400 and articulation motor 2140 and switches 2172, 2174, 2176 via sliding joint assembly 411, which includes circuit traces 2222, 2224, 2226, 2228 and contacts 412, 414, 416, 418 to facilitate rotation of articulation motor 2140 and control switch assembly about shaft axis SA relative to housing 100. The articulation control switches 2180 are mounted on each side of the housing 100 and are used to control the rotation of the articulation motor 2140. Fig.15 The switch 2180 may comprise a "rocker-type" switch that, when depressed in one direction (arrow 2182), causes the articulation motor 2140 to rotate the motor output gear 2142 in one rotational direction, and when the switch 2180 is depressed in the opposite direction (arrow 2184), causes the articulation motor to rotate the motor output gear 2142 in the opposite rotational direction.

[0324] Now go to Fig.19 and Figure 23 to Figure 26 , the positions of switches 2172, 2174, 2176 relative to the path of the switch slide 2170 are used to limit the range of articulation of the surgical end effector 1500. Switch 2172 includes a center switch or main switch corresponding to a non-articulation position of the surgical end effector 1500. When in this position, the center end effector axis EA is substantially aligned with the shaft axis SA. For example, when in this position, the end effector 1500 can be inserted through or removed from the trocar cannula. Switch 2174 corresponds to a -60° left articulation boundary, and switch 2176 corresponds to a +60° right articulation boundary. The -60° left articulation boundary may also be referred to herein as the "first maximum articulation position" of the surgical end effector 1500 located on the "first side" or left side of the shaft axis SA. The left -60° angle ( Fig.26 The +60° right articulation boundary ( LA in the figure) may also be referred to as the “first maximum articulation angle” and includes the angle between the end effector axis EA and the shaft axis SA when the surgical end effector 1500 is in this first maximum articulation position. Similarly, the +60° right articulation boundary may also be referred to herein as the “second maximum articulation position” of the surgical end effector 1500 located on the “second side” or right side of the shaft axis SA. The right +60° angle ( Fig.23 RA) may also be referred to as the "second maximum articulation angle" and includes the angle between the end effector axis EA and the shaft axis SA when the surgical end effector 1500 is in the second maximum articulation position. Thus, in the illustrated example, the positions of switches 2174 and 2176 establish the maximum articulation position for each articulation direction (left and right). In an alternative arrangement, only two switches (2174, 2176) may be employed. The switches 2172, 2174, 2176 may include mechanical switches, Hall effect switches, etc.

[0325] In at least one example, the center master switch 2172 can also be used to slow the articulation motor 2140 prior to crossing the home or non-articulation position to allow the user to more easily determine when the end effector 1500 is aligned with the shaft assembly 1000, which will facilitate removal via a trocar, for example.

[0326] In one example, the geometry of the switch slider in the area configured to engage switches 2172, 2174, 2176 is selected to have a certain width so that it engages the switch at an angle of "X" degrees from the original position and can maintain contact with the switch from =X degrees to -X degrees. In at least one example, X = approximately 10 degrees, but X can also be other values. Figure 23 to Figure 26The relationship between the switch slide 2170 and the switches 2172, 2174, 2176 and the articulation position of the surgical end effector 1500 is shown. Fig.25 , when the switch slide 2170 is in this position, the surgical end effector 1500 can be in a first articulation position located on a first side of the shaft axis SA, in which the surgical end effector axis EA is positioned at a first articulation angle LA1 relative to the shaft axis SA. Similarly, when the switch slide 2170 is in, for example, Fig.24 In the illustrated position, the surgical end effector 1500 can be in a second articulated position located on a second side of the shaft axis SA, in which the surgical end effector axis EA is positioned at a second articulated angle LA2 relative to the shaft axis SA. In at least one arrangement, for example, LA1 = LA2 = approximately 10°.

[0327] Fig. 27 An alternative geometry of the switch slider 2170 when viewed from the free end of the switch slider 2170 is provided that is configured to interface with the switches 2172 , 2174 , 2176 . Fig.28 A graphical comparison of motor speed (for each geometry 2170A, 2170B, 2170C) versus joint motion angle. Figure 23 to Figure 26 Also shown in FIG. 2170A is a switch slide 2170C having an actuator point 21701C formed thereon for more precise actuation of switches 2172, 2174, 2176. Fig.28 As can be seen, the motor speed MS 2C It only drops when actuator point 2171C is in actuation contact with one of switches 2172, 2174, 2176, which correspond to articulation angles of -60°, 0°, +60°. 2170A has a cross-sectional thickness CT A , which produces a first motor speed MS for a joint motion angle range between -10° and +10° 1A For articulation angles between -10° to -60° and +10° to +60°, the articulation motor 2140 is driven at a speed greater than the MS 1A The second motor speed MS 2A Operation. 2170B has a cross-sectional thickness greater than CT A The cross-sectional thickness CT B , and generates a first motor speed MS with a joint motion angle range of -20° to +20° 1B For articulation angles between -20° to -50° and +20° to +50°, the articulation motor 2140 may be larger than the MS 1B The second motor speed MS2B For articulation angles between -50 to -60 and +50 to +60, the articulation motor 2140 may be at a third motor speed MS 3B In the illustrated example, MS 3B =MS 1B .

[0328] In various arrangements, the control circuit board 400 may include switches 420, 422, 424, 426 that define the limits of articulation, and a latchable switch or relay switch 428 that controls the center or home position of the end effector. Fig.28A In such an arrangement, as the articulation motor 2140 drives the end effector across the straight or home position, the latchable switch or relay switch 428 may be activated which will deactivate the articulation motor 2140. Releasing the articulation control switch 2180 may activate a bypass relay which may deactivate the center or main switch 2172 and pressing the control switch 2180 again may allow articulation to continue past the home position. See Fig.28A .

[0329] Example

[0330] Example 1 - A surgical instrument, comprising a housing having an elongated shaft assembly operably coupled thereto, the elongated shaft assembly defining a shaft axis. A surgical end effector defining an end effector axis is operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly between a first home position, in which the end effector axis is aligned with the shaft axis, and a maximum articulation position, in which the end effector axis is positioned at a maximum articulation angle relative to the shaft axis. An articulation motor is operably supported by the housing and operably interfaces with the surgical end effector to move the surgical end effector between the first home position and the maximum articulation position. The articulation motor is configured to be operable at a first motor speed to articulate the end effector from the first home position to a first articulation position, in which the end effector axis is positioned at a first articulation angle relative to the shaft axis. The first articulation angle is less than the maximum articulation angle. The articulation motor is further configured to be operable at a second motor speed to articulate the surgical end effector from the first articulation position to the maximum articulation position. The second motor speed is different from the first motor speed.

[0331] Example 2 - The surgical instrument of Example 1, wherein the articulation motor is configured to operate at the second motor speed to articulate the surgical end effector from the first articulation position to a second articulation position, in which the end effector axis is positioned at a second articulation angle relative to the shaft axis, the second articulation angle being greater than the first articulation angle and less than the maximum articulation angle. The motor is configured to operate at a third motor speed to articulate the surgical end effector from the second articulation position to the maximum articulation position.

[0332] Example 3 - A surgical instrument according to Example 2, wherein the third motor speed is equal to the first motor speed.

[0333] Example 4 - A surgical instrument according to Example 1, 2 or 3, wherein the joint motion motor includes a rotary joint motion drive shaft, which is mechanically connected to a switching system, and the switching system is supported by the housing for controlling the first motor speed and the second motor speed.

[0334] Example 5 - A surgical instrument according to Example 4, wherein the switching system includes a first limit switch corresponding to the first original position and connected to a power source for the articulation motor. A second limit switch corresponds to the maximum articulation position and is connected to a power source. A switch slide is movably interfaced with the rotary articulation drive shaft and is configured to move between the first limit switch and the second limit switch as the surgical end effector articulates between the first original position, the first articulation position, and the maximum articulation position. The switch slide is configured to actuate the first limit switch when the surgical end effector is in the first original position, and the switch slide is configured to actuate the second limit switch when the surgical end effector is in the maximum articulation position.

[0335] Example 6 - A surgical instrument according to Example 5, wherein the switch slide is connected to the switch drive screw via a threaded shaft neck, and the switch drive screw is mechanically connected to the joint motion drive shaft, so that when the joint motion drive shaft rotates in one rotational direction, the switch drive screw rotates in a first rotational direction, and when the joint motion drive shaft rotates in an opposite rotational direction, the switch drive screw rotates in a second rotational direction.

[0336] Example 7 - A surgical instrument according to Example 6, wherein the articulation drive shaft includes a motor drive gear, and wherein the switch drive screw includes a control switch gear meshingly engaged with the motor drive gear.

[0337] Example 8 - The surgical instrument according to Example 1, 2, 3, 4, 5, 6 or 7 also includes a device for locking the surgical end actuator when in any of the first original position, the first joint movement position and the maximum joint movement position.

[0338] Example 9 - The surgical instrument according to Example 1, 2, 3, 4, 5, 6, 7 or 8 further includes an articulation drive assembly, the articulation drive assembly including a proximal articulation drive shaft rotatably supported by the elongated shaft assembly and configured to receive a rotational actuation action from the articulation motor. A distal articulation drive assembly operably interfaces with the proximal articulation drive shaft and the surgical end effector and is configured to move axially in response to rotation of the proximal articulation drive shaft.

[0339] Example 10 - The surgical instrument of Example 9, wherein the distal articulation drive assembly further comprises an intermediate articulation driver supported for axial travel and threadedly attached to the proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft. A distal articulation connector is attached to the surgical end effector and the intermediate articulation driver.

[0340] Example 11 - A surgical instrument comprising a housing having an elongated shaft assembly operably coupled to the housing and defining a shaft axis. A surgical end effector defining an end effector axis is operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly between a center home position in which the end effector axis is aligned with the shaft axis, a first maximum articulation position on a first side of the shaft axis, and a second maximum articulation position on a second side of the shaft axis, wherein the end effector axis is positioned at a first maximum articulation angle relative to the shaft axis in the first maximum articulation position, and a second maximum articulation angle relative to the shaft axis in the second maximum articulation position. An articulation motor is operably coupled to the surgical end effector to move the surgical end effector between the center home position and the first and second maximum articulation positions. The articulation motor is configured to be operable at a first motor speed to articulate the end effector from the central home position to a first articulation position located on the first side of the shaft axis, in which the end effector axis is positioned at a first articulation angle relative to the shaft axis, and wherein the first articulation angle is less than the first maximum articulation angle. The articulation motor is further configured to be operable at a first motor speed to articulate the end effector from the central home position to a second articulation position located on the second side of the shaft axis, in which the end effector axis is positioned at a second articulation angle relative to the shaft axis, and wherein the second articulation angle is less than the second maximum articulation angle. The articulation motor is further configured to be operable at a second motor speed to articulate the surgical end effector from the first articulation position to the first maximum articulation position and from the second articulation position to the second maximum articulation position, wherein the second motor speed is different from the first motor speed.

[0341] Example 12 - A surgical instrument according to Example 11, wherein the articulation motor is configured to operate at the second motor speed to articulate the surgical end effector from the first articulation position to a first intermediate articulation position located on the first side of the shaft axis, in which the end effector axis is positioned at a first intermediate articulation angle relative to the shaft axis, the first intermediate articulation angle being greater than the first articulation angle and less than the first maximum articulation angle, and wherein the motor is configured to operate at a third motor speed to articulate the surgical end effector from the first intermediate articulation position to the first maximum articulation position.

[0342] Example 13 - A surgical instrument according to Example 12, wherein the articulation motor is configured to operate at the second motor speed to articulate the surgical end effector from the second articulation position to a second intermediate articulation position located on the second side of the shaft axis, in which the end effector axis is positioned at a second intermediate articulation angle relative to the shaft axis, the second intermediate articulation angle being greater than the second articulation angle and less than the second maximum articulation angle, and wherein the motor is configured to operate at the third motor speed to articulate the surgical end effector from the second intermediate articulation position to the second maximum articulation position.

[0343] Example 14 - A surgical instrument according to Example 13, wherein the third motor speed is equal to the first motor speed.

[0344] Example 15 - A surgical instrument according to Example 11, 12, 13 or 14, wherein the articulation motor includes a rotary articulation drive shaft, which is mechanically connected to a switching system for controlling the speed of the motor.

[0345] Example 16 - A surgical instrument according to Example 15, wherein the switching system includes a center limit switch corresponding to the center home position and connected to the power supply of the articulation motor. The switching system also includes a first maximum limit switch corresponding to the first maximum articulation position and connected to the power supply. The switching system also includes a switch slide that movably interfaces with the rotary articulation drive shaft and is configured to move between the first maximum limit switch and the center limit switch as the surgical end effector articulates between the center home position, the first articulation position, and the first maximum articulation position. The switch slide is configured to actuate the center limit switch when the surgical end effector is in the center home position, and the switch slide is configured to actuate the first maximum limit switch when the surgical end effector is in the first maximum articulation position.

[0346] Example 17 - The surgical instrument of Example 16, wherein the switching system further comprises a second maximum limit switch corresponding to the second maximum articulation position, and wherein the switch slide is configured to move between the second maximum limit switch and the center limit switch as the surgical end effector articulates between the center home position, the second articulation position, and the second maximum articulation position. The switch slide is configured to actuate the second maximum limit switch when the surgical end effector is in the second maximum articulation position.

[0347] Example 18 - The surgical instrument according to Examples 11, 12, 13, 14, 15 or 16, further includes an articulation drive assembly, which includes a proximal articulation drive shaft and a distal articulation drive assembly, the proximal articulation drive shaft being configured to receive a rotational actuation action from the articulation motor, the distal articulation drive assembly being operably coupled to the proximal articulation drive shaft and the surgical end effector and being configured to move axially in response to rotation of the proximal articulation drive shaft.

[0348] Example 19 - The surgical instrument of Example 18, wherein the distal articulation drive assembly further comprises an intermediate articulation drive, the intermediate articulation drive being threadedly attached to the proximal articulation drive shaft such that the intermediate articulation drive moves axially in response to rotation of the proximal articulation drive shaft. A distal articulation connector is attached to the surgical end effector and the intermediate articulation drive.

[0349] Example 20 - A surgical instrument according to Examples 11, 12, 13, 14, 15, 16, 17, 18 or 19, wherein the surgical end effector is configured to cut and suture tissue.

[0350] Many of the surgical instrument systems described herein are actuated by electric motors; however, the surgical instrument systems described herein may be actuated in any suitable manner. In various instances, for example, the surgical instrument systems described herein may be actuated by a manually operated trigger. In certain instances, the motor disclosed herein may include a portion or portions of a robotic control system. In addition, any end effector and / or tool assembly disclosed herein may be used with a robotic surgical instrument system. For example, U.S. patent application serial number 13 / 118,241 (now U.S. Patent No. 9,072,535), entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS," discloses several examples of robotic surgical instrument systems in more detail.

[0351] The surgical instrument systems described herein have been described in conjunction with the deployment and deformation of staples; however, the embodiments described herein are not limited thereto. For example, various embodiments are contemplated that deploy fasteners other than staples, such as clamps or tacks. In addition, various embodiments are contemplated that utilize any suitable device for sealing tissue. For example, an end effector according to various embodiments may include an electrode configured to heat and seal tissue. Additionally, for example, an end effector according to certain embodiments may apply vibration energy to seal tissue.

[0352] The entire disclosures of the following patents are hereby incorporated herein by reference:

[0353] - U.S. Patent No. 5,403,312, issued on April 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE";

[0354] - U.S. Patent 7,000,818, issued on February 21, 2006, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS";

[0355] - U.S. Patent 7,422,139, issued on September 9, 2008, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK";

[0356] - U.S. Patent 7,464,849, issued on December 16, 2008, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS";

[0357] - U.S. Patent 7,670,334, issued on March 2, 2010, entitled “SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR”;

[0358] - U.S. Patent 7,753,245, entitled “SURGICAL STAPLING INSTRUMENTS,” issued on July 13, 2010;

[0359] - U.S. Patent 8,393,514, issued on March 12, 2013, entitled “SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE”;

[0360] - U.S. Patent Application Serial No. 11 / 343,803, entitled “SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES”; now U.S. Patent 7,845,537;

[0361] - U.S. Patent Application Serial No. 12 / 031,573, filed February 14, 2008, entitled “SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES”;

[0362] - U.S. Patent Application Serial No. 12 / 031,873, filed on February 15, 2008, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT" (now U.S. Patent No. 7,980,443);

[0363] - U.S. Patent Application Serial No. 12 / 235,782, entitled “MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT,” now U.S. Patent No. 8,210,411;

[0364] - U.S. Patent Application Serial No. 12 / 235,972, entitled "MOTORIZED SURGICAL INSTRUMENT," now U.S. Patent 9,050,083.

[0365] - U.S. Patent Application Serial No. 12 / 249,117, entitled “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYRETRACTABLE FIRING SYSTEM,” now U.S. Patent No. 8,608,045;

[0366] - U.S. Patent Application Serial No. 12 / 647,100, filed December 24, 2009, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY"; now U.S. Patent No. 8,220,688;

[0367] - U.S. Patent Application Serial No. 12 / 893,461, filed on September 29, 2012, entitled “STAPLE CARTRIDGE,” now U.S. Patent No. 8,733,613;

[0368] - U.S. Patent Application Serial No. 13 / 036,647, filed on February 28, 2011, entitled “SURGICAL STAPLING INSTRUMENT,” now U.S. Patent No. 8,561,870;

[0369] - U.S. Patent Application Serial No. 13 / 118,241, entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS,” now U.S. Patent No. 9,072,535;

[0370] - U.S. Patent Application Serial No. 13 / 524,049, filed on June 15, 2012, entitled “ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE”; now U.S. Patent No. 9,101,358;

[0371] - U.S. Patent Application Serial No. 13 / 800,025, filed on March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," now U.S. Patent No. 9,345,481;

[0372] - U.S. Patent Application Serial No. 13 / 800,067, filed on March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM,"

[0373] Now U.S. Patent Application Publication No. 2014 / 0263552;

[0374] - U.S. Patent Application Publication No. 2007 / 0175955, filed January 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM"; and

[0375] - U.S. Patent Application Publication No. 2010 / 0264194, filed on April 22, 2010, entitled "SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR," now U.S. Patent No. 8,308,040.

[0376] Although various devices have been described herein in conjunction with certain embodiments, many modifications and variations of these embodiments may also be implemented. In one or more embodiments, specific features, structures, or characteristics may be combined in any suitable manner. Therefore, without limitation, specific features, structures, or characteristics shown or described in conjunction with one embodiment may be combined in whole or in part with features, structures, or characteristics of one or more other embodiments. In addition, where materials for certain components are disclosed, other materials may also be used. In addition, according to various embodiments, a single component may be replaced with multiple components, and multiple components may also be replaced with a single component to perform a given one or more functions. The above-described specific embodiments and the following claims are intended to cover all such modifications and variations.

[0377] The device disclosed herein can be designed to be discarded after a single use, or it can be designed to be used multiple times. However, in either case, the device can be used again after being conditioned after at least one use. Conditioning may include any combination of the following steps, including but not limited to disassembling the device, cleaning or replacing specific parts of the device, and then reassembling the device. Specifically, the conditioning facility and / or surgical team can disassemble the device, and after cleaning and / or replacing specific parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will appreciate that the conditioning device can be disassembled, cleaned / replaced, and reassembled using a variety of techniques. The use of such techniques and the resulting repair device are within the scope of this application.

[0378] The devices disclosed herein can be processed before surgery. First, new or used instruments can be obtained and cleaned as needed. Then, the instruments can be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container (such as a plastic or TYVEK bag). The container and the instruments can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays and / or high-energy electrons. Radiation can kill bacteria on the instruments and in the container. The sterilized instruments can then be stored in a sterile container. The sealed container can keep the instruments sterile until the container is opened in a medical facility. The devices can also be sterilized using any other technology known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide and / or steam.

[0379] While the present invention has been described as having an exemplary design, the present invention can be further modified within the spirit and scope of this disclosure. Therefore, this application is intended to cover any variations, uses or adaptations of the invention using its general principles.

[0380] Any patent, publication or other public material incorporated herein in whole or in part by reference is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements or other public materials described in the present invention. Therefore, and to the extent necessary, the disclosure explicitly listed herein supersedes any conflicting material incorporated herein by reference. Any material or portion thereof that is allegedly incorporated herein by reference but conflicts with existing definitions, statements or other public materials listed herein will be incorporated only to the extent that there is no conflict between the incorporated material and the existing public materials.

Claims

1. A surgical instrument comprising: shell; an elongated shaft assembly operably coupled to the housing and defining a shaft axis; a surgical end effector defining an end effector axis and operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly between a first home position in which the end effector axis is aligned with the shaft axis and a maximum articulation position in which the end effector axis is positioned at a maximum articulation angle relative to the shaft axis; as well as an articulation motor operably supported by the housing and operably interfaced with the surgical end effector to move the surgical end effector between the first home position and the maximum articulation position, the articulation motor being configured to operate at a first motor speed to articulate the surgical end effector from the first home position to a first articulation position in which the end effector axis is positioned at a first articulation angle relative to the shaft axis, and wherein the first articulation angle is less than the maximum articulation angle, the articulation motor being further configured to operate at a second motor speed to articulate the surgical end effector from the first articulation position to the maximum articulation position, wherein the second motor speed is different from the first motor speed; Wherein, the articulation motor includes a rotary articulation drive shaft mechanically connected to a switching system supported by the housing for controlling the first motor speed and the second motor speed.

2. The surgical instrument according to claim 1, wherein: The articulation motor is configured to be operable at the second motor speed to articulate the surgical end effector from the first articulation position to a second articulation position, in which the end effector axis is positioned at a second articulation angle relative to the shaft axis, the second articulation angle being greater than the first articulation angle and less than the maximum articulation angle, and wherein the articulation motor is configured to be operable at a third motor speed to articulate the surgical end effector from the second articulation position to the maximum articulation position.

3. The surgical instrument according to claim 2, wherein: The third motor speed is equal to the first motor speed.

4. The surgical instrument according to claim 1, wherein: The switching system comprises: a first limit switch corresponding to the first home position and in communication with a power source of the articulation motor; a second limit switch corresponding to the maximum articulation position and in communication with the power source; and A switch slide, which is movably connected to the rotary joint motion drive shaft and is configured to move between the first limit switch and the second limit switch as the surgical end actuator is articulated between the first original position, the first joint motion position and the maximum joint motion position, the switch slide being configured to actuate the first limit switch when the surgical end actuator is in the first original position, and the switch slide being configured to actuate the second limit switch when the surgical end actuator is in the maximum joint motion position.

5. The surgical instrument according to claim 4, wherein: The switch slide is connected to the switch drive screw via a threaded shaft neck, and the switch drive screw is mechanically connected to the rotary joint motion drive shaft, so that when the rotary joint motion drive shaft rotates in one rotation direction, the switch drive screw rotates in a first rotation direction, and when the rotary joint motion drive shaft rotates in the opposite rotation direction, the switch drive screw rotates in a second rotation direction.

6. The surgical instrument according to claim 5, wherein: The rotary articulation drive shaft includes a motor drive gear, and wherein the switch drive screw includes a control switch gear meshingly engaged with the motor drive gear.

7. The surgical instrument of claim 1, further comprising means for locking the surgical end effector in any one of the first home position, the first articulation position, and the maximum articulation position.

8. The surgical instrument of claim 1, further comprising an articulation drive assembly, the articulation drive assembly comprising: a proximal articulation drive shaft rotatably supported by the elongated shaft assembly and configured to receive a rotational actuation action from the articulation motor; as well as A distal articulation drive assembly operably interfaces with the proximal articulation drive shaft and the surgical end effector and is configured to move axially in response to rotation of the proximal articulation drive shaft.

9. The surgical instrument according to claim 8, wherein: The distal articulation drive assembly further comprises: an intermediate articulation driver supported for axial travel and threadably attached to the proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft; and A distal articulation link is attached to the surgical end effector and the intermediate articulation driver.

10. A surgical instrument comprising: shell; an elongated shaft assembly operably coupled to the housing and defining a shaft axis; a surgical end effector defining an end effector axis and operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly between a central home position in which the end effector axis is aligned with the shaft axis, a first maximum articulation position in which the end effector axis is positioned at a first maximum articulation angle relative to the shaft axis, and a second maximum articulation position in which the end effector axis is positioned at a second maximum articulation angle relative to the shaft axis; as well as an articulation motor operably interfaced with the surgical end effector to move the surgical end effector between the center home position and the first maximum articulation position and the second maximum articulation position, the articulation motor being configured to operate at a first motor speed to articulate the surgical end effector from the center home position to a first articulation position located on the first side of the shaft axis, in which the end effector axis is positioned at a first articulation angle relative to the shaft axis, and wherein the first articulation angle is less than the first maximum articulation angle, the articulation motor being configured to operate at a first motor speed to articulate the surgical end effector from the center home position to a first articulation position located on the first side of the shaft axis, in which the end effector axis is positioned at a first articulation angle relative to the shaft axis, and wherein the first articulation angle is less than the first maximum articulation angle, a motor speed operative to articulate the surgical end effector from the central home position to a second articulation position on the second side of the shaft axis, wherein the end effector axis is positioned at a second articulation angle relative to the shaft axis, and wherein the second articulation angle is less than the second maximum articulation angle, the articulation motor being further configured to be operative at a second motor speed to articulate the surgical end effector from the first articulation position to the first maximum articulation position and from the second articulation position to the second maximum articulation position, wherein the second motor speed is different from the first motor speed; Wherein, the articulation motor includes a rotary articulation drive shaft mechanically connected to a switching system for controlling motor speed, the switching system being supported by the housing for controlling the first motor speed and the second motor speed.

11. The surgical instrument according to claim 10, wherein: The articulation motor is configured to be operable at the second motor speed to articulate the surgical end effector from the first articulation position to a first intermediate articulation position on the first side of the shaft axis, wherein the end effector axis is positioned at a first intermediate articulation angle relative to the shaft axis, the first intermediate articulation angle being greater than the first articulation angle and less than the first maximum articulation angle, and wherein the articulation motor is configured to be operable at a third motor speed to articulate the surgical end effector from the first intermediate articulation position to the first maximum articulation position.

12. The surgical instrument according to claim 11, wherein: The articulation motor is configured to be operable at the second motor speed to articulate the surgical end effector from the second articulation position to a second intermediate articulation position on the second side of the shaft axis, wherein the end effector axis is positioned at a second intermediate articulation angle relative to the shaft axis, the second intermediate articulation angle being greater than the second articulation angle and less than the second maximum articulation angle, and wherein the articulation motor is configured to be operable at the third motor speed to articulate the surgical end effector from the second intermediate articulation position to the second maximum articulation position.

13. The surgical instrument according to claim 12, wherein: The third motor speed is equal to the first motor speed.

14. The surgical instrument according to claim 10, wherein: The switching system comprises: a center limit switch corresponding to the center home position and in communication with a power source of the articulation motor; a first maximum limit switch corresponding to the first maximum articulation position and in communication with the power source; and A switch slide, which is movably connected to the rotary joint motion drive shaft and is configured to move between the first maximum limit switch and the center limit switch as the surgical end actuator performs joint motion between the center original position, the first joint motion position and the first maximum joint motion position, the switch slide being configured to actuate the center limit switch when the surgical end actuator is in the center original position, and the switch slide being configured to actuate the first maximum limit switch when the surgical end actuator is in the first maximum joint motion position.

15. The surgical instrument of claim 14, wherein: The switching system also includes a second maximum limit switch corresponding to the second maximum joint movement position, and wherein the switch slide is configured to move between the second maximum limit switch and the center limit switch as the surgical end actuator performs joint movement between the center original position, the second joint movement position and the second maximum joint movement position, and the switch slide is configured to actuate the second maximum limit switch when the surgical end actuator is in the second maximum joint movement position.

16. The surgical instrument of claim 10, further comprising an articulation drive assembly, the articulation drive assembly comprising: a proximal articulation drive shaft configured to receive a rotational actuation action from the articulation motor; as well as A distal articulation drive assembly operably interfaces with the proximal articulation drive shaft and the surgical end effector and is configured to move axially in response to rotation of the proximal articulation drive shaft.

17. The surgical instrument according to claim 16, wherein: The distal articulation drive assembly further comprises: an intermediate articulation driver threadably attached to the proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft; and A distal articulation link is attached to the surgical end effector and the intermediate articulation driver.

18. The surgical instrument of claim 10, wherein: The surgical end effector is configured to cut and staple tissue.

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