Intelligent firing associated with surgical instruments

Abstract

A surgical instrument including a firing member driven by an electric motor is disclosed. The surgical instrument includes a control system configured to evaluate a duty cycle of the electric motor and adjust a speed of the firing member based on the detected duty cycle of the electric motor.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims the benefit of U.S. Provisional Patent Application Serial No. 62 / 840,715, entitled “SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM,” filed April 30, 2019, the entire disclosure of which is incorporated by reference herein. TECHNICAL FIELD

[0003] The present disclosure relates to surgical instruments, and in various arrangements, to surgical stapling and cutting instruments designed to staple and cut tissue and staple cartridges used therewith. BRIEF DESCRIPTION OF DRAWINGS

[0004] Various features of embodiments described herein, together with the advantages thereof, can be understood from the following description of embodiments according to the accompanying drawings, in which:

[0005] Figure 1 is a perspective view of a surgical instrument according to at least one embodiment;

[0006] Figure 1B is Figure 1 is a left side elevational view of the surgical instrument of

[0007] Figure 1C is Figure 1 is a right side elevational view of the surgical instrument of

[0008] Figure 1D is Figure 1 is a front elevational view of the surgical instrument of

[0009] Figure 1E is Figure 1 is a rear elevational view of the surgical instrument of

[0010] Figure 1F is Figure 1 is a plan view of the surgical instrument of

[0011] Figure 1G is Figure 1 is a bottom view of the surgical instrument of

[0012] Figure 2 is Figure 1 is a partial perspective view of the surgical instrument of

[0013] Figure 3 is Figure 1 is a partial perspective view of a shaft of the surgical instrument of

[0014] Figure 4 is Figure 3A perspective view of the nozzle of the shaft;

[0015] Figure 5 yes Figure 1 A front view of an orientation switch for a surgical instrument;

[0016] Figure 6 is a partial perspective view of a surgical instrument including a handle having an orientation sensor and a shaft having a magnetic element detectable by the orientation sensor, according to at least one embodiment;

[0017] Figure 7 is a partial elevational view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle and articulation actuators on opposite sides of the handle;

[0018] Figure 8 yes Figure 7 A partial plan view of a surgical instrument;

[0019] Figure 9 is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle and a rotatable shaft including articulation actuators on opposite sides of the shaft;

[0020] Figure 10 yes Figure 9 end view of the shaft;

[0021] Figure 11 is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle and a rotatable shaft including two articulation actuators on opposite sides of the shaft;

[0022] Figure 12 yes Figure 11 end view of the shaft;

[0023] Figure 13 is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a slidable articulation actuator including two positions and a stop located between the two positions;

[0024] Figure 14 A capacitive switch is shown, the capacitive switch including a first side and a second side, a first light in the first side that illuminates when the first side is contacted, and a second light in the second side that illuminates when the second side is contacted;

[0025] Figure 15 shows a two-stage rocker switch for articulating an end effector of a surgical instrument according to at least one embodiment;

[0026] Figure 16is a partial top view of a surgical instrument according to at least one embodiment, the surgical instrument including an end effector and lights positioned on opposite sides of the end effector that are illuminated to indicate a direction in which the end effector is being articulated;

[0027] Figure 17 is a partial front view of a surgical instrument; Figure 16

[0028] Figure 18 is a partial front view of a surgical instrument according to at least one embodiment, the surgical instrument including a direction indicator that is illuminated to indicate a direction in which the end effector is being articulated;

[0029] Figure 19 is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a slidable articulation switch including three positions - an articulate left position, an articulate right position, and a center or home position;

[0030] Figure 20 is a front view of a surgical instrument according to at least one embodiment, the surgical instrument including an articulation lever that can be actuated along a longitudinal axis;

[0031] Figure 21 is a front view of a surgical instrument according to at least one embodiment, the surgical instrument including an end effector and an articulation lever that can be actuated to articulate the end effector about more than one axis;

[0032] Figure 22A is a front view of a surgical instrument including a plurality of articulation controls according to at least one embodiment;

[0033] Figure 22B is a partial side view of a surgical instrument; Figure 22A

[0034] Figure 23 is a front view of a surgical instrument including a 4-way haptic articulation control according to at least one embodiment;

[0035] Figure 24 is a partial front view of a surgical instrument including a 4-way haptic articulation control according to at least one embodiment, the 4-way haptic articulation control including a center actuator or homing actuator;

[0036] Figure 25 is a front view of a surgical instrument including a 4-way capacitive surface according to at least one embodiment;

[0037] Figure 26A ​​A surgical instrument according to at least one embodiment is shown that includes an end effector and lights positioned on opposite sides of the end effector that are illuminated to indicate the direction in which the end effector is being articulated;

[0038] Figure 26B yes Figure 26A A perspective view of a surgical instrument;

[0039] Figure 27 A surgical instrument according to at least one embodiment is shown, the surgical instrument comprising an articulation joint, an end effector capable of articulation about the articulation joint, and a translatable articulation actuator configured to rotate the end effector about the articulation joint;

[0040] Figure 28 is a partial perspective view of an articulatable end effector, an articulation actuator configured to rotate the end effector about an articulation joint, and a demarcation line on the articulation actuator indicating a direction in which the end effector is articulated and / or is being articulated;

[0041] Figure 29 is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle, a rotatable shaft extending from the handle, and a rotatable actuator on the handle configured to rotate the shaft about a longitudinal axis;

[0042] Figure 30 yes Figure 29 A perspective view of a surgical instrument showing the shaft in a rotated position;

[0043] Figure 31 yes Figure 29 A perspective view of a surgical instrument showing a portion of a handle housing removed;

[0044] Figure 32 yes Figure 1 A partial detail of an articulation joint of a surgical instrument, showing some parts removed;

[0045] Figure 33 is according to at least one alternative embodiment Figure 1 A detailed view of a joint for use with a surgical instrument;

[0046] Figure 34 It is from Figure 33 A partial perspective view of an embodiment of an end effector frame extending an articulation drive pin;

[0047] Figure 35 yes Figure 33A partial detail view of an embodiment of , showing the end effector in an articulated position;

[0048] Figure 36 yes Figure 33 A partial detail view of an embodiment of , showing the end effector in another articulated position;

[0049] Figure 37 yes Figure 33 A partial detail view of an embodiment of , showing the end effector in another articulated position;

[0050] Figure 38 yes Figure 1 a cross-sectional view of an end effector of a surgical instrument shown in an open configuration;

[0051] Figure 39 yes Figure 1 A partial cross-sectional view of an end effector of a surgical instrument showing a tissue stop of the end effector;

[0052] Figure 40 yes Figure 1 A partial cross-sectional view of an end effector of a surgical instrument illustrating a pivot joint between a staple cartridge jaw and an anvil jaw of the end effector;

[0053] Figure 41 yes Figure 40 a partial plan view of a staple cartridge jaw, wherein the staple cartridge is not positioned in the staple cartridge jaw;

[0054] Figure 42 yes Figure 40 A partial perspective view of the anvil jaws;

[0055] Figure 43 yes Figure 40 A partial top view of the pivot joint;

[0056] Figure 44 is a partial cross-sectional view of a staple cartridge jaw of an end effector according to at least one embodiment, shown without a staple cartridge therein;

[0057] Figure 45A is in open configuration Figure 44 A partial cross-sectional view of an end effector;

[0058] Figure 45B is in a closed configuration Figure 44 A partial cross-sectional view of an end effector;

[0059] Figure 46 yes Figure 1 A partial cross-sectional view of an end effector of a surgical instrument showing a firing member in an unfired position;

[0060] Figure 47 is Figure 1 a partial cross-sectional view of an end effector of a surgical instrument showing a cartridge stop on the anvil jaw configured to prevent a staple cartridge from being inserted proximally into the cartridge jaw;

[0061] Figure 48 is Figure 1 a partial perspective view of an anvil jaw of a surgical instrument showing a surface configured to control the position of the firing member of Figure 46 the firing member in its unfired position;

[0062] Figure 49 is Figure 1 a partial elevational view of a surgical instrument;

[0063] Figure 50 is Figure 1 a partial perspective view of a surgical instrument;

[0064] Figure 51 is a partial elevational view of a surgical instrument according to at least one embodiment;

[0065] Figure 52 is Figure 51 a partial perspective view of a surgical instrument;

[0066] Figure 53 is a partial elevational view of a surgical instrument according to at least one embodiment;

[0067] Figure 54 is Figure 53 a partial perspective view of a surgical instrument;

[0068] Figure 55 is Figure 1 a perspective view of a surgical instrument;

[0069] Figure 56 is a partial perspective view of a surgical instrument according to at least one embodiment;

[0070] Figure 57 is Figure 56 a partial perspective view of a shaft of a surgical instrument;

[0071] Figure 58 is a control algorithm implemented by a surgical instrument of Figure 56 ;

[0072] Figure 59 is a partial perspective view of a shaft of a surgical instrument according to at least one embodiment;

[0073] Figure 60 is a partial perspective view of a shaft of a surgical instrument according to at least one embodiment;

[0074] Figure 61 is a partial perspective view of a shaft of a surgical instrument in accordance with at least one embodiment;

[0075] Figure 62 is a partial perspective view of a shaft of a surgical instrument in accordance with at least one embodiment;

[0076] Figure 63 is a perspective view of a slip ring assembly of a surgical instrument in accordance with at least one embodiment;

[0077] Figure 64 is another perspective view of the slip ring assembly of Figure 63

[0078] Figure 65 is a perspective view of a shaft component of a surgical instrument of Figure 63

[0079] is a partial perspective view of a surgical instrument of Figure 66 Figure 63 is a depiction of an array of shaft orientation sensors in accordance with at least one embodiment;

[0080] Figure 67 is a partial elevational view of an end effector including a staple cartridge and a cartridge jaw, wherein the staple cartridge includes a distal portion that is rotatable between a first operative orientation and a second operative orientation that is different than the first operative orientation, and wherein the distal portion of the staple cartridge is shown in the first operative orientation;

[0081] Figure 68 is a partial perspective view of the staple cartridge of

[0082] Figure 69 Figure 68 depicts a connector that retains the distal portion in the staple cartridge of

[0083] Figure 69A is a partial elevational view of an end effector of Figure 68

[0084] Figure 70 is a partial perspective view of the end effector of Figure 68

[0085] Figure 71 Figure 68 is a partial perspective view of the end effector of

[0086] Figure 72 is a perspective view of a distal end of a proximal articulation rod in accordance with at least one embodiment;​​​​​​

[0087] Figure 73 is a perspective view of the joint between the proximal articulation bar and the distal articulation bar of the articulation drive device according to at least one embodiment;

[0088] Figure 73A is Figure 73 a detail view of the joint between the proximal articulation bar and the articulation lock of

[0089] Figure 74 is Figure 72 a perspective view of the joint between the proximal articulation bar of Figure 73 and the distal articulation bar of

[0090] Figure 74A is Figure 72 a detail view of the joint between the proximal articulation bar of Figure 73A and the articulation lock of

[0091] Figure 73A is Figure 73A a perspective view of the articulation lock of

[0092] Figure 73A is Figure 74 another perspective view of the articulation lock of

[0093] Figure 75 shows Figure 76 the range of motion of the distal articulation bar of

[0094] Figure 73A is an algorithm for controlling the system to assess and acquire the position of the articulation system;

[0095] Figure 77 depicts the end effector of the surgical instrument of Figure 73 as well as a speed chart algorithm of the staple firing system during a staple firing stroke;

[0096] Figure 78 depicts the end effector of the surgical instrument of Figure 79 as well as a speed chart algorithm of the staple firing system during a staple firing stroke;

[0097] Figure 1 depicts the end effector of the surgical instrument of Figure 80 as well as a speed chart algorithm of the staple firing system during a staple firing stroke;

[0098] Figure 1 depicts the end effector of the surgical instrument of Figure 81 as well as a speed chart algorithm of the staple firing system during a staple firing stroke;

[0099] Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 82A Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of

[0100] Figure 82B a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 82A

[0101] Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 83A

[0102] Figure 1 a plot comparing the firing force through tissue to the firing force of a tissue analog; Figure 83B

[0103] Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 84A Figure 84B

[0104] Figure 85A a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 85B

[0105] Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 86A

[0106] Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 86B

[0107] Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 86C

[0108] Figure 1 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of Figure 87 a plot depicting the duty cycle and the firing force experienced by the staple firing system of the surgical instrument of​​​​​​​​​​

[0109] Figure 1 A graph depicting duty cycle of a staple firing system of a surgical instrument of Figure 88 FIG. 1 1 is a graph of duty cycle of a staple firing system of a surgical instrument of

[0110] In the several views, like reference numerals designate like parts. Examples described herein are illustrated by way of various embodiments in which the principles of the present application are utilized, and such examples are not to be construed as limiting the scope of the present application in any manner. DETAILED DESCRIPTION

[0111] Applicant of the present application owns the following U.S. Patent Applications that were filed on even date herewith and which are each herein incorporated by reference in their respective entireties:

[0112] U.S. Patent Application entitled METHOD FOR OPERATING A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP1 / 190177-1M;

[0113] U.S. Patent Application entitled ARTICULATION ACTUATORS FOR A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP2 / 190177-2;

[0114] U.S. Patent Application entitled ARTICULATION DIRECTIONAL LIGHTS ON A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP3 / 190177-3;

[0115] U.S. Patent Application entitled SHAFT ROTATION ACTUATOR ON A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP4 / 190177-4;

[0116] U.S. Patent Application entitled ARTICULATION CONTROL MAPPING FOR A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP5 / 190177-5;

[0117] U.S. Patent Application entitled INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP6 / 190177-6;

[0118] U.S. Patent Application entitled ROTATABLE JAW TIP FOR A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP8 / 190177-8;

[0119] U.S. Patent Application entitled TISSUE STOP FOR A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP9 / 190177-9; and

[0120] U.S. Patent Application entitled ARTICULATION PIN FOR A SURGICAL INSTRUMENT; Attorney Docket No. END9169USNP10 / 190177-10.

[0121] Applicant of the present application owns the following U.S. Patent Applications that were filed on February 21, 2019 and which are each herein incorporated by reference in their entirety:

[0122] U.S. Patent Application entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS;

[0123] U.S. Patent Application entitled STAPLE CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING MEMBER;

[0124] U.S. Patent Application entitled SURGICAL STAPLERS WITH ARRANGEMENTS FOR MAINTAINING A FIRING MEMBER THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE HAS BEEN INSTALLED THEREIN;

[0125] U.S. Patent Application entitled SURGICAL INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES;

[0126] U.S. Patent Application Serial No. 16 / 281693, entitled SURGICAL STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT;

[0127] U.S. Patent Application Serial No. 16 / 281,704, entitled SURGICAL STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN;

[0128] U.S. Patent Application Serial No. 16 / 281707, entitled STAPLING INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT;

[0129] U.S. Patent Application Serial No. 16 / 281741, entitled SURGICAL INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT;

[0130] U.S. Patent Application Serial No. 16 / 281762, entitled SURGICAL STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING LOCKOUT ARRANGEMENTS;

[0131] U.S. Patent Application Serial No. 16 / 281666, entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS;

[0132] U.S. Patent Application Serial No. 16 / 281672, entitled SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES;

[0133] U.S. Patent Application Serial No. 16 / 281,678, entitled ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND CHANNEL ENGAGEMENT FEATURES; and

[0134] U.S. Patent Application Serial No. 16 / 281,682, entitled SURGICAL STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING.

[0135] Applicant of the present application owns the following U.S. Provisional Patent Applications that were filed on February 19, 2019 and which are each herein incorporated by reference in their entirety:

[0136] U.S. Patent Application Serial No. 16 / 281,310, entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS;

[0137] U.S. Patent Application Serial No. 16 / 281,319, entitled SURGICAL STAPLING DEVICES WITH IMPROVED LOCKOUT SYSTEMS; and

[0138] U.S. Patent Application Serial No. 16 / 281,309, entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS.

[0139] Applicant of the present application owns the following U.S. Provisional Patent Applications that were filed on March 28, 2018 and which are each herein incorporated by reference in their entirety:

[0140] U.S. Patent Application Serial No. 16 / 281,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;

[0141] U.S. Provisional Patent Application Serial No. 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;

[0142] U.S. Provisional Patent Application Serial No. 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS;

[0143] U.S. Provisional Patent Application Serial No. 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;

[0144] U.S. Provisional Patent Application Serial No. 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;

[0145] U.S. Provisional Patent Application Serial No. 62 / 649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;

[0146] U.S. Provisional Patent Application Serial No. 62 / 649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;

[0147] U.S. Provisional Patent Application Serial No. 62 / 649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;

[0148] U.S. Provisional Patent Application Serial No. 62 / 649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;

[0149] U.S. Provisional Patent Application Serial No. 62 / 649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;

[0150] U.S. Provisional Patent Application Serial No. 62 / 649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;

[0151] U.S. Provisional Patent Application Serial No. 62 / 649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0152] U.S. Provisional Patent Application Serial No. 62 / 649,307, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and

[0153] U.S. Provisional Patent Application Serial No. 62 / 649,323, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

[0154] Applicant of the present application owns the following U.S. Provisional Patent Applications that were filed on March 30, 2018 and which are each herein incorporated by reference in their entirety:

[0155] U.S. Provisional Patent Application Serial No. 62 / 650,887, entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES.

[0156] Applicant of the present application owns the following U.S. Patent Application that was filed on December 4, 2018, which is herein incorporated by reference in its entirety:

[0157] U.S. Patent Application Serial No. 16 / 209,423, entitled METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS.

[0158] Applicant of the present application owns the following U.S. Patent Applications that were filed on August 20, 2018 and which are each herein incorporated by reference in their respective entireties:

[0159] U.S. Patent Application Serial No. 16 / 105,101, entitled METHOD FOR FABRICATING SURGICAL STAPLER ANVILS;

[0160] U.S. Patent Application Serial No. 16 / 105,183, entitled REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL;

[0161] U.S. Patent Application Serial No. 16 / 105,150, entitled SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE STABILITY FEATURES;

[0162] U.S. Patent Application Serial No. 16 / 105,098, entitled FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS;

[0163] U.S. Patent Application Serial No. 16 / 105,140, entitled SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH;

[0164] U.S. Patent Application Serial No. 16 / 105,081, entitled METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT;

[0165] U.S. Patent Application Serial No. 16 / 105,094, entitled SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS;

[0166] U.S. Patent Application Serial No. 16 / 105,097, entitled POWERED SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS;

[0167] U.S. Patent Application Serial No. 16 / 105,104, entitled POWERED ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A FIRING DRIVE SYSTEM;

[0168] U.S. Patent Application Serial No. 16 / 105,119, entitled ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS;

[0169] U.S. Patent Application Serial No. 16 / 105,160, entitled SWITCHING ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL INSTRUMENTS; and

[0170] U.S. Design Patent Application Serial No. 29 / 660,252, entitled SURGICAL STAPLER ANVILS.

[0171] Applicant of the present application owns the following U.S. Patent Applications and U.S. Patents, which are each herein incorporated by reference in their entirety:

[0172] U.S. Patent Application Serial No. 15 / 386,185, entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF, now U.S. Patent Application Publication No. 2018 / 0168642;

[0173] U.S. Patent Application Serial No. 15 / 386,230, entitled ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018 / 0168649;

[0174] U.S. Patent Application Serial No. 15 / 386,221, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2018 / 0168646;

[0175] U.S. Patent Application Serial No. 15 / 386,209, entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF, now U.S. Patent Application Publication No. 2018 / 0168645;

[0176] U.S. Patent Application Serial No. 15 / 386,198, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES, now U.S. Patent Application Publication No. 2018 / 0168644;

[0177] U.S. Patent Application Serial No. 15 / 386,240, entitled SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, now U.S. Patent Application Publication No. 2018 / 0168651 ;

[0178] U.S. Patent Application Serial No. 15 / 385,939, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018 / 0168629;

[0179] U.S. Patent Application Serial No. 15 / 385,941, entitled SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2018 / 0168630;

[0180] U.S. Patent Application Serial No. 15 / 385,943, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018 / 0168631 ;

[0181] U.S. Patent Application Serial No. 15 / 385,950, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, now U.S. Patent Application Publication No. 2018 / 0168635;

[0182] U.S. Patent Application Serial No. 15 / 385,945, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018 / 0168632;

[0183] U.S. Patent Application Serial No. 15 / 385,946, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018 / 0168633;

[0184] U.S. Patent Application Serial No. 15 / 385,951, entitled SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE, now U.S. Patent Application Publication No. 2018 / 0168636;

[0185] U.S. Patent Application Serial No. 15 / 385,953, entitled METHODS OF STAPLING TISSUE, now U.S. Patent Application Publication No. 2018 / 0168637;

[0186] U.S. Patent Application Serial No. 15 / 385,954, entitled FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2018 / 0168638;

[0187] U.S. Patent Application Serial No. 15 / 385,955, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, now U.S. Patent Application Publication No. 2018 / 0168639;

[0188] U.S. Patent Application Serial No. 15 / 385,948, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018 / 0168584;

[0189] U.S. Patent Application Serial No. 15 / 385,956, entitled SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, now U.S. Patent Application Publication No. 2018 / 0168640;

[0190] 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, now U.S. Patent Application Publication No. 2018 / 0168641;

[0191] U.S. Patent Application Serial No. 15 / 385,947, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018 / 0168634;

[0192] U.S. Patent Application Serial No. 15 / 385,896, entitled METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, now U.S. Patent Application Publication No. 2018 / 0168597;

[0193] U.S. Patent Application Serial No. 15 / 385,898, entitled STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES, now U.S. Patent Application Publication No. 2018 / 0168599;

[0194] U.S. Patent Application Serial No. 15 / 385,899, entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL, now U.S. Patent Application Publication No. 2018 / 0168600;

[0195] U.S. Patent Application Serial No. 15 / 385,901, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN, now U.S. Patent Application Publication No. 2018 / 0168602;

[0196] U.S. Patent Application Serial No. 15 / 385,902, entitled SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER, now U.S. Patent Application Publication No. 2018 / 0168603;

[0197] U.S. Patent Application Serial No. 15 / 385,904, entitled STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT, now U.S. Patent Application Publication No. 2018 / 0168605;

[0198] U.S. Patent Application Serial No. 15 / 385,905, entitled FIRING ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application Publication No. 2018 / 0168606;

[0199] U.S. Patent Application Serial No. 15 / 385,907, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT, now U.S. Patent Application Publication No. 2018 / 0168608;

[0200] U.S. Patent Application Serial No. 15 / 385,908, entitled FIRING ASSEMBLY COMPRISING A FUSE, now U.S. Patent Application Publication No. 2018 / 0168609;

[0201] U.S. Patent Application Serial No. 15 / 385,909, entitled FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, now U.S. Patent Application Publication No. 2018 / 0168610;

[0202] U.S. Patent Application Serial No. 15 / 385,920, entitled STAPLE-FORMING POCKET ARRANGEMENTS, now U.S. Patent Application Publication No. 2018 / 0168620;

[0203] U.S. Patent Application Serial No. 15 / 385,913, entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS, now U.S. Patent Application Publication No. 2018 / 0168614;

[0204] U.S. Patent Application Serial No. 15 / 385,914, entitled METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT, now U.S. Patent Application Publication No. 2018 / 0168615;

[0205] U.S. Patent Application Serial No. 15 / 385,893, entitled BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS, now U.S. Patent Application Publication No. 2018 / 0168594;

[0206] U.S. Patent Application Serial No. 15 / 385,929, entitled CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2018 / 0168626;

[0207] 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;

[0208] U.S. Patent Application Serial No. 15 / 385,927, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, now U.S. Patent Application Publication No. 2018 / 0168625;

[0209] U.S. Patent Application Serial No. 15 / 385,917, entitled STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREATHTS, now U.S. Patent Application Publication No. 2018 / 0168617;

[0210] U.S. Patent Application Serial No. 15 / 385,900, entitled STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS, now U.S. Patent Application Publication No. 2018 / 0168601 ;

[0211] U.S. Patent Application Serial No. 15 / 385,931, entitled NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS, now U.S. Patent Application Publication No. 2018 / 0168627;

[0212] U.S. Patent Application Serial No. 15 / 386,188, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now U.S. Patent Application Publication No. 2018 / 0168585;

[0213] U.S. Patent Application Serial No. 15 / 385,897, entitled STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES, now U.S. Patent Application Publication No. 2018 / 0168598;

[0214] U.S. Patent Application Serial No. 15 / 385,922, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, now U.S. Patent Application Publication No. 2018 / 0168622;

[0215] U.S. Patent Application Serial No. 15 / 385,924, entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, now U.S. Patent Application Publication No. 2018 / 0168624;

[0216] U.S. Patent Application Serial No. 15 / 385,910, entitled ANVIL HAVING A KNIFE SLOT WIDTH, now U.S. Patent Application Publication No. 2018 / 0168611;

[0217] U.S. Patent Application Serial No. 15 / 385,903, entitled CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2018 / 0168604;

[0218] U.S. Patent Application Serial No. 15 / 385,906, entitled FIRING MEMBER PIN CONFIGURATIONS, now U.S. Patent Application Publication No. 2018 / 0168607;

[0219] U.S. Patent Application Serial No. 15 / 386,188, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now U.S. Patent Application Publication No. 2018 / 0168585;

[0220] U.S. Patent Application Serial No. 15 / 386,192, entitled STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES, now U.S. Patent Application Publication No. 2018 / 0168643;

[0221] U.S. Patent Application Serial No. 15 / 386,206, entitled STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, now U.S. Patent Application Publication No. 2018 / 0168586;

[0222] U.S. Patent Application Serial No. 15 / 386,226, entitled DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018 / 0168648;

[0223] U.S. Patent Application Serial No. 15 / 386,222, entitled SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES, now U.S. Patent Application Publication No. 2018 / 0168647;

[0224] U.S. Patent Application Serial No. 15 / 386,236, entitled CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018 / 0168650;

[0225] U.S. Patent Application Serial No. 15 / 385,887, entitled METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT, now U.S. Patent Application Publication No. 2018 / 0168589;

[0226] 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, now U.S. Patent Application Publication No. 2018 / 0168590;

[0227] U.S. Patent Application Serial No. 15 / 385,890, entitled SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS, now U.S. Patent Application Publication No. 2018 / 0168591 ;

[0228] 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, now U.S. Patent Application Publication No. 2018 / 0168592;

[0229] U.S. Patent Application Serial No. 15 / 385,892, entitled SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, now U.S. Patent Application Publication No. 2018 / 0168593;

[0230] U.S. Patent Application Serial No. 15 / 385,894, entitled SHAFT ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application Publication No. 2018 / 0168595;

[0231] U.S. Patent Application Serial No. 15 / 385,895, entitled SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, now U.S. Patent Application Publication No. 2018 / 0168596;

[0232] U.S. Patent Application Serial No. 15 / 385,916, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018 / 0168575;

[0233] U.S. Patent Application Serial No. 15 / 385,918, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018 / 0168618;

[0234] U.S. Patent Application Serial No. 15 / 385,919, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018 / 0168619;

[0235] U.S. Patent Application Serial No. 15 / 385,921, entitled SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES, now U.S. Patent Application Publication No. 2018 / 0168621 ;

[0236] U.S. Patent Application Serial No. 15 / 385,923, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018 / 0168623;

[0237] U.S. Patent Application Serial No. 15 / 385,925, entitled JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR, now U.S. Patent Application Publication No. 2018 / 0168576;

[0238] U.S. Patent Application Serial No. 15 / 385,926, entitled AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2018 / 0168577;

[0239] 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, now U.S. Patent Application Publication No. 2018 / 0168578;

[0240] 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, now U.S. Patent Application Publication No. 2018 / 0168579;

[0241] U.S. Patent Application Serial No. 15 / 385,932, entitled ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT, now U.S. Patent Application Publication No. 2018 / 0168628;

[0242] U.S. Patent Application Serial No. 15 / 385,933, entitled ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK, now U.S. Patent Application Publication No. 2018 / 0168580;

[0243] U.S. Patent Application Serial No. 15 / 385,934, entitled ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM, now U.S. Patent Application Publication No. 2018 / 0168581;

[0244] U.S. Patent Application Serial No. 15 / 385,935, entitled LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION, now U.S. Patent Application Publication No. 2018 / 0168582;

[0245] U.S. Patent Application Serial No. 15 / 385,936, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES, now U.S. Patent Application Publication No. 2018 / 0168583;

[0246] U.S. Patent Application Serial No. 14 / 318,996, entitled FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS, now U.S. Patent Application Publication No. 2015 / 0297228;

[0247] U.S. Patent Application Serial No. 14 / 319,006, entitled FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER CONTROL FEATURES, now U.S. Patent 10,010,324;

[0248] U.S. Patent Application Serial No. 14 / 318,991, entitled SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS, now U.S. Patent 9,833,241 ;

[0249] U.S. Patent Application Serial No. 14 / 319,004, entitled SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS, now U.S. Patent 9,844,369;

[0250] U.S. Patent Application Serial No. 14 / 319,008, entitled FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS, now U.S. Patent Application Publication No. 2015 / 0297232;

[0251] U.S. Patent Application Serial No. 14 / 318,997, entitled FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS, now U.S. Patent Application Publication No. 2015 / 0297229;

[0252] U.S. Patent Application Serial No. 14 / 319,002, entitled FASTENER CARTRIDGE COMPRISING TISSUE CONTROL FEATURES, now U.S. Patent 9,877,721;

[0253] U.S. Patent Application Serial No. 14 / 319,013, entitled FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS, now U.S. Patent Application Publication No. 2015 / 0297233; and

[0254] U.S. Patent Application Serial No. 14 / 319,016, entitled FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO, now U.S. Patent Application Publication No. 2015 / 0297235.

[0255] Applicant of the present application owns the following U.S. Patent Applications that were filed on June 24, 2016 and which are each herein incorporated by reference in their entirety:

[0256] U.S. Patent Application Serial No. 15 / 191,775, entitled STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now U.S. Patent Application Publication No. 2017 / 0367695;

[0257] U.S. Patent Application Serial No. 15 / 191,807, entitled STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES, now U.S. Patent Application Publication No. 2017 / 0367696;

[0258] U.S. Patent Application Serial No. 15 / 191,834, entitled STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME, now U.S. Patent Application Publication No. 2017 / 0367699;

[0259] U.S. Patent Application Serial No. 15 / 191,788, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES, now U.S. Patent Application Publication No. 2017 / 0367698; and

[0260] U.S. Patent Application Serial No. 15 / 191,818, entitled STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS, now U.S. Patent Application Publication No. 2017 / 0367697.

[0261] Applicant of the present application owns the following U.S. Patent Applications that were filed on June 24, 2016 and which are each herein incorporated by reference in their entirety:

[0262] U.S. Design Patent Application Serial No. 29 / 569,218, entitled SURGICAL FASTENER, now U.S. Design Patent D826,405;

[0263] U.S. Design Patent Application Serial No. 29 / 569,227, entitled SURGICAL FASTENER, now U.S. Design Patent D822,206;

[0264] U.S. Design Patent Application Serial No. 29 / 569,259, entitled SURGICAL FASTENER CARTRIDGE; and

[0265] U.S. Design Patent Application Serial No. 29 / 569,264, entitled SURGICAL FASTENER CARTRIDGE.

[0266] Applicant of the present application owns the following patent applications that were filed on April 1, 2016 and which are each herein incorporated by reference in their entirety:

[0267] U.S. Patent Application Serial No. 15 / 089,325, entitled METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM, now U.S. Patent Application Publication No. 2017 / 0281171 ;

[0268] U.S. Patent Application Serial No. 15 / 089,321, entitled MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY, now U.S. Patent 10,271,851 ;

[0269] U.S. Patent Application Serial No. 15 / 089,326, entitled SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD, now U.S. Patent Application Publication No. 2017 / 0281172;

[0270] U.S. Patent Application Serial No. 15 / 089,263, entitled SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION, now U.S. Patent Application Publication No. 2017 / 0281165;

[0271] U.S. Patent Application Serial No. 15 / 089,262, entitled ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM, now U.S. Patent Application Publication No. 2017 / 0281161 ;

[0272] U.S. Patent Application Serial No. 15 / 089,277, entitled SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER, now U.S. Patent Application Publication No. 2017 / 0281166;

[0273] U.S. Patent Application Serial No. 15 / 089,296, entitled INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS, now U.S. Patent Application Publication No. 2017 / 0281168;

[0274] U.S. Patent Application Serial No. 15 / 089,258, entitled SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION, now U.S. Patent Application Publication No. 2017 / 0281178;

[0275] U.S. Patent Application Serial No. 15 / 089,278, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE, now U.S. Patent Application Publication No. 2017 / 0281162;

[0276] U.S. Patent Application Serial No. 15 / 089,284, entitled SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT, now U.S. Patent Application Publication No. 2017 / 0281186;

[0277] U.S. Patent Application Serial No. 15 / 089,295, entitled SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT, now U.S. Patent Application Publication No. 2017 / 0281187;

[0278] U.S. Patent Application Serial No. 15 / 089,300, entitled SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT, now U.S. Patent Application Publication No. 2017 / 0281179;

[0279] U.S. Patent Application Serial No. 15 / 089,196, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT, now U.S. Patent Application Publication No. 2017 / 0281183;

[0280] U.S. Patent Application Serial No. 15 / 089,203, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT, now U.S. Patent Application Publication No. 2017 / 0281184;

[0281] U.S. Patent Application Serial No. 15 / 089,210, entitled SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT, now U.S. Patent Application Publication No. 2017 / 0281185;

[0282] U.S. Patent Application Serial No. 15 / 089,324, entitled SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM, now U.S. Patent Application Publication No. 2017 / 0281170;

[0283] U.S. Patent Application Serial No. 15 / 089,335, entitled SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS, now U.S. Patent Application Publication No. 2017 / 0281155;

[0284] U.S. Patent Application Serial No. 15 / 089,339, entitled SURGICAL STAPLING INSTRUMENT, now U.S. Patent Application Publication No. 2017 / 0281173;

[0285] U.S. Patent Application Serial No. 15 / 089,253, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS, now U.S. Patent Application Publication No. 2017 / 0281177;

[0286] U.S. Patent Application Serial No. 15 / 089,304, entitled SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET, now U.S. Patent Application Publication No. 2017 / 0281188;

[0287] U.S. Patent Application Serial No. 15 / 089,331, entitled ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS, now U.S. Patent Application Publication No. 2017 / 0281180;

[0288] U.S. Patent Application Serial No. 15 / 089,336, entitled STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES, now U.S. Patent Application Publication No. 2017 / 0281164;

[0289] U.S. Patent Application Serial No. 15 / 089,312, entitled CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT, now U.S. Patent Application Publication No. 2017 / 0281189;

[0290] U.S. Patent Application Serial No. 15 / 089,309, entitled CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM, now U.S. Patent Application Publication No. 2017 / 0281169; and

[0291] U.S. Patent Application Serial No. 15 / 089,349, entitled CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL, now U.S. Patent Application Publication No. 2017 / 0281174.

[0292] The Applicant of the present application also owns the U.S. Patent Applications identified below, filed on December 31, 2015, and each hereby expressly incorporated by reference herein in its entirety:

[0293] U.S. Patent Application Serial No. 14 / 984,488, entitled MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017 / 0189018;

[0294] U.S. Patent Application Serial No. 14 / 984,525, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017 / 0189019; and

[0295] U.S. Patent Application Serial No. 14 / 984,552, entitled SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS, now U.S. Patent 10,265,068.

[0296] The Applicant of the present application also owns the U.S. Patent Applications identified below, filed on February 9, 2016, each of which is herein incorporated by reference in its entirety:

[0297] U.S. Patent Application Serial No. 15 / 019,220, entitled SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR, now U.S. Patent 10,245,029;

[0298] U.S. Patent Application Serial No. 15 / 019,228, entitled SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now U.S. Patent Application Publication No. 2017 / 0224342;

[0299] U.S. Patent Application Serial No. 15 / 019,196, entitled SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, now U.S. Patent Application Publication No. 2017 / 0224330;

[0300] U.S. Patent Application Serial No. 15 / 019,206, entitled SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY, now U.S. Patent Application Publication No. 2017 / 0224331;

[0301] U.S. Patent Application Serial No. 15 / 019,215, entitled SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS, now U.S. Patent Application Publication No. 2017 / 0224332;

[0302] U.S. Patent Application Serial No. 15 / 019,227, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS, now U.S. Patent Application Publication No. 2017 / 0224334;

[0303] U.S. Patent Application Serial No. 15 / 019,235, entitled SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS, now U.S. Patent 10,245,030;

[0304] U.S. Patent Application Serial No. 15 / 019,230, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS, now U.S. Patent Application Publication No. 2017 / 0224335; and

[0305] U.S. Patent Application Serial No. 15 / 019,245, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Patent Application Publication No. 2017 / 0224343.

[0306] Applicant of the present application owns the following U.S. Patent Applications that were filed on February 12, 2016 and which are each herein incorporated by reference in their respective entirety:

[0307] U.S. Patent Application Serial No. 15 / 043,254, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent 10,258,331;

[0308] U.S. Patent Application Serial No. 15 / 043,259, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017 / 0231626;

[0309] U.S. Patent Application Serial No. 15 / 043,275, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017 / 0231627; and

[0310] U.S. Patent Application Serial No. 15 / 043,289, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017 / 0231628.

[0311] Applicant of the present application owns the following patent applications that were filed on June 18, 2015 and which are each herein incorporated by reference in their entirety:

[0312] U.S. Patent Application Serial No. 14 / 742,925, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S. Patent 10,182,818;

[0313] U.S. Patent Application Serial No. 14 / 742,941, entitled SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now U.S. Patent 10,052,102;

[0314] U.S. Patent Application Serial No. 14 / 742,933, entitled SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING, now U.S. Patent 10,154,841 ;

[0315] U.S. Patent Application Serial No. 14 / 742,914, entitled MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016 / 0367255;

[0316] U.S. Patent Application Serial No. 14 / 742,900, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT, now U.S. Patent Application Publication No. 2016 / 0367254;

[0317] U.S. Patent Application Serial No. 14 / 742,885, entitled DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016 / 0367246; and

[0318] U.S. Patent Application Serial No. 14 / 742,876, entitled PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent 10,178,992.

[0319] Applicant of the present application owns the following patent applications that were filed on March 6, 2015 and which are each herein incorporated by reference in their entirety:

[0320] U.S. Patent Application Serial No. 14 / 640,746, entitled POWERED SURGICAL INSTRUMENT, now U.S. Patent No. 9,808,246;

[0321] U.S. Patent Application Serial No. 14 / 640,795, entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016 / 02561185;

[0322] U.S. Patent Application Serial No. 14 / 640,832, entitled ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication No. 2016 / 0256154;

[0323] U.S. Patent Application Serial No. 14 / 640,935, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, now U.S. Patent Application Publication No. 2016 / 0256071 ;

[0324] U.S. Patent Application Serial No. 14 / 640,831, entitled MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS, now U.S. Patent 9,895,148;

[0325] U.S. Patent Application Serial No. 14 / 640,859, entitled TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Patent 10,052,044;

[0326] U.S. Patent Application Serial No. 14 / 640,817, entitled INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 9,924,961 ;

[0327] U.S. Patent Application Serial No. 14 / 640,844, entitled CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Patent 10,045,776;

[0328] U.S. Patent Application Serial No. 14 / 640,837, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Patent 9,993,248;

[0329] U.S. Patent Application Serial No. 14 / 640,799, entitled SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. Patent 9,901,342; and

[0330] U.S. Patent Application Serial No. 14 / 640,799, entitled SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. Patent 9,901,342; and- U.S. Patent Application Serial No. 14 / 640,780, entitled SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Patent 10,245,033.

[0331] Applicant of the present application owns the following patent applications that were filed on February 27, 2015 and which are each herein incorporated by reference in their entirety:

[0332] U.S. Patent Application Serial No. 14 / 633,576, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S. Patent 10,045,779;

[0333] U.S. Patent Application Serial No. 14 / 633,546, entitled SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now U.S. Patent 10,180,463;

[0334] U.S. Patent Application Serial No. 14 / 633,560, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES, now U.S. Patent Application Publication No. 2016 / 0249910;

[0335] U.S. Patent Application Serial No. 14 / 633,566, entitled CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S. Patent 10,182,816;

[0336] U.S. Patent Application Serial No. 14 / 633,555, entitled SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now U.S. Patent Application Publication No. 2016 / 0249916;

[0337] U.S. Patent Application Serial No. 14 / 633,542, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Patent 9,931,118;

[0338] U.S. Patent Application Serial No. 14 / 633,548, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Patent 10,245,028;

[0339] U.S. Patent Application Serial No. 14 / 633,526, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now U.S. Patent 9,993,258;

[0340] U.S. Patent Application Serial No. 14 / 633,541, entitled MODULAR STAPLING ASSEMBLY, now U.S. Patent 10,226,250; and

[0341] U.S. Patent Application Serial No. 14 / 633,562, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S. Patent 10,159,483.

[0342] Applicant of the present application owns the following patent applications that were filed on December 18, 2014 and which are each herein incorporated by reference in their entirety:

[0343] U.S. Patent Application Serial No. 14 / 574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. Patent 9,844,374;

[0344] U.S. Patent Application Serial No. 14 / 574,483, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Patent 10,188,385;

[0345] U.S. Patent Application Serial No. 14 / 575,139, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent 9,844,375;

[0346] U.S. Patent Application Serial No. 14 / 575,148, entitled LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, now U.S. Patent 10,085,748;

[0347] U.S. Patent Application Serial No. 14 / 575,130, entitled SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. Patent 10,245,027;

[0348] U.S. Patent Application Serial No. 14 / 575,143, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Patent 10,004,501;

[0349] U.S. Patent Application Serial No. 14 / 574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S. Patent No. 9,987,000;

[0350] U.S. Patent Application Serial No. 14 / 575,154, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Patent No. 9,968,355;

[0351] U.S. Patent Application Serial No. 14 / 574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S. Patent No. 9,987,000; and

[0352] U.S. Patent Application Serial No. 14 / 574,500, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now U.S. Patent No. 10,117,649.

[0353] Applicant of the present application owns the following patent applications that were filed on March 1, 2013 and which are each herein incorporated by reference in their entirety:

[0354] U.S. Patent Application Serial No. 13 / 782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, now U.S. Patent No. 9,700,309;

[0355] U.S. Patent Application Serial No. 13 / 782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Patent No. 9,782,169;

[0356] U.S. Patent Application Serial No. 13 / 782,338, entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014 / 0249557;

[0357] U.S. Patent Application Serial No. 13 / 782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Patent Application Publication No. 9,358,003;

[0358] U.S. Patent Application Serial No. 13 / 782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent 9,554,794;

[0359] U.S. Patent Application Serial No. 13 / 782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 9,326,767;

[0360] U.S. Patent Application Serial No. 13 / 782,481, entitled SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Patent Application Publication No. 9,468,438;

[0361] U.S. Patent Application Serial No. 13 / 782,518, entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S. Patent Application Publication No. 2014 / 0246475;

[0362] U.S. Patent Application Serial No. 13 / 782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Patent Application Publication No. 9,398,911; and

[0363] U.S. Patent Application Serial No. 13 / 803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Patent 9,687,230;

[0364] The Applicant of the present application also owns the following patent applications that were filed on March 14, 2013 and are each herein incorporated by reference in their entirety:

[0365] U.S. Patent Application Serial No. 13 / 803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Patent 9,687,230;

[0366] U.S. Patent Application Serial No. 13 / 803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 9,332,987;

[0367] U.S. Patent Application Serial No. 13 / 803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Patent 9,883,860;

[0368] U.S. Patent Application Serial No. 13 / 803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent Application Publication No. 2014 / 0263541;

[0369] U.S. Patent Application Serial No. 13 / 803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, now U.S. Patent 9,808,244;

[0370] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014 / 0263554;

[0371] U.S. Patent Application Serial No. 13 / 803,066, entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent 9,629,623;

[0372] U.S. Patent Application Serial No. 13 / 803,117, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 9,351,726;

[0373] U.S. Patent Application Serial No. 13 / 803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 9,351,727; and

[0374] U.S. Patent Application Serial No. 13 / 803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent 9,888,919;

[0375] The Applicant of the present application also owns the following patent applications that were filed on March 7, 2014 and which are each herein incorporated by reference in their entirety:

[0376] U.S. Patent Application Serial No. 14 / 200,111, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent 9,629,629.

[0377] The Applicant of the present application also owns the following patent applications that were filed on March 26, 2014 and which are each herein incorporated by reference in their entirety:

[0378] U.S. Patent Application Serial No. 14 / 226,106, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2015 / 0272582;

[0379] U.S. Patent Application Serial No. 14 / 226,099, entitled STERILIZATION VERIFICATION CIRCUIT, now U.S. Patent 9,826,977;

[0380] U.S. Patent Application Serial No. 14 / 226,094, entitled VERIFICATION OF

[0381] U.S. Patent Application Serial No. 14 / 226,117, entitled POWER MANAGEMENT

[0382] U.S. Patent Application Serial No. 14 / 226,075, entitled MODULAR POWERED

[0383] U.S. Patent Application Serial No. 14 / 226,093, entitled FEEDBACK ALGORITHMS

[0384] U.S. Patent Application Serial No. 14 / 226,116, entitled SURGICAL INSTRUMENT

[0385] U.S. Patent Application Serial No. 14 / 226,071, entitled SURGICAL INSTRUMENT

[0386] U.S. Patent Application Serial No. 14 / 226,097, entitled SURGICAL INSTRUMENT

[0387] U.S. Patent Application Serial No. 14 / 226,126, entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 10 / 004,497;

[0388] U.S. Patent Application Serial No. 14 / 226,133, entitled MODULAR SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application Publication No. 2015 / 0272557;

[0389] U.S. Patent Application Serial No. 14 / 226,081, entitled SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Patent 9,804,618;

[0390] U.S. Patent Application Serial No. 14 / 226,076, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Patent 9,733,663;

[0391] U.S. Patent Application Serial No. 14 / 226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. Patent 9,750,499; and

[0392] U.S. Patent Application Serial No. 14 / 226,125, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent 10,201,364.

[0393] The Applicant of the present application also owns the following patent applications that were filed on September 5, 2014 and which are each herein incorporated by reference in their entirety:

[0394] U.S. Patent Application Serial No. 14 / 479,103, entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent 10,111,679;

[0395] U.S. Patent Application Serial No. 14 / 479,119, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Patent No. 9,724,094;

[0396] U.S. Patent Application Serial No. 14 / 478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Patent No. 9,737,301 ;

[0397] U.S. Patent Application Serial No. 14 / 478,895, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION, now U.S. Patent No. 9,757,128;

[0398] U.S. Patent Application Serial No. 14 / 479,110, entitled POLARITY OF HALL MAGNET TO IDENTIFY CARTRIDGE TYPE, now U.S. Patent No. 10,016,199;

[0399] U.S. Patent Application Serial No. 14 / 479,098, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Patent No. 10,135,242;

[0400] U.S. Patent Application Serial No. 14 / 479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Patent No. 9,788,836; and

[0401] 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.

[0402] The Applicant of the present application also owns the following patent applications, filed on April 9, 2014 and each herein incorporated by reference in its entirety:

[0403] U.S. Patent Application Serial No. 14 / 248,590, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Patent No. 9,826,976;

[0404] U.S. Patent Application Serial No. 14 / 248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Patent No. 9,649,110;

[0405] U.S. Patent Application Serial No. 14 / 248,595, entitled SURGICAL SYSTEM COMPRISING FIRST AND SECOND DRIVE SYSTEMS, now U.S. Patent No. 9,844,368;

[0406] U.S. Patent Application Serial No. 14 / 248,588, entitled POWERED LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication No. 2014 / 0309666;

[0407] U.S. Patent Application Serial No. 14 / 248,591, entitled SURGICAL INSTRUMENT COMPRISING A GAP SETTING SYSTEM, now U.S. Patent No. 10,149,680;

[0408] U.S. Patent Application Serial No. 14 / 248,584, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Patent No. 9,801,626;

[0409] U.S. Patent Application Serial No. 14 / 248,587, entitled POWERED SURGICAL STAPLER, now U.S. Patent No. 9,867,612;

[0410] U.S. Patent Application Serial No. 14 / 248,586, now U.S. Patent No. 10,136,887, entitled “DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICALINSTRUMENT”; and

[0411] - U.S. Patent Application Serial No. 14 / 248,607, entitled “MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUSINDICATION ARRANGEMENTS,” now U.S. Patent No. 9,814,460.

[0412] 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:

[0413] U.S. Provisional Patent Application Serial No. 61 / 812,365, entitled “SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”;

[0414] U.S. Provisional Patent Application Serial No. 61 / 812,376, entitled “LINEAR CUTTER WITH POWER”;

[0415] U.S. Provisional Patent Application Serial No. 61 / 812,382, entitled “LINEAR CUTTER WITH MOTOR AND PISTOL GRIP”;

[0416] U.S. Provisional Patent Application Serial No. 61 / 812,385, entitled “SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL”; and

[0417] - U.S. Provisional Patent Application Serial No. 61 / 812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR."

[0418] The applicant of this patent application owns the following U.S. provisional patent applications filed on December 28, 2017, the disclosures of each of which are incorporated herein by reference in their entirety:

[0419] U.S. Provisional Patent Application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM;

[0420] U.S. Provisional Patent Application Serial No. 62 / 611,340, entitled CLOUD- BASED MEDICAL ANALYTICS; and

[0421] U.S. Provisional Patent Application Serial No. 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM.

[0422] Applicant of the present application owns the following U.S. Provisional Patent Applications that were filed on March 28, 2018 and which are each herein incorporated by reference in their respective entirety:

[0423] U.S. Provisional Patent Application Serial No. 62 / 649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;

[0424] U.S. Provisional Patent Application Serial No. 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;

[0425] U.S. Provisional Patent Application Serial No. 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS;

[0426] U.S. Provisional Patent Application Serial No. 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;

[0427] U.S. Provisional Patent Application Serial No. 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;

[0428] U.S. Provisional Patent Application Serial No. 62 / 649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;

[0429] U.S. Provisional Patent Application Serial No. 62 / 649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;

[0430] U.S. Provisional Patent Application Serial No. 62 / 649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;

[0431] U.S. Provisional Patent Application Serial No. 62 / 649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;

[0432] U.S. Provisional Patent Application Serial No. 62 / 649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;

[0433] U.S. Provisional Patent Application Serial No. 62 / 649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;

[0434] U.S. Provisional Patent Application Serial No. 62 / 649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0435] U.S. Provisional Patent Application Serial No. 62 / 649,307, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and

[0436] - U.S. Provisional Patent Application Serial No. 62 / 649,323, entitled “SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.”

[0437] The applicant of the present application owns the following U.S. patent applications filed on March 29, 2018, each of which is incorporated herein by reference in its entirety:

[0438] U.S. patent application Ser. No. 15 / 940,641, entitled “INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES”;

[0439] U.S. patent application Ser. No. 15 / 940,648, entitled “INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES”;

[0440] U.S. patent application serial number 15 / 940,656, entitled “SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES”;

[0441] U.S. patent application serial number 15 / 940,666, entitled “SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS”;

[0442] U.S. patent application serial number 15 / 940,670, entitled “COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS”;

[0443] U.S. patent application serial number 15 / 940,677, entitled “SURGICAL HUB CONTROL ARRANGEMENTS”;

[0444] U.S. Patent Application Serial No. 15 / 940,632, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;

[0445] U.S. Patent Application Serial No. 15 / 940,640, entitled COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS;

[0446] U.S. Patent Application Serial No. 15 / 940,645, entitled SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT;

[0447] U.S. Patent Application Serial No. 15 / 940,649, entitled DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME;

[0448] U.S. Patent Application Serial No. 15 / 940,654, entitled SURGICAL HUB SITUATIONAL AWARENESS;

[0449] U.S. Patent Application Serial No. 15 / 940,663, entitled SURGICAL SYSTEM DISTRIBUTED PROCESSING;

[0450] U.S. Patent Application Serial No. 15 / 940,668, entitled AGGREGATION AND REPORTING OF SURGICAL HUB DATA;

[0451] U.S. Patent Application Serial No. 15 / 940,671, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;

[0452] U.S. Patent Application Serial No. 15 / 940,686, entitled DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE;

[0453] U.S. Patent Application Serial No. 15 / 940,700, entitled STERILE FIELD INTERACTIVE CONTROL DISPLAYS;

[0454] U.S. Patent Application Serial No. 15 / 940,629, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;

[0455] U.S. Patent Application Serial No. 15 / 940,704, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;

[0456] U.S. Patent Application Serial No. 15 / 940,722, entitled CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY; and

[0457] U.S. Patent Application Serial No. 15 / 940,742, entitled DUAL CMOS ARRAY IMAGING.

[0458] Applicant of the present application owns the following U.S. Patent Applications that were filed on March 29, 2018 and which are each herein incorporated by reference in their respective entirety:

[0459] U.S. Patent Application Serial No. 15 / 940,636, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;

[0460] U.S. Patent Application Serial No. 15 / 940,653, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS;

[0461] U.S. Patent Application Serial No. 15 / 940,660, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;

[0462] U.S. Patent Application Serial No. 15 / 940,679, entitled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET;

[0463] U.S. Patent Application Serial No. 15 / 940,694, entitled CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION;

[0464] U.S. Patent Application Serial No. 15 / 940,634, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;

[0465] U.S. Patent Application Serial No. 15 / 940,706, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; and

[0466] U.S. Patent Application Serial No. 15 / 940,675, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES.

[0467] Applicant of the present application owns the following U.S. Patent Applications that were filed on March 29, 2018 and which are each herein incorporated by reference in their respective entirety:

[0468] U.S. Patent Application Serial No. 15 / 940,627, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0469] U.S. Patent Application Serial No. 15 / 940,637, entitled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0470] U.S. Patent Application Serial No. 15 / 940,642, entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0471] U.S. Patent Application Serial No. 15 / 940,676, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0472] U.S. Patent Application Serial No. 15 / 940,680, entitled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0473] U.S. Patent Application Serial No. 15 / 940,683, entitled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0474] U.S. Patent Application Serial No. 15 / 940,690, entitled DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and

[0475] U.S. Patent Application Serial No. 15 / 940,711, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

[0476] Numerous specific details are set forth herein to provide a thorough understanding of the overall structure, functioning, manufacture, and use of the embodiments described and shown in the specification. Well-known operations, components, 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, and thus can recognize that the particular structural and functional details disclosed herein are representative and illustrative. Variations and changes can be made to these embodiments without departing from the scope of the claims.

[0477] 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. Similarly, 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.

[0478] 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.

[0479] 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. As the reader continues to review this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural orifice, through an incision or puncture formed in tissue, and the like. The working portion or end effector portion of the instrument 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.

[0480] A surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge is not removable from the first jaw or at least is readily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are contemplated in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes an articulation joint configured to permit the end effector to rotate or articulate relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

[0481] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored in the cartridge body can then be deployed into the tissue. The cartridge body includes staple cavities defined therein, wherein the staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples are also possible.

[0482] The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first or un-fired position and a second or fired position to eject the staples from the staple cartridge. The drivers are retained in the cartridge body by a retainer that extends around a bottom of the cartridge body and includes a resilient member configured to grasp the cartridge body and retain the retainer to the cartridge body. The drivers are movable by a sled between their un-fired position and their fired position. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramp surfaces configured to slide under the drivers and lift the drivers toward the anvil, and the staples are supported on the drivers.

[0483] In addition to the above, the sled can also be moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages the first jaw and a second cam that engages the second jaw. As the firing member is advanced distally, the first and second cams can control the distance between the deck of the cartridge and the anvil, or the tissue gap. The firing member further includes a knife configured to cut tissue captured intermediate the cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximate the ramped surface so that the staples are ejected prior to the knife.

[0484] A surgical instrument 10000 is shown in Figure 1 . The surgical instrument 10000 includes a handle 10100, a shaft 10200 extending from the handle 10100, and an end effector 10400. The end effector 10400 includes a first jaw 10410 configured to receive a staple cartridge and a second jaw 10420 movable relative to the first jaw 10410. The second jaw 10420 includes an anvil including staple forming pockets defined therein. The surgical instrument 10000 further includes a closure actuator 10140 configured to drive a closure system of the surgical instrument 10000 and move the second jaw 10420 between an undamped position and a clamped position. With reference to Figure 89 , the closure actuator 10140 is operably coupled with a closure tube 10240 that is advanced distally when the closure actuator 10140 is closed. In such instances, the closure tube 10240 contacts the second jaw and cams and / or pushes the second jaw 10420 down into its clamped position. The second jaw 10420 is pivotably coupled to the first jaw about a pivot axis. That is, in alternative embodiments, the second jaw can translate and rotate as it is moved to its clamped position. Further, in various alternative embodiments, the surgical instrument includes a staple cartridge jaw that is movable relative to an anvil jaw between an undamped position and a clamped position. In any event, the handle 10100 includes a lock configured to releasably retain the closure actuator 10140 in its clamped position. The handle 10100 further includes release actuators 10180a, 10180b that, when either is actuated, unlock the closure actuator 10140 so that the end effector can be reopened. In various alternative embodiments, the handle 10100 includes an electric motor configured to move the closure tube 10240 proximally and / or distally when actuated by a clinician.

[0485] The end effector 10400 is attached to the shaft 10200 about an articulation joint 10500 and is rotatable within a plane about an articulation axis. The shaft 10200 defines a longitudinal axis, and the end effector 10400 is articulatable between a position in which the end effector 10400 is aligned with the longitudinal axis and a position in which the end effector 10400 extends at a lateral angle relative to the longitudinal axis. The handle 10100 includes an electric motor and a control system configured to control operation of the electric motor. The electric motor comprises a brushless DC motor; however, the electric motor can comprise any suitable motor, such as a brushed DC motor. The complete disclosure of U.S. Patent No. 10,149,683, entitled “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,” published December 11, 2018, is incorporated by reference herein. The entire disclosure of U.S. Patent Application Publication No. 2018 / 0125481, entitled “MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT,” published May 10, 2018, is incorporated by reference herein. The handle 10100 further includes a replaceable and / or rechargeable battery 10300 that is attachable to the handle housing that powers the surgical instrument 10000. The entire disclosure of U.S. Patent No. 8,632,525, entitled “POWER CONTROL ARRANGEMENTS FOR SURGICAL INSTRUMENTS AND BATTERIES,” published January 21, 2014, is incorporated by reference herein. The electric motor is operably coupled with a firing drive 10250 of the surgical instrument 10000 and is configured to drive a firing member of the firing drive 10250 through a staple firing stroke. The electric motor includes a rotatable output that includes a gear that interfaces with a translatable rack of the firing drive 10250. The electric motor is operated in a first direction to drive the firing member through a staple firing stroke and in a second or opposite direction to retract the firing member and / or reset the firing drive 10250. The surgical instrument 10000 further includes an actuator 10150 that is in communication with the motor control system that, when actuated or rotated, signals the motor control system to operate the electric motor in the first direction and begin a staple firing stroke. If the actuator 10150 is released, the motor control system stops the electric motor. When the actuator 10150 is re-actuated, the motor control system again operates the electric motor in the first direction to continue the staple firing stroke. When the firing member reaches the end of the staple firing stroke, the control system stops the electric motor, waits for input from the clinician.When the clinician releases the actuator 10150 at this point, the control system reverses operation of the electric motor to retract the firing member back to its unfired position. The handle 10100 further comprises a retraction actuator in communication with the motor control system that, when actuated by the clinician, reverses the direction of the electric motor to retract the firing drive regardless of whether the firing member has reached the end of the staple firing stroke. When the retraction actuator is depressed, the staple firing stroke is terminated regardless of whether the firing member has reached the end of the staple firing stroke.

[0486] The electric motor of the surgical instrument 10000 also serves to selectively drive an articulation drive system to articulate the end effector 10400. More specifically, the articulation drive system includes an articulation driver that is selectively engageable with the firing drive and, when the articulation driver is engaged with the firing drive, is movable proximally and distally by operation of the electric motor to articulate the end effector 10400. When the electric motor is operated in its first direction, the end effector 10400 is articulated in a first direction to push the articulation driver distally in such instances. Similarly, when the electric motor is operated in its second direction, the end effector 10400 is articulated in a second direction to pull the articulation driver proximally. When the articulation driver is not engaged with the firing drive, operation of the electric motor does not articulate the end effector 10400. Rather, in such instances, the electric motor merely moves the firing drive. That is, it will be appreciated that movement of the firing drive to articulate the end effector 10400 does not result in the performance of a staple firing stroke. The range of motion required to articulate the end effector 10400 is smaller than the range of motion of a staple firing stroke and occurs near the beginning of a staple firing stroke such that staples are not ejected and tissue is not cut when the end effector 10400 is articulated. The surgical instrument 10000 further comprises an articulation lock that unlocks the articulation driver when it is moved longitudinally by the firing drive and then locks the end effector 10400 in place when the articulation driver is not driven by the firing drive. The entire disclosure of U.S. Patent No. 9,629,629, entitled “CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS,” published April 25, 2017, is incorporated by reference herein. As noted above, in addition to the firing motor for driving the articulation drive system, the surgical instrument can comprise a separate articulation motor.

[0487] In addition to the above, reference is made to Figure 1The handle 10100 includes a frame 10110, a housing 10120, and an articulation actuator 10160. The articulation actuator 10160 includes, for example, a rocker switch that is oriented vertically on the housing 10120 and that is in communication with the motor control system. The rocker switch is rotatable up and down about an axis to articulate the end effector 10400. The clinician pushes an upper portion of the articulation actuator 10160 to articulate the end effector 10400 to the left and a lower portion of the articulation actuator 10160 to articulate the end effector 10400 to the right. This arrangement provides an intuitive interface for the clinician; however, any other suitable arrangement can be employed. The handle 10100 also includes a home actuator 10170 that is in communication with the motor control system. When the home actuator 10170 is actuated by the clinician, the motor control system operates the electric motor to re-center the end effector 10400 along the longitudinal axis of the shaft 10200 of the surgical instrument 10000. To this end, the control system is configured to track the position of the end effector so that when the home actuator 10170 is actuated, the control system operates the electric motor in the correct direction to articulate the end effector 10400 in the correct direction and by the correct amount. In various instances, the surgical instrument 10000 includes a linear encoder that is configured to track the position of the articulation driver, for example, so that when the home actuator 10170 is actuated, the control system can properly center the end effector 10400.

[0488] In addition to the above, the shaft 10200 is rotatable relative to the handle 10100. The shaft 10200 includes a frame 10210 that is attached to the frame 10110 of the handle 10100. In embodiments in which the shaft 10200 is readily removable from the handle 10100, the shaft frame 10210 can be separable from the handle frame 10110. In embodiments in which the shaft 10200 is not removable from the handle 10100, the shaft frame 10210 and the handle frame 10110 can be integrally formed. In any event, the shaft 10200 includes a nozzle or grip 10220 that is fixedly mounted to a closure tube 10240 of the shaft 10200. The grip 10220 includes finger grooves 10222 defined therein and ridges 10224 extending between the finger grooves 10222 that provide walls against which a clinician can push their fingers and assist the clinician in rotating the shaft 10200 about its longitudinal axis.

[0489] Notably, in addition to the above, the end effector 10400 rotates with the shaft 10200 when the shaft 10200 is rotated about its longitudinal axis. Thus, the end effector 10400 rotates clockwise when the shaft 10200 is rotated clockwise by the clinician and counterclockwise when the shaft 10200 is rotated counterclockwise by the clinician. In various alternative embodiments, the surgical instrument 10000 comprises an electric motor configured to rotate the shaft 10200 about its longitudinal axis. In either case, the shaft 10200 is rotatable from a top dead center (TDC) position, in which the anvil 10420 is positioned directly above the staple cartridge jaw 10410, to any other suitable position within a full 360 degree range of positions. For example, the shaft 10200 is rotatable to a right 90 degree position, in which the anvil 10420 faces to the right of the handle 10100, or a left 90 degree position, in which the anvil 10420 faces to the left of the handle 10100. The shaft 10200 is also rotatable to a bottom dead center (BDC) position, in which the staple cartridge jaw 10410 is positioned directly above the anvil 10420.

[0490] As discussed above, the end effector 10400 is both articulatable about the articulation joint 10500 and rotatable with the shaft 10200. As discussed above, when the end effector 10400 is in its TDC position, the articulation control 10160 is intuitive to the user when the end effector 10400 is rotated in the plane - push up to articulate left and push down to articulate right. This arrangement is intuitive even after the shaft 10200 and the end effector 10400 have been rotated 90 degrees to the right or to the left. However, when the shaft 10200 and the end effector 10400 have been rotated 90 degrees in either direction, the articulation control 10160 can become counter-intuitive to the clinician. In fact, the articulation control 10160 can appear to be backwards. As such, the control system of the surgical instrument 10000 is configured to be able to jump the surgical instrument's response to the articulation control 10160 when the shaft 10200 and the end effector 10400 have been rotated 90 degrees in either direction. In such instances, the control becomes: push up to articulate right and push down to articulate left. To this end, as described in greater detail below, the surgical instrument 10000 is configured to detect the orientation of the shaft 10200 relative to the handle 10100, i.e., the surgical instrument is configured to detect whether the end effector 10400 is at least partially inverted relative to the handle 10100, and then enter an alternative operating control mode in which the responsiveness of the surgical instrument 10000 to the articulation control 10160 has been reversed. This arrangement can make the surgical instrument 10000 easier to use in a variety of situations.

[0491] Reference Figure 1 The surgical instrument 10000 includes a switch 10130 mounted to the handle 10100 in communication with the control system which is configured to detect the rotation of the shaft 10200 relative to the handle 10100. The switch 10130 includes a switch body 10132 fixedly mounted to the handle frame 10110 and three electrical contacts 10133 which are part of a switch circuit in communication with the control system. The switch 10000 further includes a switch arm 10134 rotatably connected to the switch body 10132 and an electrical contact 10136 positioned on the switch body 10132. The switch arm 10134 is composed of an electrically conductive material, such as brass, and closes the switch circuit when the switch arm 10134 is in contact with the electrical contact 10136. When the shaft 10200 is rotated through the left or right 90 degree position, the switch arm 10134 is in the open position Figure 3and the closed position. More specifically, the grip or nozzle 10220 includes a cam 10230 defined thereon that urges the switch arm 10134 into its closed position when the shaft 10200 and end effector 10400 are at least partially inverted. The cam 10230 allows the switch arm 10134 to resiliently move back to its open position and open the switch circuit when the shaft 10200 is rotated upward through the 90-degree position. The switch arm 10134 includes a roller 10135 mounted thereto to facilitate relative rotation between the switch arm 10134 and the grip 10220.

[0492] The surgical instrument 11000 is shown in Figure 2 The surgical instrument 11000 is similar in many respects to the surgical instrument 10000. The surgical instrument 11000 includes a handle 11100 and a shaft 11200 extending from the handle 11100. The handle 11100 includes a frame 11110 and the shaft 11200 includes a frame 11210 attached to the handle frame 11110. The shaft 11200 includes a grip or nozzle 11220, a first magnetic element 11230s positioned on one side of the grip 11220, and a second magnetic element 11230n positioned on an opposite side of the grip 11220. In other words, the first and second magnetic elements 11230s and 11230n are mounted 180 degrees apart. The handle 11100 further includes a control system that includes at least one sensor 11130, such as a Hall effect sensor, mounted to the handle frame 11110 that is configured to sense the position of the magnetic elements 11230s and 11230n and utilize that information to determine the orientation of the shaft 11200 relative to the handle 11100. Notably, the first magnetic element 11230s includes a permanent magnet having a south pole facing the handle 11100 and a north pole facing away from the handle 11100, and the second magnetic element 11230n includes a permanent magnet having a north pole facing the handle 11100 and a south pole facing away from the handle 11100. The magnetic elements 11230s and 11230n interfere with the magnetic field emitted by the Hall effect sensor and, when the shaft 11200 is at least partially inverted, the interference associated with such an orientation of the shaft 11200 is detected by the control system of the surgical instrument 11000 via the sensing circuit including the sensor 11130. In such instances, similar to above, the control system enters its second mode of operation that jumps the responsiveness of the surgical instrument 11000 to the articulation control 10160 as described above.

[0493] The surgical instrument 12000 is shown in Figures 2-5 and Figure 5The surgical instrument 12000 is similar in many respects to the surgical instrument 10000. The surgical instrument 12000 includes a handle 12100 and a shaft 12200 extending from the handle 12100. The handle 12100 includes a housing, a first articulation control 12160a positioned on a first side of the handle housing, and a second articulation control 12160b positioned on a second or opposite side of the handle housing. The first articulation control 12160a is in communication with a control system of the surgical instrument 12000 via a first control circuit, and the second articulation control 12160b is in communication with the control system via a second control circuit. The control system is configured to operate an electric motor of a staple firing drive in a first direction to articulate an end effector of the shaft 12200 in a first direction when the first articulation control 12160a is actuated, and to operate the electric motor of the staple firing drive in a second or opposite direction to articulate the end effector in a second or opposite direction when the second articulation control 12160b is actuated. The handle 12100 further includes a centering actuator or home actuator 10170a positioned on a first side of the handle 12100 and a second centering actuator or second home actuator 10170b positioned on a second side of the handle 12100. Similar to above, the actuators 10170a and 10170b are in communication with the control system which is configured such that actuation of either of the centering actuators 10170a or 10170b causes the control system to operate the electric motor to re-center the end effector.

[0494] The surgical instrument 13000 is shown in Figure 6 and Figure 7The surgical instrument 13000 is similar in many respects to the surgical instrument 10000. The surgical instrument 13000 comprises a handle 13100 and a shaft 13200 extending from the handle 13100. The shaft 13200 comprises a housing, a first articulation control 13260a positioned on a first side of the shaft housing, and a second articulation control 13260b positioned on a second or opposite side of the shaft housing. The first articulation control 13260a is in communication with a control system of the surgical instrument 13000 via a first control circuit, and the second articulation control 13260b is in communication with the control system via a second control circuit. The control system is configured to operate an electric motor of a staple firing drive in a first direction to articulate an end effector 10400 of the shaft 13200 in a first direction when the first articulation control 13260a is actuated, and to operate the electric motor of the staple firing drive in a second or opposite direction to articulate the end effector 10400 in the second or opposite direction when the second articulation control 13260b is actuated. In other words, the end effector 10400 is articulated in the direction of the actuated articulation control. The first articulation control 13260a is positioned on a first finger ridge defined on a grip or nozzle 13220 of the shaft 13200, and the second articulation control 13260b is positioned on a second finger ridge defined on the grip 13220. Notably, the articulation controls 13260a and 13260b are positioned 180 degrees apart. Alternatively, the articulation controls 13260a and 13260b can be positioned in finger grooves defined in the grip 13220, although any suitable arrangement can be employed. This arrangement provides the advantage of having the articulation controls in a position that is readily accessible to the clinician's hand during use, and thus, they can be used in an intuitive manner, as the relative arrangement and articulation directions of the articulation controls 13260a and 13260b are fixed.

[0495] The surgical instrument 14000 is shown in Figure 8 and Figure 9The surgical instrument 14000 is similar in many respects to the surgical instrument 13000. The surgical instrument 14000 includes a handle 13100 and a shaft 14200 extending from the handle 13100. The shaft 14200 includes a housing, a first articulation control 14260a positioned on a first side of the shaft housing, and a second articulation control 14260b positioned on a second side of the shaft housing. The first articulation control 14260a is in communication with a control system of the surgical instrument 14000 via a first control circuit, and the second articulation control 14260b is in communication with the control system via a second control circuit. The control system is configured to operate an electric motor of a staple firing drive in a first direction to articulate an end effector 10400 of the shaft 14200 in a first direction when the first articulation control 14260a is actuated, and to operate the electric motor of the staple firing drive in a second or opposite direction to articulate the end effector 10400 in the second or opposite direction when the second articulation control 14260b is actuated. The first articulation control 14260a is positioned in a first finger groove defined in a grip or nozzle 14220 of the shaft 14200, and the second articulation control 14260b is positioned in a second finger groove defined in the grip 14220, although any suitable arrangement can be employed.

[0496] In addition to the above, the shaft 14200 includes a third articulation control 14260c positioned on the second side of the shaft housing and a fourth articulation control 14260d positioned on the first side of the shaft housing. The third articulation control 14260c is in communication with the control system of the surgical instrument 14000 via a third control circuit, and the fourth articulation control 14260b is in communication with the control system via a fourth control circuit. The control system is configured to operate the electric motor of the staple firing drive in the second direction to articulate the end effector of the shaft in the second direction when the third articulation control 14260c is actuated, and to operate the electric motor of the staple firing drive in the first direction to articulate the end effector in the first direction when the fourth articulation control 14260d is actuated. The third articulation control 14260c is positioned in a third finger groove defined in the grip 14220 of the shaft 14200, and the fourth articulation control 14260d is positioned in a fourth finger groove defined in the grip 14220, although any suitable arrangement can be employed.

[0497] The surgical instrument 15000 is shown in FIG. 34. The surgical instrument 15000 includes a handle 15100 and a shaft 15200 extending from the handle 15100. The shaft 15200 includes a housing, a first articulation control 15260a positioned on a first side of the shaft housing, and a second articulation control 15260b positioned on a second side of the shaft housing. The first articulation control 15260a is in communication with a control system of the surgical instrument 15000 via a first control circuit, and the second articulation control 15260b is in communication with the control system via a second control circuit. The control system is configured to operate an electric motor of a staple firing drive in a first direction to articulate an end effector 10400 of the shaft 15200 in a first direction when the first articulation control 15260a is actuated, and to operate the electric motor of the staple firing drive in a second or opposite direction to articulate the end effector 10400 in the second or opposite direction when the second articulation control 15260b is actuated. The first articulation control 15260a is positioned in a first finger groove defined in a grip or nozzle 15220 of the shaft 15200, and the second articulation control 15260b is positioned in a second finger groove defined in the grip 15220, although any suitable arrangement can be employed. Figure 10The surgical instrument 15000 is similar in many respects to the surgical instrument 10000. The surgical instrument 15000 includes a handle 15100 and a shaft 10200 extending from the handle 15100. The handle 15100 includes an articulation actuator 15160 in communication with a control system of the surgical instrument 15000. In contrast to the vertically arranged articulation actuator 10160, the articulation actuator 15160 is horizontally arranged. The articulation actuator 15160 includes a rotatable element that is rotatable in a plane parallel, or at least substantially parallel, to the longitudinal axis of the shaft 10200. The rotatable element is rotatable distally to articulate the end effector 10400 to the right of the handle 15100 and proximally to articulate the end effector 10400 to the left of the handle 15100. This is true whether the end effector 10400 is rotated up or down, as the control response jumps when the end effector 10400 is rotated 90 degrees in either direction from its TDC position. That is, the controls of the articulation actuator 15160 can be reversed as described above. The articulation actuator 15160 includes a distal contact as part of a first articulation control circuit and a proximal contact as part of a second articulation control circuit. When the rotatable element is in its distal position, the rotatable element engages the distal contact and closes the first articulation control circuit. When the rotatable element is in its distal position, the rotatable element does not contact the proximal contact and thus the second articulation control circuit is open. Similarly, when the rotatable element is in its proximal position, the rotatable element engages the proximal contact and closes the second articulation control circuit. Correspondingly, when the rotatable element is in its proximal position, the rotatable element does not contact the distal contact and thus the first articulation control circuit is open.

[0498] In addition to the above, the articulation actuator 15160 includes a stop located intermediate the range of motion of the rotatable element. The stop is configured to resist the motion of the rotatable element as it moves from one side of the articulation actuator 15160 to the other. This resistance to the motion of the rotatable element signals to the clinician that once the clinician moves the rotatable element past this point, they will articulate the end effector 10400 in the opposite direction. Moreover, such a stop provides a position at which the rotatable element is stopped such that the end effector 10400 is not articulated in either direction. The rotatable element includes a spine that can be aligned with the central position, or stop position, of the rotatable element that the clinician can push and pull to move the rotatable element. Such a spine provides the clinician with a tactile sense of the direction in which the rotatable element is rotating, and thus the direction in which the end effector 10400 is being articulated.

[0499] As described above, various embodiments are contemplated in which the jump in control responsiveness of the surgical instrument can be prevented. In at least one instance, the handle of the surgical instrument includes an actuator in communication with the control system that, when actuated, causes the control system to not enter its second mode of operation or jump mode of operation. In at least one such instance, the handle further includes an indicator, such as a light emitting diode (LED), that is illuminated to indicate the status of the surgical instrument, i.e., whether the articulation control will jump when the end effector is rotated 90 degrees from its TDC position. In certain instances, the surgical instrument includes an input screen in communication with the microprocessor of the control system that can receive an input to prevent the control system from entering its second mode of operation or jump mode of operation. In addition to or instead of the above, the jump point at which the surgical instrument enters its second mode of operation can be adjusted. In at least one such embodiment, the clinician can modify the jump point, for example, from the TDC position of the end effector, in either direction, to 85 degrees. Any suitable number, such as 80 degrees, 95 degrees, or 100 degrees, can be used to accommodate the preferences of the clinician. In at least one embodiment, the surgical instrument includes an input screen in communication with the microprocessor of the control system that is configured to receive an input from the clinician to adjust the articulation control jump point.

[0500] During use, it is desirable that the articulation control not jump unexpectedly while the clinician is using the articulation control. When the clinician begins to articulate the end effector, the control system maintains the articulation control mode until the clinician releases the articulation control, even if the end effector and shaft rotate past the jump point during articulation. Once articulation has ceased, the control system can reorient the articulation control or switch to the jump articulation control mode if the end effector and shaft are still in an inverted position. In certain embodiments, the control system does not immediately jump the articulation control. Rather, the control system includes a timer circuit and / or the microprocessor of the control system is programmed to wait a certain amount of time before jumping the control. In at least one instance, the control system waits, for example, 5 seconds before jumping the articulation control from the last time the articulation control was used. Alternatively, the control system can wait, for example, 2 seconds or 10 seconds. Such an arrangement can help prevent confusion with the user of the surgical instrument. In various embodiments, the surgical instrument includes a haptic feedback generator in communication with the control system that is activated by the control system when the articulation control is jumped. Motor noise, light, sound, and / or vibration feedback can be used, for example. In some embodiments, the shaft and / or handle includes a mechanical switch that audibly clicks when the shaft is rotated in either direction past its jump point.

[0501] Figure 11 and Figure 12A surgical instrument 32000 is shown that includes a handle 32100 and a shaft 32200. The handle 32100 includes an articulation control 32160 and an articulation jump switch 32130 that communicates with the control system of the surgical instrument 32000. The articulation jump switch 32130 is mounted to a control board, such as a printed control board (PCB), that includes the hardware and software for the control system of the surgical instrument 32000. As the shaft 32200 rotates through its 90 degree left or right position, the shaft 32200 contacts the articulation jump switch 32130, which is detected by the control system. At this point, the control system follows an algorithm for deciding when or if to jump the articulation control. The algorithm 32900 is shown in Figure 13 FIG. 29, which can control this, but any suitable algorithm can be used. Similar to the above, the shaft 32200 includes a cam 32230 that is configured to contact the articulation jump switch 32130. For the reasons described above, the articulation jump switch 32130 is open or "off when the shaft 32200 is rotated 180 degrees, and closed or "on when the shaft 32200 is rotated another 180 degrees. The cam 32230 is molded into the shroud of the shaft 32200, but can include any suitable arrangement. As described above, the travel of the cam 32230 is designed so that any lateral float or eccentricity in the rotation of the shaft 32200 or the cam 32230 does not accidentally close or open the articulation jump switch 32130. To this end, the shaft 32200 includes fixed bearings for controlling the rotation of the shaft 32200 and the cam 32230. Notably, the articulation jump switch 32130 is sealed to prevent fluid ingress.

[0502] In various instances, the surgical instrument includes an input configured to allow the clinician to select whether the articulation control is to be operated in its normal articulation control mode or in its jump-to articulation control mode. In at least one instance, the handle of the surgical instrument includes an input switch in communication with the control system of the surgical instrument. For example, when the input switch is open, the algorithm controls the orientation of the articulation control according to a predetermined set of criteria. When the input switch is closed by the clinician, the algorithm does not use the predetermined set of criteria to control the orientation of the articulation control. Rather, the algorithm uses the orientation of the articulation control selected by the clinician. In at least one instance, the handle includes three input switches in communication with the control system: a first switch that instructs the control system to use the "up" anvil articulation control; a second switch that instructs the control system to use the "down" anvil articulation control; and a third switch that instructs the control system to use the automatic control. In some embodiments, the surgical instrument does not have the automatic jump-to control described herein and can include only the first and second switch inputs. Such an arrangement can greatly reduce the cost and / or complexity of the surgical instrument.

[0503] In various instances, in addition to the above, the jump-to point can be a particular point in the rotation of the shaft 10200. In certain instances, reference is made to the Figure 56, a gray zone can exist around the jump point. For example, the gray zone can include, for example, 20 degrees on either side of the jump point. When the shaft 10200 is in the gray zone, the control system algorithm is configured to not jump the joint motion control even though the shaft 10200 can have rotated past the jump point. Such an arrangement allows the shaft 10200 to rotate back and forth within the gray zone without repeatedly jumping the joint motion control. However, once the shaft 10200 rotates out of the gray zone, the control system algorithm jumps the joint motion control depending on any other criteria required to jump the joint motion control. In various cases, there is a juncture between the range of "anvil up" orientations and the range of "anvil down" orientations. For a shaft capable of rotating 360 degrees, there are two such junctures spaced 180 degrees apart from each other. Each of these junctures is positioned within a transition range of orientations that extends into both the "anvil up" orientation range and the "anvil down" orientation range. When the shaft 10200 is rotated from the "anvil up" orientation into the transition range, the control system does not jump the joint motion control, but further rotation of the shaft 10200 out of the transition range into the "anvil down" orientation will cause the joint motion control to jump. Similarly, when the shaft 10200 is rotated from the "anvil down" orientation into the transition range, the control system does not cause the joint motion control to jump, but further rotation of the shaft 10200 out of the transition range into the "anvil up" orientation will cause the joint motion control to jump. In at least one case, each transition zone includes, for example, a 5 degree orientation from the "anvil up" range and a 5 degree orientation from the "anvil down" range. In other embodiments, for example, each transition zone includes a 10 degree orientation from the "anvil up" range and a 10 degree orientation from the "anvil down" range.

[0504] In various embodiments, in addition to the above, the up orientation and the down orientation of the shaft 10200 are measured relative to a handle and / or housing that rotatably supports the shaft. In such cases, the handle includes a top and a bottom (regardless of its gravitational orientation), and the up orientation of the shaft 10200 is associated with the top of the handle, while the down orientation of the shaft 10200 is associated with the bottom of the handle. In at least one such embodiment, the shaft 10200 includes a gravity sensor, such as an accelerometer and / or a gyroscope, and the handle includes a gravity sensor. In such an embodiment, the shaft gravity sensor and the handle gravity sensor are in communication with the control system, which is configured to assess the relative orientation between the shaft and the handle using data from the gravity sensors. In other embodiments, the up orientation and the down orientation of the shaft 10200 are measured relative to gravity regardless of the gravitational orientation of the handle. In at least one such embodiment, the shaft 10200 includes a gravity sensor in communication with the control system, and the up orientation of the shaft 10200 is associated with a vertically upward position, while the down orientation of the shaft 10200 is associated with a vertically downward position.

[0505] Figure 57 An articulation control 16160 is shown in FIG. 16. The articulation control 16160 includes a first capacitive switch 16162 and a second capacitive switch 16164. The first capacitive switch 16162 and the second capacitive switch 16164 are positioned on opposite sides of an axis 16167. The first capacitive switch 16162 is part of a first articulation control circuit that is in communication with a control system of the surgical instrument, and the second capacitive switch 16164 is part of a second articulation control circuit that is in communication with the control system. When the clinician places their finger on the first capacitive switch 16162, the capacitance of the first capacitive switch 16162 changes, which change is detected by the control system, and in response to the change, the control system causes the end effector of the surgical instrument to articulate to the right. When the clinician places their finger on the second capacitive switch 16164, the capacitance of the second capacitive switch 16164 changes, which change is detected by the control system, and in response to the change, the control system causes the end effector of the surgical instrument to articulate to the left. In various circumstances, the axis 16167 includes a dead zone that, if touched by the clinician, cannot detectably or sufficiently change the capacitance of the first capacitive switch 16162 or the second capacitive switch 16164.

[0506] Figure 58 A dual stage switch 17160 is shown in FIG. 17. When the switch 17160 is depressed into its first stage, a first articulation control circuit is closed. The first articulation control circuit is in communication with a control system of the surgical instrument. When the control system detects that the first articulation control circuit has been closed, the control system operates an articulation drive motor in a first direction to cause the end effector of the surgical instrument to articulate in the first direction. When the switch 17160 is depressed into its second stage, a second articulation control circuit is closed. In various circumstances, the first stage includes a first detent and the second stage includes a second detent. In at least one such circumstance, the switch 17160 includes a dual detent switch that can be depressed to two different depths, for example. In any event, the second articulation control circuit is in communication with the control system of the surgical instrument. When the control system detects that the second articulation control circuit has been closed, the control system operates the articulation drive motor in a second direction to cause the end effector of the surgical instrument to articulate in the second direction. In addition to the above, the second articulation control circuit is open when the first articulation control circuit is closed, and likewise, the first articulation control circuit is open when the second articulation control circuit is closed. As noted above, in alternative embodiments, the articulation control circuits can be open when the articulation control circuits are in their respective stages that operate the articulation motor.

[0507] In addition to the above, many clinicians prefer to look at the patient when performing open surgery and / or look at the endoscope monitor when performing laparoscopic surgery. As a result, the clinician often does not look at the surgical instrument they are holding, but rather relies on the tactile feel and / or intuitive design of the surgical instrument to operate the surgical instrument. In other words, the clinician can not prefer to look down at the handle of the instrument they are holding to verify the direction in which they are articulating the instrument. That is, with reference to Figure 55 and Figure 14 a surgical instrument can include a shaft 18200 that includes an indicator light configured to indicate the direction in which an end effector, such as end effector 18400, is being articulated. The articulation indicator light is visible to the clinician when the clinician is looking directly at the end effector 18400 of the surgical instrument, either directly or through an endoscope system monitor. In various instances, the endoscope system includes an elongate flexible shaft that includes a camera, a light, and / or any other suitable optical device in communication with a control hub that includes a control system and / or a video monitor configured to display the output of the camera. In such instances, the end effector 18400 and the indicator light are visible on the video monitor.

[0508] In addition to the above, with reference again to Figure 15 and Figure 16 the shaft 18200 includes a first indicator light 18260a positioned on the right side of the end effector 18400 that is in communication with the control system of the surgical instrument via a first circuit. When the control system receives an input to articulate the end effector 18400 to the right, the control system operates the articulation drive motor in the direction to articulate the end effector 18400 to the right and also illuminates the first indicator light 18260a. When the control system no longer receives the input, the control system deactivates the articulation drive motor and the first indicator light 18260a. Similarly, the shaft 18200 includes a second indicator light 18260b positioned on the left side of the end effector 18400 that is in communication with the control system of the surgical instrument via a second circuit. When the control system receives an input to articulate the end effector 18400 to the left, the control system operates the articulation drive motor in the direction to articulate the end effector 18400 to the left and also illuminates the second indicator light 18260b. When the control system no longer receives the input, the control system deactivates the articulation drive motor and the second indicator light 18260b.

[0509] As described above, the first indicator light 18260a and the second indicator light 18260b are positioned at a location on the end effector 18400 that can be easily observed by the clinician when the clinician is looking at the end effector 18400. The indicator lights 18260a and 18260b are positioned distally with respect to the articulation joint 10500; however, in alternative embodiments, the indicator lights 18260a and 18260b are positioned proximally with respect to the articulation joint 10500. In various embodiments, the surgical instrument includes more than one set of indicator lights. In at least one such embodiment, the first set of indicator lights 18260a, 18260b are positioned distally with respect to the articulation joint 10500 and the second set of indicator lights 18260a, 18260b are positioned proximally with respect to the articulation joint 10500. An alternative embodiment including indicator lights 18260a' and 18260b' on the shaft 18200' is Figure 17 . Indicator light 18260a' includes an LED in the shape of a right-pointing arrow, while indicator light 18260b' includes an LED in the shape of a left-pointing arrow. The right-pointing arrow 18260a' points to the right of the end effector, but due to the possible rotation of shaft 18200', it does not necessarily point to the right of the surgical instrument handle and / or the clinician. Similarly, the left-pointing arrow 18260b' points to the left of the end effector, but due to the possible rotation of shaft 18200', it does not necessarily point to the left of the surgical instrument handle and / or the clinician. In other words, the arrows, when illuminated, point in the direction in which the end effector is undergoing articulation. For example, assuming that the arrows are observable with the end effector on the endoscope monitor, when the arrows are illuminated when the articulation actuator is actuated, the clinician will have a sense of the direction of the end effector's movement. If the clinician observes that the illuminated arrow is opposite to what they expected when they actuated the articulation actuator, the clinician can react quickly and re-actuate the articulation actuator in the correct direction. In various alternative embodiments, arrows 18260a' and 18260b' can change color when the articulation actuator is actuated. For example, arrow 18260a' can be illuminated red when the end effector is not articulated to the right, and illuminated green when the end effector is articulated to the right. Similarly, arrow 18260b' can be illuminated red when the end effector is not articulated to the left, and illuminated green when the end effector is articulated to the left.

[0510] In various embodiments, further to the above, an articulation indicator light can be embedded in and / or positioned on the housing of the shaft. In certain embodiments, the indicator light is positioned within the interior of the shaft but can be viewed from the exterior of the shaft, for example, through a window and / or opening defined in the shaft.

[0511] Figure 16 andFigure 17 A surgical instrument 26000 is shown in FIG. 32. The surgical instrument 26000 includes a handle 26100 and a shaft 12200 extending from the handle 26100. The shaft 12200 includes an end effector 26400 that includes a staple cartridge jaw 26410 and an anvil jaw 10420. The end effector 26400 also includes a first articulation indicator light 26460a positioned on a first side of the end effector 26400 and a second articulation indicator light 26460b positioned on a second side of the end effector 26400. Similar to the above, when the end effector 26400 is articulated in a first direction, the control system of the surgical instrument 26000 illuminates the first articulation indicator light 26460a. In such cases, the control system does not illuminate the second articulation indicator light 26460b. Correspondingly, when the end effector 26400 is articulated in a second direction, the control system of the surgical instrument 26000 illuminates the second articulation indicator light 26460b. In such cases, the control system does not illuminate the first articulation indicator light 26460a. The indicator lights 26460a and 26460b are mounted to and / or embedded in a frame of the staple cartridge jaw 26410. That is, the indicator lights 26460a and 26460b can be mounted to and / or embedded within a staple cartridge positioned in the staple cartridge jaw 26410. In such cases, the staple cartridge jaw 26410 includes circuitry in communication with the control system of the surgical instrument that is placed in communication with circuitry in the staple cartridge when the staple cartridge is seated in the staple cartridge jaw 26410.

[0512] As described above, the articulation system of a surgical instrument can include an articulation driver that is movable proximally to articulate the end effector in a first direction and distally to articulate the end effector in a second direction. Referring to FIG. 33, the articulation system of the surgical instrument 26000 includes an articulation driver 26200 that is coupled to the end effector 26400. The articulation driver 26200 is coupled to the end effector 26400 such that the articulation driver 26200 is movable proximally to articulate the end effector 26400 in a first direction and distally to articulate the end effector 26400 in a second direction. In the illustrated embodiment, the articulation driver 26200 is coupled to the end effector 26400 such that the articulation driver 26200 is movable proximally to articulate the end effector 26400 in a first direction and distally to articulate the end effector 26400 in a second direction. In such cases, the articulation driver 26200 is coupled to the end effector 26400 such that the articulation driver 26200 is movable proximally to articulate the end effector 26400 in a first direction and distally to articulate the end effector 26400 in a second direction. Figure 18, the surgical instrument can include a handle 26100, a shaft 12200 extending from the handle 26100, and an end effector 10400 rotatably connected to the shaft 12200 about an articulation joint 10500. The shaft 12200 includes an articulation driver 10260 that includes a proximal end operably coupled to an articulation drive system and a distal end coupled to the end effector 10400. To that end, the articulation driver 10260 extends distally past the articulation joint 10500 and, in this embodiment, is partially visible to the clinician holding the surgical instrument. The clinician visible portion of the articulation driver 10260 can also be seen by the clinician through the endoscope monitor. In fact, the clinician is able to observe the movement of the articulation driver 10260 through the endoscope monitor. The visible portion of the articulation driver 10260 includes indicia thereon, such as indicia 24640a' and 24640b', that correlate the movement of the articulation driver 10260 with the movement of the end effector 10400. In at least one instance, the indicia can include a first set of indicia including an arrow 24640a' pointing distally and a circular arrow indicating the direction in which the end effector 10400 will rotate if the articulation driver 10260 is moved distally. The indicia can also include a second set of indicia including an arrow 24640b' pointing proximally and a circular arrow in the opposite direction indicating the direction in which the end effector 10400 will rotate if the articulation driver 10260 is moved proximally. An alternative articulation driver 10260' is shown in FIG. 36 that includes a laterally extending portion that is readily visible to the clinician. In such instances, the indicia described above are positioned on the laterally extending portion. Figure 26A

[0513] The surgical instrument 19000 is shown in FIG. 37. Figure 26B ​The surgical instrument 19000 is similar in many respects to the surgical instrument 15000. The surgical instrument 19000 includes a handle 19100 and a shaft 10200 extending from the handle 19100. The handle 19100 includes an articulation actuator 19160 in communication with a control system of the surgical instrument 19000. In contrast to the vertically arranged articulation actuator 10160, the articulation actuator 19160 is arranged horizontally. The articulation actuator 19160 includes a slidable element 19162 that is slidable along an axis that is parallel, or at least substantially parallel, to a longitudinal axis of the shaft 10200. In at least one instance, the axis of the articulation actuator 19160 is aligned with the longitudinal axis of the shaft 10200. The slidable element 19162 is positioned within a slot 19164 on the handle 19100 of the surgical instrument 19000. The slidable element 19162 is slidable distally to articulate the end effector 10400 to the right of the handle 19100 and proximally to articulate the end effector 10400 to the left of the handle 19100. This is true whether the end effector 10400 is rotated up or down, as the control response jumps when the end effector 10400 is rotated 90 degrees in either direction from its TDC position. That is, the control of the articulation actuator 19160 can be reversed as described above.

[0514] Articulation actuator 19160 includes a distal contact as part of a first articulation control circuit and a proximal contact as part of a second articulation control circuit. When slidable element 19162 is in its distal position, slidable element 19162 engages the distal contact and closes the first articulation control circuit. When slidable element 19162 is in its distal position, slidable element 19162 is not in contact with the proximal contact, and thus the second articulation control circuit is open. Similarly, when slidable element 19162 is in its proximal position, slidable element 19162 engages the proximal contact and closes the second articulation control circuit. Correspondingly, when slidable element 19162 is in its proximal position, slidable element 19162 is not in contact with the distal contact, and thus the first articulation control circuit is open. In any event, articulation actuator 19160 includes a stop 19163 that is located in the middle of the range of motion of slidable element 19162. Stop 19163 is configured to resist the motion of slidable element 19162 as it moves from one side of articulation actuator 19160 to the other. This resistance to the motion of slidable element 19162 can signal to the clinician that once they move slidable element 19162 past that point, they will articulate end effector 10400 in the opposite direction. Moreover, such a stop 19163 provides a position at which to stop slidable element 19162 so that end effector 10400 is not articulated in either direction.

[0515] Surgical instrument 20000 is shown in Figure 27The surgical instrument 20000 is similar in many respects to the surgical instrument 10000. The surgical instrument 20000 includes a handle 20100 and a shaft 12200 extending from the handle 20100. The handle 20100 includes an articulation actuator 20160 in communication with a control system of the surgical instrument 20000. The articulation actuator 20160 includes a two-dimensional joystick that is movable within a plane that is aligned, parallel, or at least substantially parallel to a longitudinal axis of the shaft 12200. The joystick is movable distally to articulate the end effector 10400 to the right of the handle 20100 and proximally to articulate the end effector 10400 to the left of the handle 20100. In at least one instance, the joystick includes a handle having an inner end that is positioned in a sensor seat in communication with the control system of the surgical instrument 20000. When a clinician manipulates an outer end of the joystick handle, the clinician is able to pivot the joystick within the sensor seat. Such movement of the joystick is detectable by the control system, which operates the articulation system in response to input from the sensor seat. The articulation actuator 20160 includes one or more biasing mechanisms, such as springs, that are configured to bias the joystick handle to a centered or at least substantially centered position in the sensor seat in which the control system does not articulate the end effector 10400.

[0516] As described above, the end effector 10400 is articulatable within a plane. In alternative embodiments, the surgical instrument includes a second articulation joint. In such embodiments, the end effector 10400 is rotatable within more than one plane. In various embodiments, the surgical instrument includes an articulation joint that allows the end effector 10400 to be rotated within a three-dimensional spherical range of positions. Reference is made to U.S. Patent Application Publication No. 2014 / 0260934, the disclosure of which is incorporated by reference in its entirety. Figure 28The surgical instrument 21000 includes a shaft 21200 that includes an articulation joint 21500 that allows the end effector 10400 to be articulated in this manner. The surgical instrument 21000 also includes a handle 21100 that includes an articulation actuator 21160 that is in communication with the control system of the surgical instrument 21000. The articulation actuator 21160 includes a three-dimensional joystick that can be moved proximally, distally, upwardly, downwardly, and in compound directions. The joystick can be moved distally to articulate the end effector to the right of the handle 20100 and proximally to articulate the end effector to the left of the handle 21100. The joystick can be moved, for example, upwardly to articulate the end effector upwardly and downwardly to articulate the end effector downwardly. The joystick can also be moved in both upwardly and distally directions to move the end effector in both upwardly and rightwardly directions, for example. The joystick can also be moved in both downwardly and proximally directions to move the end effector in both downwardly and leftwardly directions, for example. In at least one instance, the joystick includes a handle having an inner end that is positioned in a sensor seat that is in communication with the control system of the surgical instrument 21000. As the clinician manipulates the outer end of the handle, the clinician can move the joystick along a track within the sensor seat. Such movement of the joystick can be detected by the control system which operates the articulation system in response to input from the sensor seat. The articulation actuator 21160 includes one or more biasing mechanisms, such as springs, that are configured to bias the joystick handle to a centered or at least substantially centered position in the sensor seat where the control system does not articulate the end effector 10400.

[0517] Figure 19 and Figure 20 A surgical instrument 22000 is shown in FIGS. 1 1-13. The surgical instrument 22000 is similar in many respects to the surgical instrument 21000. The surgical instrument 22000 includes a handle 22100 and a shaft 21200 that extends from the handle 22100. The handle 22100 includes an articulation actuator 21160 that is positioned on a side of the handle 22100 and additionally includes an articulation actuator 22160 that is positioned on a front of the handle 22100. Similar to the articulation actuator 21160, the articulation actuator 22160 includes a three-dimensional joystick that is in communication with the control system of the surgical instrument 21000 and that is capable of articulating the end effector of the surgical instrument 21000 in a three-dimensional field. The front articulation actuator 22160 is easily accessible by the index finger of a clinician gripping the pistol grip of the handle 22100. Alternative embodiments are envisioned that include the articulation actuator 22160 but not the articulation actuator 22160.

[0518] Referring to Figure 21 Surgical instrument 23000 includes a shaft 21200 that includes an articulation joint 21500 that allows for three-dimensional articulation of end effector 10400. Surgical instrument 23000 further includes a handle 23100 that includes a housing 23120 and additionally includes an articulation actuator 23160 that is in communication with a control system of surgical instrument 23000. Articulation actuator 23160 includes a four-way tactile control that is movable proximally, distally, upwardly, downwardly, and along a compound direction. The four-way tactile control is movable distally to articulate the end effector to the right side of handle 23100 and is movable proximally to articulate the end effector to the left side of handle 23100. The four-way tactile control is movable upwardly to articulate the end effector upwardly and is movable downwardly to articulate the end effector downwardly. For example, the four-way tactile control is further movable along a compound direction that is both upwardly and distally to move the end effector in both an upward and rightward direction. For example, the four-way tactile control is further movable along a compound direction that is both downwardly and proximally to move the end effector in both a downward and leftward direction. In at least one instance, the four-way tactile control includes four depressible actuators, one for each of right, left, up, and down, and each depressible actuator is part of a control circuit in communication with the control system of surgical instrument 23000. Movement of the four-way tactile control can be detected by the control system that operates the articulation system in three dimensions in response to input from articulation actuator 23160. Articulation actuator 23160 includes one or more biasing mechanisms, such as springs, configured to bias the four-way tactile control to a centered or at least substantially centered position in which the control system does not articulate end effector 10400.

[0519] Surgical instrument 24000 is shown in Figure 22AThe surgical instrument 24000 is similar in many respects to the surgical instrument 23000. The surgical instrument 24000 includes a handle 24100 that includes an articulation actuator 24160. Similar to the articulation actuator 23160, the articulation actuator 24160 includes a four-way tactile control. That is, the articulation actuator 24160 includes an integral recentering feature. More specifically, the articulation actuator 24160 includes a depressible actuator that is positioned intermediate the articulation actuator 24160 in communication with the control system of the surgical instrument 24000. When the center actuator is depressed, the control system operates to re-align the end effector 10400 with the longitudinal axis of the shaft 10200 much like the actuation of the actuator 10170 discussed above. For the reasons described above, the recentering actuator is positioned intermediate the four directional actuators creating a compact and intuitive arrangement.

[0520] The surgical instrument 25000 is shown in FIG. 34. The surgical instrument 25000 is similar in many respects to the surgical instrument 23000. The surgical instrument 25000 includes a handle 25100 that includes an articulation actuator 25160. Similar to the articulation actuator 23160, the articulation actuator 25160 includes a four-way tactile control. That is, the articulation actuator 25160 includes an integral recentering feature. More specifically, the articulation actuator 25160 includes a depressible actuator that is positioned intermediate the articulation actuator 25160 in communication with the control system of the surgical instrument 25000. When the center actuator is depressed, the control system operates to re-align the end effector 10400 with the longitudinal axis of the shaft 10200 much like the actuation of the actuator 10170 discussed above. For the reasons described above, the recentering actuator is positioned intermediate the four directional actuators creating a compact and intuitive arrangement. Figure 22BThe surgical instrument 25000 is similar in many respects to the surgical instrument 24000. The surgical instrument 25000 comprises a handle 25100 that includes an articulation actuator 25160. Similar to the articulation actuator 23160, the articulation actuator 25160 comprises a four-way control in communication with the control system of the surgical instrument 25000. That is, the four-way control comprises a capacitive surface that allows the clinician to tap and / or drag their finger across the surface of the articulation actuator 25160 to control articulation of the end effector in a three-dimensional range. In at least one instance, the articulation actuator comprises a touchscreen and a capacitive sensor array positioned beneath the touchscreen that is configured to, for example, detect the presence and / or motion of a clinician’s finger. In use, for example, tapping the top of the capacitive surface articulates the end effector 10400 upward, tapping the bottom of the capacitive surface articulates the end effector 10400 downward, tapping the distal end of the capacitive surface articulates the end effector 10400 to the right, and tapping the proximal end of the capacitive surface articulates the end effector 10400 to the left. Tapping the center of the articulation screen re-centers the end effector 10400 along the longitudinal axis of the shaft 21200. When a rotational motion is made across the surface of the articulation actuator 25160, the control system causes the end effector 10400 to rotate in the direction and / or speed indicated by the rotational motion. In various instances, the control system of the surgical instrument 25000 comprises a pulse width modulation (PWM) control circuit for controlling the speed of an electric motor used to drive the articulation system of the surgical instrument 25000. In at least one embodiment, in addition to or instead of the PWM control circuit for controlling articulation motor speed, the control system comprises a frequency modulation (FM) control circuit.

[0521] As described above, the end effector of a surgical instrument can be rotated in more than one direction and / or plane. To accomplish this, in various embodiments, the surgical instrument comprises a first motor drive system for moving the end effector in a left-to-right manner and a second motor drive system for moving the end effector in an up-to-down manner. Both motor drive systems are in communication with the control system of the surgical instrument and can be driven by the control system sequentially and / or simultaneously to position the end effector in a direction indicated by input from one or more articulation actuators.

[0522] Many of the above surgical instruments include a grip that is configured to be grasped by a clinician to rotate the shaft about the longitudinal axis. In various instances, the clinician can hold the grip in one hand and can, for example, extend their index finger from that hand to grasp the grip and rotate the shaft. However, such an arrangement requires the clinician to have a slightly larger hand. While such surgical instruments can be operated with one hand, in Figure 23 and Figure 24 The surgical instrument 27000 shown in FIGS. 1-3 can be easier to use. The surgical instrument 27000 includes a handle 27100 and a shaft 27200 that extends from the handle 27100 and is rotatable about a longitudinal axis. The handle 27100 includes a handle frame 27110 and a housing that rotatably supports the shaft 27200. The handle 27100 further includes an actuator 27220 positioned on a front side of the handle housing 27110 that, when rotated by a clinician, rotates the shaft 27200 about its longitudinal axis L. The actuator 27220 is rotatably mounted to the handle housing 27110 and is rotatable about an axis A that is parallel or at least substantially parallel to the longitudinal axis of the shaft 27200. The actuator 27220 includes a ring of gear teeth that extends around its perimeter that is operably engaged with a ring of gear teeth that extends around the perimeter of the shaft 27200 via a transmission gear 27225 such that when the actuator 27220 is rotated about its axis, the shaft 27200 is rotated about its longitudinal axis. That is, the gear teeth of the actuator 27220 do not directly engage the gear teeth of the shaft 27200; rather, an intermediate gear 27225 that is rotatably mounted in the handle 27100 directly engages the gear teeth of the actuator 27220 and the shaft 27200. This arrangement synchronizes the motion of the actuator 27220 and the shaft 27200, i.e., rotating the actuator 27220 to the right rotates the shaft 27200 to the right and rotating the actuator 27220 to the left rotates the shaft 27200 to the left. Without the intermediate gear 27225, the shaft 27200 would rotate in the opposite direction, but such an arrangement can provide a torque balance that promotes instrument stability.

[0523] In addition to the above, embodiments are contemplated in which rotation of the shaft 27200 is driven by an electric motor. In various embodiments, the actuator 27220, when rotated in a first direction, operates the electric motor to rotate the shaft 27200 in the first direction. Similarly, when the actuator 27220 is rotated in a second direction, the electric motor rotates the shaft 27200 in the second direction. In at least one embodiment, the output shaft of the electric motor includes a pinion gear that is in operable interlocking engagement with a ring of gear teeth that surrounds the shaft 27200. Further, in at least one embodiment, the actuator 27220 includes one or more sensors configured to detect the direction and degree of rotation of the actuator 27220 that are in communication with the control system of the surgical instrument. With this data, the control system is configured to control the direction and speed of the electric motor. With the actuator 27220 rotated a small amount in the first direction, for example, the shaft 27220 is rotated slowly in the first direction, while when the actuator 27220 is rotated a large amount in the first direction, the shaft 27220 is rotated quickly in the first direction.

[0524] In addition to the above, the actuator 27220 includes a lever having a first end and a second end. The orientation of the lever is synchronized with the orientation of the shaft 27200. When the first end of the lever is directly above the second end, i.e., the first end is closest to the shaft 27200, the shaft 27200 is in its top dead center (TDC) position. Correspondingly, when the second end of the lever is directly above the first end, i.e., the second end is closest to the shaft 27200, the shaft 27200 is in its bottom dead center (BDC) position. As a result of this arrangement, the user of the surgical instrument has an intuitive sense of the orientation of the shaft 27200 based on the orientation of the actuator 27220.

[0525] The surgical instrument 30000 is shown in Figure 25 and Figure 29 The surgical instrument is similar in many respects to the surgical instrument 10000. In contrast to the vertical articulation actuator 10160, the handle of the surgical instrument 30000 includes a horizontal articulation actuator 30160. The horizontal articulation actuator 30160 includes a swing arm switch that can be swung distally to rotate the end effector to the right and proximally to rotate the end effector to the left. The surgical instrument 31000 is shown in Figure 30 and Figure 51. The surgical instrument is similar in many respects to surgical instrument 10000. In contrast to vertical articulation actuator 10160, the handle of surgical instrument 31000 includes an articulation actuator 31160. Articulation actuator 31160 comprises a multi-axis rocker switch that can be rocked from proximal to distal to articulate the end effector in one plane and from top to bottom to articulate the end effector in another plane. In various embodiments, the articulation planes are orthogonal to each other, but may be arranged in any suitable manner.

[0526] As described above, the control system of the surgical instrument may include an algorithm that, in some cases, redirects and / or otherwise re-directs the controls of the surgical instrument based on predetermined criteria. In various cases, also as described above, the algorithm may be configured to redirect the articulation controls of the surgical instrument based on rotation of the shaft relative to the handle. Figure 52 The surgical instrument includes a handle including a Hall effect sensor 33130 and / or any other suitable sensor in communication with a control system of the surgical instrument and further includes a shaft 33200 including an array of magnets 33230 arranged in a circular or annular pattern around a shield or grip 10220 of the shaft 33200. Each magnet 33230 includes a north pole (N) and a south pole (S), and the magnets 33230 are arranged in a circular or annular pattern. Figure 53 The magnets 33230 are arranged in the manner shown - some of the magnets have their north poles facing the handle and some have their south poles facing the handle. This arrangement of magnets 33230 allows the control system to track the position of the shaft 33200 and understand the orientation or rotation of the shaft 33200 relative to the handle as the shaft 33200 rotates relative to the handle. Within any three consecutive magnets 33230, for example, the pattern of magnets 33230 produces a uniquely identifiable mark for a given direction of rotation. That is, any suitable number and / or arrangement of discrete magnets can be used. Although twelve magnets 33230 are used, fewer than twelve magnets can be used, such as six magnets. In addition, more than twelve magnets can be used.

[0527] refer to Figure 54, the surgical instrument includes a handle that includes a Hall effect sensor 34130 and / or any other suitable sensor in communication with a control system of the surgical instrument and further includes a shaft 34200, the shaft including a continuous annular magnet 34230 attached to a shield or grip 10220 of the shaft 34200. In various instances, the annular magnet 34230 includes a disk or ring embedded with magnetic microstructures that are detectable by the Hall effect sensor. The annular magnet 34230 includes a continuous but varying magnetic pattern around its periphery that provides a trackable pattern for the control system to assess the orientation or rotation of the shaft 34200. In other embodiments, the annular magnet 34230 includes an intermittent magnetic pattern around its periphery that is trackable by the control system.

[0528] refer to Figure 59 The surgical instrument includes a handle including an RFID reader 35130 in communication with the surgical instrument's control system, and further includes a shaft 35200. The handle includes an RFID reader 35130 in communication with the surgical instrument's control system. The shaft includes a circular or annular array of RFID chips 35230 surrounding a shield or grip 10220 of the shaft 35200. Each RFID chip includes a unique identifier that can be detected by the RFID reader 35130, and using this information, the control system can assess the orientation or rotation of the shaft 35200 relative to the handle. Notably, the RFID reader 35130 has a limited range for reading the RFID chips 35230 and, therefore, may only be able to read the most adjacent RFID chips 35230. In some cases, the RFID reader 35130 may have sufficient range to read the two most adjacent RFID chips 35230. The shaft 35200 includes four RFID chips 35230, but may include any suitable number of RFID chips 35230. That is, in various circumstances, utilizing more RFID chips may improve the accuracy or resolution of the assessment made by the control system.

[0529] refer to Figure 59The surgical instrument includes a handle comprising a Hall effect sensor 36130a and / or any other suitable sensor in communication with the control system of the surgical instrument and additionally a shaft 36200 comprising an array of magnets 36230a arranged in a circular or annular pattern about the shroud of the shaft 36200. The handle further comprises an RFID reader 36130b in communication with the control system of the surgical instrument and additionally a circular or annular array of RFID chips 36230b about the shroud of the shaft 36200. The control system is configured to assess the orientation of the shaft 36200 relative to the handle using data from the Hall effect sensor 36130a and the RFID reader 36130b. Notably, the RFID chips 36230b are positioned intermediate the magnets 36230a, which provides the control system with a detectable resolution between adjacent magnets 36230a. Similarly, the magnets 36230a are positioned intermediate the RFID chips 36230b, which provides the control system with a detectable resolution between the RFID chips 36230b.

[0530] A surgical instrument 37000 is shown in Figure 60 The surgical instrument 37000 includes a handle 37100 and a shaft 37200 extending from the handle 37100. The surgical instrument 37000 further includes a slip joint 37900 between the handle 37100 and the shaft 37200. The slip joint 37900 includes an electrical interface between the handle 37100 and the shaft 37200. The slip joint 37900 includes annular rings 37930 mounted in the shaft 37200. Figure 61 and Figure 62 Four annular rings 37930 are depicted in FIGS. 37A-37B, but the slip joint can include any suitable number of rings. The slip joint 37900 further includes electrical contacts 37130 in the handle 37100. For example, the slip joint 37900 includes a first electrical contact 37130 that interfaces with a first annular ring 37930 and a second electrical contact 37130 that interfaces with a second annular ring 37930. That is, the slip joint 37900 can include any suitable number of electrical contacts to maintain power and / or signal communication between the handle and the shaft. The electrical contacts 37130 maintain electrical contact with their respective annular rings 37930 throughout rotation of the shaft 37200, i.e., throughout 360 degrees of rotation. In various instances, each electrical contact 37130 includes a spring element that is configured to bias the electrical contact toward its respective annular ring 37930. The electrical contacts 37130 are in communication with the control system of the surgical instrument 37000 via individual electrical circuits such that the control system can assess the resistance of the electrical circuits and / or any other electrical characteristics of the electrical circuits between the control system and the slip joint 37900. That is, the electrical contacts and rings of the slip joint 37900 can be part of any suitable electrical circuit arrangement.

[0531] In addition to the above, the slip joint 37900 can function as an absolute position sensor for the shaft 37200 relative to the handle 37100. More specifically, the control system can use the middle annular ring 37930 (i.e., the annular ring 37930 between the first ring 37930 and the second ring 37930) to assess the orientation of the shaft 37200. To this end, the slip joint 37900 includes a middle electrical contact 37130 in electrical communication with the middle annular ring 37930 and the control system as part of a middle electrical circuit. In contrast to the first and second annular rings 37930, the middle annular ring 37930 is composed of a high resistance material and provides, for example, a 10,000 ohm resistance. The middle annular ring 37930 has a first portion electrically coupled to the first annular ring 37930, a second annular portion electrically coupled to the second annular ring 37930, and a small break between the first and second annular portions. As the shaft 37200 rotates relative to the handle 37100, the middle electrical contact 37130 slides along the middle annular ring 37930 and the resistance and voltage of the middle electrical circuit changes in a manner that is detectable by the control system as the break is closed and opened by the middle contact 37130. The signal from the middle electrical circuit is digitized by an analog-to-digital converter of the control system and the data from the analog-to-digital converter can be used by the control system to assess the orientation of the shaft 37200. In various instances, any suitable number of gaps in the middle annular ring 37930 and / or the middle contact 37130 can be used to provide a signal with sufficient resolution to determine the orientation or rotation of the shaft 37200 relative to the handle 37100.

[0532] In various embodiments, a resistive material is embedded in the shaft of a surgical instrument that is part of an electrical circuit that passes through a slip ring. As the shaft rotates, the resistance in the electrical circuit changes, which can be detected by the control system of the surgical instrument to assess the angular orientation of the shaft relative to the handle.

[0533] A representation of a surgical instrument 38000 is shown in Figures 63-66 The surgical instrument 38000 includes a handle 38100 and a shaft 38200 extending from the handle 38100. The handle 38100 includes an annular array of Hall effect sensors 38130 affixed to a frame and / or housing of the handle 38100. The Hall effect sensors 38130 are positioned along a circumference in the handle 38100, as shown in Figure 63The Hall effect sensors 38130 are in communication with the control system via circuitry. The shaft 38200 includes a magnet 38230 mounted to a shroud of the shaft 38200 that is aligned or at least substantially aligned with the circumference of the Hall effect sensors 38130. As the shaft 38200 rotates about its longitudinal axis, the magnet 38230 moves along the sensor circumference. The sensors 38130 are positioned and arranged such that one or more of the sensors 38130 can detect the position of the magnet 38230, and thus the control system can determine the orientation of the shaft 38200 relative to the handle 38100 based on which Hall effect sensor 38130 has detected the distortion of the magnetic field and the distortion strength produced by the magnet 38230.

[0534] In various embodiments, a surgical instrument can include one or more optical sensors configured to detect the orientation of a shaft relative to a handle. In at least one embodiment, the handle of the surgical instrument includes a light emitter and a light detector in communication with the control system of the surgical instrument. The shaft includes a reflective surface that rotates with the shaft. The light emitter emits light onto the reflective surface, and the light is reflected back into the light detector. The reflective surface includes different portions having different reflectivity, which creates a pattern in the light reflected back to the light detector. With this information, the control system can evaluate the orientation of the shaft relative to the handle. In various instances, the reflective surface includes open and solid regions to create, for example, a binary on-off or low-high reflective response signal.

[0535] In various embodiments, a surgical instrument includes an electromechanical transducer, such as a linear variable differential transducer, used in conjunction with a mechanical cam to measure the depth of the cam and correlate that depth to the angle of rotation of the shaft. In various embodiments, the handle of the surgical instrument includes a magnetometer in communication with the control system, and additionally the shaft includes a magnet that is detectable by the magnetometer.

[0536] In various embodiments, the shaft of a surgical instrument includes a gyroscope sensor located in the shaft that is used by the control system to evaluate the orientation of the shaft relative to the handle. In at least one such embodiment, the handle also includes a gyroscope sensor that is in communication with the control system such that the relative orientation of the handle and the shaft can be evaluated. In various embodiments, the shaft of a surgical instrument includes a tilt sensor that is used by the control system to evaluate the orientation of the shaft relative to the handle. In at least one embodiment, an SQ-MIN-200 sensor can be used. The SQ-MIN-200 sensor functions like a normally closed sensor that flutters open and closed when tilted or vibrated. That is, any suitable omnidirectional sensor can be used, for example.

[0537] In various embodiments, the detectable element can be positioned on a clamp drive of the shaft or a closure tube. As the shaft is rotated, the closure tube rotates with the shaft. Accordingly, the one or more sensors of the handle can detect the orientation of the shaft relative to the handle via the detectable element on the shaft. As the closure tube is translated to close the end effector, the detectable element moves relative to the one or more sensors as described herein. This translation of the detectable element can also be used to verify closure of the end effector. In at least one instance, a Hall effect sensor can be used to detect rotation and translation of the detectable element. In various instances, the control system of the surgical instrument is configured to prevent articulation of the end effector when the end effector is closed. This arrangement provides feedback to the control system to not only determine responsiveness of the articulation control, but also whether the control system should respond at all to input from the articulation control.

[0538] In various embodiments, referring again to Figure 64 and Figure 67 , a distal end of the articulation actuator 10260 of the surgical instrument 10000 is attached to the end effector 10400 such that proximal and distal translation of the articulation actuator 10260 rotates the end effector 10400 about the articulation joint 10500. Referring to Figure 67 , the shaft 10200 of the surgical instrument 10000 includes a shaft frame 10210 that slidably supports the articulation actuator 10260. Although Figure 27 is not shown, the shaft 10200 also includes a pivot pin 10215 that extends from the frame 10210. The pivot pin 10215 is closely received within a pivot aperture 10415 defined in a staple cartridge jaw 10410 of the end effector 10400, which defines an articulation axis AA of the articulation joint 10500. The articulation driver 10260 includes a distal end that includes an aperture 10262 defined therein, and the end effector 10400 also includes an articulation pin 10460 that extends from a proximal end of the staple cartridge jaw 10410 into the aperture 10262. As the articulation actuator 10260 is translated, as described above, the sidewalls of the aperture 10262 engage the articulation pin 10460 and push or pull the articulation pin 10460 depending on the direction of the articulation actuator 10260 translation. The entire disclosure of U.S. Patent 9,101,358, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, published August 11, 2015, is incorporated by reference herein. The entire disclosure of U.S. Patent 5,865,361, entitled SURGICAL STAPLING APPARATUS, published February 2, 2019, is incorporated by reference herein.

[0539] In addition to the above, the end effector 10400 defines an end effector axis EA and the shaft 10200 defines a longitudinal shaft axis LSA. When the end effector 10400 is in the non-articulated position, the end effector axis EA is aligned or at least substantially aligned with the longitudinal shaft axis LSA. When the end effector 10400 is in the articulated position, as shown Figure 28 4. As shown, the end effector axis EA is transverse to the longitudinal shaft axis LSA. The aperture 10262 is elongated to accommodate relative movement between the articulation pin 10460 and the articulation driver 10260; however, for larger articulation angles, the articulation driver 10260 may bind and / or flex, which may cause the articulation driver 10260 to disengage from the articulation pin 10460 without further movement. Accordingly, the end effector 10400 further includes a retention plate 10600 configured to retain the articulation driver 10260 in engagement with the articulation pin 10460. The retention plate 10600 includes a planar, or at least substantially planar, portion extending over the distal end of the articulation driver 10260 and including an aperture 10660 defined therein, the sidewalls of which engage the articulation pin 10460. 4. Thus, the articulation driver 10260 is captured between the staple cartridge jaws 10410 and the retaining plate 10600 such that the articulation driver 10260 cannot be inadvertently disengaged from the staple cartridge jaws 10410. The retaining plate 10600 is fixedly mounted to the staple cartridge jaws 10410 such that there is little, if any, relative movement between the retaining plate 10600 and the staple cartridge jaws 10410. The staple cartridge jaws 10410 include retaining tabs 10430, and the retaining plate 10600 includes an aperture 10630 defined therein, the sidewalls of which engage the retaining tabs 10430 to retain the retaining plate 10600 to the staple cartridge jaws 10410. In various circumstances, the retaining plate 10600 can comprise a spring and / or biasing member.

[0540] Now refer to Figure 32, in addition to the retaining plate 10600 or instead of the retaining plate, the surgical instrument 10000' includes an end effector 10400' and an articulation joint 10500' that rotatably connects the end effector to the shaft 10200'. In addition to the above, the articulation joint 10500' includes a pin 10560' that extends from the shaft frame 10210' of the shaft 10200' that is closely received within an aperture defined in the staple cartridge jaw 10410' that defines an articulation axis AA of the articulation joint 10500'. The surgical instrument 10000' further includes an articulation driver 10260' that includes a distal end 10264' that includes a slot 10262' defined therein. Similar to the above, the staple cartridge jaw 10410' includes an articulation pin 10460' that extends from the staple cartridge jaw 10410' that extends into the slot 10262' of the distal end 10264' and the interaction between the sidewalls of the slot 10262' and the articulation pin 10460' drives the end effector 10400' about the articulation joint 10500'. Notably, the pin 10560' of the articulation joint 10500' includes a gap release 10564' defined therein to provide clearance for longitudinal movement of the articulation driver 10260'. The staple cartridge jaw 10410' further includes a gap release 10414' defined therein to allow clearance for rotation of the staple cartridge jaw 10410' about the articulation joint 10500'. To prevent disengagement of the articulation driver 10260' from the staple cartridge jaw 10410', with reference to Figure 32 , the articulation pin 10460' includes a retaining shoulder 10464' that extends from the cylindrical portion 10462'. The retaining shoulder 10464' extends over a portion of the distal end 10264' of the articulation driver 10260' throughout articulation of the end effector 10400'. Thus, whether the end effector 10400' is being articulated leftward ( Figure 32 ) or rightward ( Figure 33 ) or anywhere in between, the retaining shoulder 10464' prevents or at least limits the likelihood of the articulation driver 10260' disengaging from the staple cartridge jaw 10410'.

[0541] In various embodiments, in addition to the above, the gap release 10414' includes a retention shoulder or lip that prevents the articulation driver 10260' from disengaging from the articulation pin 10460'. The retention shoulder 10464' of the articulation pin 10460' is sized and configured such that the width of the retention shoulder 10464' is wider than the width of the slot 10262'. That is, the slot 10262' includes a length that is greater than its width, which allows the retention shoulder 10464' to be inserted through the slot 10262' such that the articulation driver 10260' can be assembled into the articulation pin 10460'. The width of the slot 10262' is defined along an axis that is parallel to the longitudinal axis of the shaft, while the length of the slot 10262' is defined along an axis that is orthogonal to the longitudinal axis of the shaft. Such an arrangement allows the end effector to be articulated relative to the shaft while minimizing the coupling between the end effector and the articulation driver 10260'. That is, the articulation driver 10260' is composed of a flexible material that allows the articulation driver 10260' to elastically flex to accommodate end articulation of the end effector.

[0542] As described above, the end effector 10400 includes a staple cartridge jaw 10410 configured to receive a replaceable staple cartridge, such as the staple cartridge 10430, and an anvil jaw 10420 configured to deform staples ejected from the staple cartridge 10430. The staple cartridge jaw 10410 includes a channel including a bottom support and two upwardly extending lateral sidewalls configured to receive the staple cartridge 10430. The staple cartridge 10430 includes a proximal end 10432, a distal end 10434, and a deck 10433 extending between the proximal end 10432 and the distal end 10434. When the staple cartridge 10430 is inserted into the staple cartridge jaw 10410, the proximal end 10432 is guided into a position between the staple cartridge jaw 10410 and the anvil jaw 10420 and then seated in the staple cartridge jaw 10410. The anvil jaw 10420 includes a proximal end 10422, a distal end 10424, a tissue compression surface 10423 extending between the proximal end 10422 and the distal end 10424, and a pivot 10421 rotatably connecting the anvil jaw 10420 to the staple cartridge jaw 10410. Referring to Figures 34-37 The anvil jaw 10420 includes a lateral pin extending into an aperture 10411 defined in the staple cartridge jaw 10410. As described above, the anvil jaw 10420 is rotatable to a closed or clamped position by a closure drive of the stapling instrument 10000. When the closure drive is retracted, the anvil jaw 10420 opens. Referring to Figure 35The stapling instrument 10000 further includes one or more biasing members or springs 10446 that are configured to open the anvil jaw 10420 upon retraction of the closure drive. The surgical instrument 10000 includes two open springs 10446, but can include any suitable number of biasing members. In any event, each spring 10446 is positioned in a recess 10416 defined in the cartridge jaw 10410. The recess 10416 closely receives the spring 10446 such that the spring 10446 does not flex under compression loads; however, the recess 10416 is sized and configured to accommodate any lateral expansion of the spring 10446 upon closure of the anvil jaw 10420.

[0543] Referring primarily to FIGS. 1 and 2, Figure 37 The anvil jaw 10420 includes a lateral tab 10426 that contacts the spring 10446 adjacent the proximal end 10422 of the anvil 10420. When the anvil jaw 10420 is closed, the spring 10446 is compressed between the lateral tab 10426 and the bottom of the recess 10416. When the closure system is retracted, the spring 10446 elastically expands again and pushes the lateral tab 10426 upward to rotate the anvil jaw 10420 to its open or undamped position. Notably, referring primarily to FIGS. 1 and 2, Figure 44 The cartridge jaw 10410 has a stop portion 10419 defined thereon that is contacted by the proximal end 10422 of the anvil 10420 when the anvil 10420 reaches its fully open position. The anvil 10420 includes a proximal stop surface 10429 that contacts the stop portion 10419 of the cartridge jaw 10410. In such instances, the anvil jaw 10420 cannot be opened further. For the reasons described above, the spring 10446 holds the anvil jaw 10420 against the stop portion 10419 of the cartridge jaw 10410 until the anvil jaw 10420 is closed again.

[0544] When the anvil jaw 10420 is in its open position, the cartridge jaw 10410 is positioned on one side of the tissue to be stapled and the anvil jaw 10420 is positioned on the opposite side. In such instances, the end effector 10400 is moved relative to the tissue until the tissue is properly positioned between the cartridge jaw 10410 and the anvil jaw 10420. The anvil jaw 10420 includes a lateral tissue stop 10427 that extends downward alongside the cartridge jaw 10410 that is configured to ensure that the tissue positioned within the end effector 10400 is positioned over the staple cavities in the cartridge 10430. Referring primarily to FIGS. 1 and 2, Figures 38-43The tissue stop 10427 extends distally relative to the proximal most staple cavity 10440. In at least one instance, the tissue stop 10427 extends distally relative to at least one of the staple cavities 10440 in each longitudinal row of staple cavities 10440. Thus, the tissue stop 10427 ensures that tissue captured in the end effector 10400 is not cut by the tissue cutting knife without being stapled. The tissue stop 10427 moves relative to the cartridge jaw 10410 when the anvil jaw 10420 is closed. The tissue stop 10427 is sized and configured such that tissue does not inadvertently get pinched between the tissue stop 10427 and the lateral sides of the cartridge jaw 10410. More specifically, the bottom edge 10428 of the tissue stop 10427 is configured such that it extends alongside the lateral sides of the cartridge jaw 10410 even when the anvil jaw 10420 is in its fully open position, as shown in FIG. 33. Notably, the lateral sides 10415 of the cartridge jaw 10410 extend up the deck 10433 to ensure that there is overlap between the tissue stop 10427 and the lateral sides 10415 of the cartridge jaw 10410 when viewed from the side throughout the range of motion of the anvil jaw 10420. Figure 42

[0545] In various embodiments, in addition to the above, the distal edge of the tissue stop 10427 extends below the deck 10433 throughout the range of motion of the anvil jaw 10420. Thus, the distal edge of the tissue stop 10427 extends below the top surface of the deck 10433 when the anvil jaw 10420 is in its fully open position and its fully clamped position. This arrangement reduces the likelihood of tissue being pinched as the anvil jaw 10420 is moved. In certain embodiments, the cartridge includes a tissue stop that extends up from the deck 10433 alongside the tissue stop 10427. Similar to the above, the distal edge of the tissue stop 10427 extends below the cartridge tissue stop throughout the range of motion of the anvil jaw 10420. This arrangement also reduces the likelihood of tissue being pinched as the anvil jaw 10420 is moved. Moreover, these arrangements would be useful in embodiments where the cartridge jaw 10410 moves relative to the anvil jaw 10420.

[0546] As discussed above and with primary reference to Figure 40 , Figure 39 and Figure 39 ​The end effector 10400 includes a staple cartridge jaw 10410 that includes a spring recess 10416 defined therein that includes a wider top opening 10416'. The spring recess 10416 still supports the spring 10446 and prevents the spring from buckling, but the wider top opening 10416' of the spring recess 10416 provides clearance for the transverse tab 10426 when the anvil jaw 10420 is in its closed position. In such arrangements, the transverse tab 10426 is movable into the staple cartridge jaw 10410 to compress the spring 10446. In such instances, the spring 10446 can be highly compressed by the anvil jaw 10420 to ensure a strong opening force from the spring 10446 when the anvil jaw 10420 is released by the closure drive. As noted above, embodiments are contemplated that do not have the wider top opening 10416'. In such embodiments, the spring is closely received by the spring recess 10416 along the length of the spring 10446.

[0547] The tissue cut member 10251 of the firing drive of the stapling instrument 10000 is shown in Figure 44 and Figure 45A includes a body that includes a distal nose 10258 and a tissue cutting edge 10259 that passes through the end effector 10400 during the staple firing stroke. The tissue cut member 10251 also includes a top cam member 10255 that is configured to engage the anvil jaw 10420 and a bottom cam member 10256 that is configured to engage the staple cartridge jaw 10410 during the staple firing stroke. The longitudinal cam surface 10425 in the longitudinal slot of the anvil jaw 10420 can be seen in Figure 45B that is engaged by the top cam member 10255 during the staple firing stroke. The staple cartridge jaw 10410 also has a longitudinal cam surface 10419 that is engaged by the bottom cam member 10256. The cam members 10255 and 10256 position the jaws 10410 and 10420 relative to each other during the staple firing stroke and maintain the jaws 10410 and 10420 in their closed configuration throughout the staple firing stroke. The cam members 10255 and 10256 also set the staple forming gap between the staple drivers in the cartridge and the forming pockets defined in the anvil jaw 10420.

[0548] Notably, Figure 46 and Figure 47The anvil jaw 10420 is shown in its open position and the tissue cut member 10251 is shown in its un-fired position (i.e., the position prior to the start of the staple firing stroke). The anvil jaw 10420 includes a gap pocket 10450 defined therein that aligns with the top cam member 10255 of the tissue cut member 10251 when the tissue cut member 10251 is in its un-fired position. This configuration allows the tissue cut member 10251 to stop just proximal to the longitudinal cam surface 10425 in the anvil jaw 10420 and the corresponding cam surface in the staple cartridge jaw 10410 when the tissue cut member 10251 is in its un-fired position. This arrangement provides a shorter and more maneuverable end effector for a given staple line length. In addition, the tissue cut member 10251 includes a tissue cutting edge 10259 that is positioned proximally relative to the staple cavities defined in the staple cartridge and proximally relative to the distal edge of the tissue stop when the tissue cut member is in its un-fired position. Thus, tissue inserted into the end effector is less likely to be cut by the tissue cutting edge 10259 until the tissue cut member 10251 is advanced distally from its un-fired position during the firing stroke.

[0549] In addition to the above, it is desirable for the tissue cut member 10251 to be in its un-fired position at the start of the staple firing stroke. If the tissue cut member 10251 is not in its un-fired position at the start of the staple firing stroke, it is possible to inadvertently bypass the missing cartridge / expired cartridge lockout of the stapling instrument 10000. Referring to Figure 46 , the lockout of the stapling instrument 10000 includes a shoulder 10417 defined in the bottom of the staple cartridge jaw 10410. If an appropriate unexpired staple cartridge is seated in the staple cartridge jaw 10410 at the start of the staple firing stroke, and the tissue cut member 10251 is in its un-fired position at the start of the staple firing stroke, the tissue cut member 10251 will be lifted over the lockout shoulder 10417. More specifically, referring to Figure 46The nose portion 10258 of the tissue cutting member 10251 will be supported by the staple cartridge driven sled such that the lockout tab 10257 of the firing member 10251 and / or any other portion of the firing member 10251 does not contact the lockout shoulder 10417. However, if the staple cartridge is not seated in the staple cartridge jaw 10410, the staple cartridge is seated in the staple cartridge jaw 10410 but has been previously used, or an incorrect staple cartridge is seated in the staple cartridge jaw 10410, the sled will not support the nose portion 10258 of the tissue cutting member 10251 and the lockout tab 10257 will contact the lockout shoulder 10417 at the beginning of the staple firing stroke, thereby preventing the staple firing stroke. However, if the tissue cutting member 10251 is in some way positioned distally relative to the lockout shoulder 10417 at the beginning of the staple firing stroke, the advantages provided by the lockout of the surgical instrument 10000 will be lost.

[0550] The following U.S. Patents are incorporated by reference in their entirety: U.S. Patent 7,144,923, entitled "Surgical stapling instrument having a firing lockout for an unclosed anvil," issued December 5, 2006; U.S. Patent 7,044,352, entitled "Surgical stapling instrument having a single lockout mechanism for prevention of firing," issued May 16, 2006; U.S. Patent 7,000,818, entitled "Surgical stapling instrument having separated distinct closing and firing systems," issued February 21, 2006; U.S. Patent 6,988,649, entitled "Surgical stapling instrument having a spent cartridge lockout," issued January 24, 2006; and U.S. Patent 6,978,921, entitled "Surgical stapling instrument incorporating an E-beam firing mechanism," issued December 27, 2005.

[0551] As described above, reference is made to Figure 47In such cases, the anvil jaw 10420 positions the tissue cut member 10251 in its un-fired position even if the tissue cut member 10251 has been accidentally moved or positioned too far distally. This arrangement is particularly useful after the surgical instrument 10000 has been used at least once and the staple firing system has been reset or retracted because, in some cases, the tissue cut member 10251 can not have fully returned to its un-fired position after the last staple firing stroke. For the reasons described above, the likelihood of accidentally bypassing the lockout of the surgical instrument 10000 is reduced. Notably, the shoulder 10455 and the gap pocket 10450 are positioned proximally relative to the distal edge of the tissue stop 10427 which ensures that the tissue cut member 10251 is positioned proximally relative to the tissue captured within the end effector such that the tissue is not accidentally cut against the tissue cut member 10251.

[0552] As discussed above, the articulation driver 10260 is translatable proximally and distally to articulate the end effector 10400 about the articulation joint 10500. That is, the articulation driver 10260 is effectively a distal articulation driver of the articulation drive system. With reference to FIGS. 1 and 2, the articulation driver 10260 is coupled to the articulation link 10510 which is, in turn, coupled to the end effector 10400. The articulation driver 10260 is coupled to the articulation link 10510 by a pin 10520 which is received within a slot 10530 defined in the articulation link 10510. The articulation driver 10260 is coupled to the pin 10520 by a pin 10270 which is received within a slot 10280 defined in the articulation driver 10260. The articulation driver 10260 is coupled to the pin 10270 by a pin 10290 which is received within a slot 10300 defined in the articulation driver 10260. The articulation driver 10260 is coupled to the pin 10290 by a pin 10310 which is received within a slot 10320 defined in the articulation driver 10260. The articulation driver 10260 is coupled to the pin 10310 by a pin 10330 which is received within a slot 10340 defined in the articulation driver 10260. The articulation driver 10260 is coupled to the pin 10330 by a pin 10350 which is received within a slot 10360 defined in the articulation driver 10260. The articulation driver 10260 is coupled to the pin 10350 by a pin 10370 which is received within a slot 10380 defined in the articulation driver 10260. The articulation driver 10260 is coupled to the pin 10370 by a pin 10390 which is received within a slot 10400 defined in the articulation driver 10260. Figure 41 and Figure 46The articulation drive system also includes a translatable proximal articulation driver 10270 that articulates the distal articulation driver 10260. The articulation drive system also includes an articulation lock 10280 positioned intermediate the proximal articulation driver 10270 and the distal articulation driver 10260, as described in greater detail below. The proximal articulation driver 10270 includes an articulation bar 10272, a proximal push protrusion 10274 extending from the articulation bar 10272, and a distal pull protrusion 10276 extending from the articulation bar 10272. When the proximal articulation driver 10270 is pushed distally, the proximal push protrusion 10274 contacts the articulation lock 10280, unlocking the articulation lock 10280, and drives the distal articulation driver 10260 distally to articulate the end effector 10400. When the proximal articulation driver 10270 is stopped, the articulation lock 10280 automatically relocks and holds the end effector 10400 in place. When the proximal articulation driver 10270 is pulled proximally, the distal pull protrusion 10276 contacts the articulation lock 10280, unlocking the articulation lock 10280, and pulls the distal articulation driver 10260 proximally to articulate the end effector 10400. Similar to the above, when the proximal articulation driver 10270 is stopped, the articulation lock 10280 automatically relocks. When the articulation lock 10280 is locked, the end effector 10400 is prevented from being back driven or unintentionally moved from its position. When the articulation lock 10280 is unlocked, the end effector 10400 can be articulated to a new position.

[0553] In addition to the above, reference is made to Figure 48A space 10275 is defined between the protrusions 10274 and 10276 of the proximal articulation driver 10270. The distal articulation driver 10260 includes a similar arrangement. More specifically, the distal articulation driver 10260 includes a proximal protrusion 10269 and a distal protrusion 10267 with a space defined therebetween. The protrusions 10274 and 10276 of the proximal articulation driver 10270 are positioned within and move within the space defined between the protrusions 10267 and 10269 of the distal articulation driver 10260. The articulation lock 10280 includes a stationary rod 10282 that extends through the distal articulation driver 10260 and a lock member 10284 that is rotatably and slidably mounted to the stationary rod 10282. The lock member 10284 is biased into a locked position between the two sets of lock members 10284 by springs 10286, which causes the lock member 10284 to bite into the stationary rod 10282. However, as the proximal articulation rod 10270 translates, the proximal articulation rod 10270 pushes the lock member 10284 to rotate it out of its locked position so that the end effector 10400 can articulate.

[0554] In addition to the above, the protrusions 10274 and 10276 of the proximal articulation driver 10270 directly contact the lock member 10284. Referring to Figure 72 , the protrusions 10274 and 10276 each include a protrusion or nub 10277 extending therefrom that engages the lock member 10284. The nubs 10277 provide a larger push area for the proximal articulation driver 10270 to push the lock member 10284. By way of comparison, the proximal articulation driver 10270' is shown in Figures 74-76 and Figure 72 without nubs 10277 on its protrusions 10274' and 10276'. Figure 74A and Figure 73 The arrangement of the above is still useful, but the contact area between the proximal articulation driver 10270' and the lock member 10284 is less than the contact area between the proximal articulation driver 10270 and the lock member 10284. Due to the larger contact area with the lock member 10284, the stresses and strains in the proximal articulation driver 10270 are less than in the proximal articulation driver 10270'. In addition, the arrangement of the nubs 10277 can increase the torque arm between the proximal articulation driver 10270 and the lock member 10284, thereby reducing the force required to unlock the articulation lock 10280.

[0555] Various mechanisms and methods for determining the orientation of a shaft relative to a handle are described herein. Many of these mechanisms are capable of assessing the shaft's orientation in real time, regardless of the shaft's previous orientation or orientations. This arrangement is particularly useful, for example, when a surgical instrument loses power. For example, when the surgical instrument is re-powered, the control system can immediately assess the shaft's orientation and the appropriate responsiveness of the articulation control. Furthermore, the surgical instruments disclosed herein can be configured to immediately assess the end effector's articulation angle when the surgical instrument is re-powered. Upon re-powering, the control system will assess whether the end effector is in a closed or open configuration. If the end effector is in a closed configuration upon re-powering, the control system will determine that the surgical instrument has lost power during the staple firing mode and prompt the clinician to retract the staple firing system. If the end effector is in an open configuration upon re-powering, or once the end effector is in an open position upon re-powering, the control system will attempt to ensure that the articulation drive system is coupled to the staple firing system so that the end effector can be straightened or otherwise properly oriented by the clinician for removal of the surgical instrument from the patient. Figure 73A An algorithm 39000 is depicted for controlling the system to ensure that the articulation system engages the staple firing drive. In this algorithm, the control system sweeps the staple firing drive between positions associated with its rightmost end effector position and its leftmost end effector position so that if the articulation drive is not already coupled to the firing drive, it will become coupled to the firing drive. These rightmost and leftmost orientations of the end effector correspond to the distal-most and proximal-most positions of the articulation drive 10260, as shown in FIG. Figure 73 As shown. These positions are also the distal-most position and proximal-most position of the articulation drive 10270, respectively. The control system includes one or more non-volatile device memories for storing information about the distal-most (rightmost orientation) position and proximal-most (leftmost orientation) position of the articulation drive system. Therefore, this information is available to the control system when power is re-applied, and the control system can limit its evaluation to this range. In various embodiments, the surgical instrument may include a sensor that is configured to be able to evaluate whether the articulation drive device is mechanically coupled to the nail firing drive device.

[0556] In addition to the above, the algorithm 39000 includes a step 39100 wherein the control system assesses whether the articulation button was pressed at the initiation or initialization of the surgical instrument. If it is determined at step 39100 that the articulation button was not pressed, the algorithm follows a logic path 39200. In the logic path 39200, the control system actuates the electric motor that drives the articulation system to push the articulation driver 10260 distally at step 39300, causing the end effector to articulate to the right. The control system then waits for a predetermined amount of time at step 39400, after which it proceeds to step 39600 wherein the control system actuates the motor in the opposite direction to pull the articulation driver 10260 proximally and articulate the end effector to the left. The control system then again waits for a predetermined amount of time at step 39700, and after that time, waits for an input command at step 39800. In various embodiments, the control system includes a timer circuit for counting the appropriate amount of time. If, on the other hand, at step 39100 the control system detects that the left articulation control is actuated, the algorithm 39000 follows a logic path 39500 and articulates the end effector to the left. If at step 39100 the control system detects that the right articulation control is actuated, the algorithm 39000 follows a logic path that articulates the end effector to the right.

[0557] In addition to the above, during the staple firing stroke, the staples in the cartridge are progressively ejected by the firing member. The firing member ejects the proximal-most staples in the cartridge at the beginning of the staple firing stroke and the distal-most staples at the end of the staple firing stroke. Where all of the staples in the cartridge properly contact a staple forming pocket in the anvil that is positioned opposite the cartridge, the staples will be properly formed and the staple firing force will be lower. Where some of the staples miss their staple forming pockets, such staples can deform, increasing the force required to perform the staple firing stroke. Slowing the staple firing stroke can improve staple formation and reduce the force required to perform the staple firing stroke. In various instances, the force applied by the staple firing system can be detected directly, for example, by one or more force sensors and / or strain gauges. In other instances, the force can be detected by, for example, a current sensor or ammeter circuit that measures the current to the electric motor of the staple firing drive. The entire disclosure of U.S. Patent Application Serial No. 16 / 361,793, entitled SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM, filed March 22, 2019, is incorporated by reference herein. These approaches can be applicable in various instances, but described below are embodiments and approaches to assessing the duty cycle of the staple firing system during the staple firing stroke.

[0558] In addition to the above, the control system of the surgical instrument 10000 includes a pulse width modulation (PWM) control circuit configured to control the speed of the firing drive electric motor. The PWM control circuit applies voltage pulses to the firing drive electric motor to perform a staple firing stroke. In various instances, the PWM control circuit increases the duration of the voltage pulses that it applies to the firing drive electric motor in order to increase the speed of the firing drive electric motor and correspondingly increase the speed of the staple firing stroke. In other instances, the PWM control circuit increases the duration of the voltage pulses that it applies to the firing drive electric motor in order to decrease the speed of the firing drive electric motor and correspondingly increase the speed of the staple firing stroke. In either instance, the PWM control circuit can make these pulse length adjustments without substantially increasing or decreasing the magnitude of the voltage pulses applied to the motor. That is, embodiments are envisioned in which the magnitude of the voltage pulses or certain voltage pulses can be varied. In any event, as described in greater detail below, the control system is configured to drive the staple firing drive at a constant or near constant speed by adjusting the duration of the pulses via the PWM circuit. The entire disclosure of U.S. Patent 8,499,992, entitled DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE, issued August 6, 2013, is incorporated by reference herein.

[0559] The ratio of the time that the PWM circuit applies voltage to the electric motor (on time) divided by the total time (on time + off time) is the duty cycle of the staple firing drive motor. Thus, the duty cycle can range between 0% (completely off) and 100% (completely on), i.e., constant voltage with no periodic interruptions. The terms on and off refer to non-zero and zero voltage; however, the terms on and off include high and low voltage, respectively. The term low or off includes zero voltage and non-zero voltage of magnitude less than the high or on voltage. Another way to express the duty cycle of the firing drive electric motor, in view of the above, is the ratio of the time that the PWM circuit applies voltage to the electric motor (high time) divided by the total time (high time + low time).

[0560] The PWM control circuit applies voltage pulses to the firing drive device electric motor at regular intervals; however, the control system can include a frequency modulation (FM) control circuit to vary the frequency of the voltage pulse intervals. In various instances, the FM control circuit decreases the intervals between voltage pulses to increase the speed of the firing drive device electric motor and the staple firing stroke. Correspondingly, the FM control circuit increases the intervals between voltage pulses to decrease the speed of the firing drive device electric motor and the staple firing stroke. In addition to or instead of the above, the control system can increase the magnitude of the voltage it applies to the firing drive device electric motor to increase the speed of the firing drive device electric motor and the staple firing stroke, and / or decrease the magnitude of the voltage it applies to the firing drive device electric motor to decrease the speed of the firing drive device electric motor and the staple firing stroke.

[0561] The control system of the surgical instrument 10000 includes an algorithm for controlling the speed of the staple firing member. Referring to Figure 73A , the control system includes an algorithm 50000 configured to drive the staple firing member at a low speed, a medium speed, and a high speed. The low speed is 6 mm / s, or approximately 6 mm / s. The medium speed is 12 mm / s, or approximately 12 mm / s. The high speed is 20 mm / s, or approximately 20 mm / s. That is, the control system can be configured to operate the staple firing drive device at any suitable number of speeds and / or at any suitable speed. The control system is configured to monitor the speed of the staple firing drive device via the motor speed sensor and adjust the length of the voltage pulses applied to the electric motor of the staple firing drive device to bring the speed of the staple firing drive device to the target speed. For example, if the target speed of the staple firing drive device at a given point in the staple firing stroke is 12 mm / s and the actual speed is 11 mm / s, the control system increases the length of the voltage pulses it applies to the electric motor to increase the speed of the staple firing drive device. In other words, the control system increases the duty cycle of the firing drive device electric motor to increase the speed of the staple firing drive device. Correspondingly, the control system is configured to shorten the length of the voltage pulses it applies to the firing drive device electric motor if the speed of the staple firing drive device exceeds the target speed until the speed of the staple firing drive device reaches the target speed. In other words, the control system is configured to decrease the duty cycle of the firing drive device electric motor to decrease the speed of the staple firing drive device. Notably, the target speed of the staple firing drive device can change during the staple firing stroke, as described in greater detail below.

[0562] As described above, the firing member of the staple firing drive device moves distally during the staple firing stroke. Referring to Figure 78 and Figure 77the firing member is advanced distally from its proximal, unfired position to cause the top cam member 10255 of the firing member to move up a ramp of an internal slot 10425 defined in the anvil 10420. The distance between the proximal, unfired position and the distal end of the internal slot ramp is, for example, 15 mm or about 15 mm. If a suitable, unused staple cartridge is seated in the end effector, this initial 15 mm of movement of the firing member can serve to close the end effector and / or override the firing lockout described above. That is, during this range of motion, the control system moves the firing member distally at an intermediate speed of 12 mm / s and assesses the duty cycle required to drive the staple firing member at that speed. If the duty cycle is between 40% and 60% during this initial range, the control system continues to drive the staple firing drive at the intermediate speed of 12 mm / s. If the duty cycle is greater than 60%, the control system decreases the target speed of the staple firing drive to a low speed of 6 mm / s. Such a situation can arise when thick tissue is present between the anvil 10420 and the staple cartridge 10430. On the other hand, if the duty cycle is less than 40% during this initial range, the control system increases the target speed to a high speed of 20 mm / s. Such a situation can arise when thin tissue is present between the anvil 10420 and the staple cartridge 10430. In Figure 79 the initial range is defined by point A, and it is noted that no staples are deployed or fired during this initial range. After point A, as the firing member is advanced distally, the firing member fires staples until the firing member reaches the end of the staple firing stroke and / or the clinician stops the staple firing stroke by releasing the firing trigger.

[0563] Referring to Figure 47 algorithm 50000 in FIG. 11, it can be seen that for the first 15 mm, the staple firing member is driven at an intermediate speed of 12 mm / s, and for the remainder of the staple firing stroke, the staple firing member is driven at a high speed of 20 mm / s. As described above, this speed shift occurs because the control system measures a duty cycle that is less than 40% during the first 15 mm of the staple firing stroke. However, if the firing member is blocked by a lockout within the first 15 mm, the duty cycle will immediately spike to 100% and the control system is configured to stop the staple firing stroke immediately in response to this gradual duty cycle spike. Once the firing member has passed this initial 15 mm distance, the remainder of the staple firing stroke includes, for example, about 30 mm, about 45 mm, or about 60 mm in various instances. These lengths represent different staple pattern lengths that are currently desirable in many staple cartridges, but any suitable staple pattern length can be used. In some embodiments, after the initial assessment of the firing drive duty cycle, the control system does not reassess the duty cycle of the staple firing drive to adjust the target speed of the firing member. However, Figure 79The control system of the embodiment of the present invention continues to evaluate the duty cycle of the nail firing drive device throughout the nail firing stroke. At point C in the nail firing stroke, the control system makes another adjustment to the target speed or maintains the target speed based on the above criteria. Figure 79 As shown, the duty cycle of the nail firing drive is determined to be between 40% and 60% at point C, and therefore the control system maintains a target speed of 20 mm / s. Point C is located halfway between point A and the end of the nail firing stroke, i.e., halfway through the nail pattern. That is, point C can be at any suitable location. In addition, the control system can be configured to be able to adjust the target speed of the nail firing drive at any suitable number of points during the nail firing stroke. In at least one case, the control system can make a target speed adjustment every 15 mm during the nail firing stroke, for example. For a 30 mm nail magazine, the control system can make a total of two target speed adjustments, such as Figure 79 For example, for a 45 mm staple cartridge, the control system may make a total of three target speed adjustments at intervals of 15 mm, and for a 60 mm staple cartridge, the control system may make a total of four target speed adjustments at intervals of 15 mm.

[0564] For the example given above, the control system uses the same set of criteria to evaluate the duty cycle at each target speed regulation point. That is, refer to Figure 79 , embodiments are contemplated in which the control system uses different sets of duty cycle criteria at different target speed regulation points. For example, the control system may use a first set of duty cycle criteria at a first target speed regulation point and a second set of duty cycle criteria at a second target speed regulation point. In at least one instance, reference Figure 79 In algorithm 51000, if the duty cycle is below 45% at the first target speed adjustment point, the control system increases the target speed of the nail firing drive. That is, if the duty cycle is below 40%, the control system increases the target speed of the nail firing drive at the second target speed adjustment point. Any suitable threshold or thresholds may be used. Figure 79 In the illustrated embodiment, the upper duty cycle threshold of 60% is the same at both the first target speed adjustment point and the second target speed adjustment point in algorithm 51000. If the duty cycle exceeds 60%, the control system shortens the voltage pulse to slow the nail firing system. In other embodiments, the upper duty cycle threshold may be different at the first target speed adjustment point and the second target speed adjustment point.

[0565] In addition to the above, refer to Figure 80, the control system's algorithm increases the target speed from medium to high at point A, but then decreases the target speed from high to medium at point C. At point C, the control system determines that the duty cycle of the firing drive's electric motor is above 60% and decreases the target speed by one level, from high to medium. Notably, the control system does not decrease the target speed from high to low at point C because the control system is configured to increase or decrease the target speed by only one level at each checkpoint. In order for the target speed of the nail firing drive to decrease from high to low, the duty cycle must exceed an upper duty cycle threshold at two checkpoints. These checkpoints can be consecutive or non-consecutive. That is, embodiments are contemplated in which the control system includes a safety duty cycle threshold that, if exceeded, causes the control system to decrease the target speed of the nail firing drive to low, regardless of the speed of the nail firing drive prior to that checkpoint.

[0566] Figure 80 Two graphs are depicted: a duty cycle graph (i) and a firing force graph (ii) of a nail firing drive. The duty cycle graph (i) and the firing force graph (ii) are linked to show three different nail firing strokes. Due to the low firing force, Figure 80 Two of the nail firing strokes in the nail firing stroke remain below the 40% duty cycle threshold. In such nail firing strokes, the control system increases the target speed of the nail firing system at each checkpoint according to the current algorithm, but other algorithms are also possible. Figure 81 One of the nail firing strokes in the example reaches a 100% duty cycle due to the high firing force. When the duty cycle exceeds 60% at the target speed adjustment point, the control system reduces the target speed of the nail firing system according to the current algorithm, although other algorithms are possible. It is worth noting that the duty cycle of this nail firing is not above the 60% threshold at the beginning of the nail firing stroke, and therefore, if the duty cycle does not exceed the upper threshold of 60% until one or more checkpoints later, the control system may not actually reduce the target speed.

[0567] Figure 82A Two graphs are depicted: a duty cycle graph (i) and a firing force graph (ii) of a nail firing drive. The duty cycle graph (i) and the firing force graph (ii) are correlated to illustrate three different nail firing strokes. Figure 82A The two nail firing strokes in the nail firing stroke remain between the 40% duty cycle threshold and the 60% duty cycle threshold because the firing force is relatively low. In such nail firing strokes, the control system does not change the target speed of the nail firing system according to the current algorithm, but other algorithms are also possible. However, Figure 82AThe spike firing profile in the graph reaches 100% duty cycle because the firing force is higher. When the duty cycle exceeds 60% at the target speed set point, the control system reduces the target speed of the spike firing system according to the current algorithm, but other algorithms are possible. In this case, the duty cycle exceeds the upper duty cycle threshold at about 20 mm distal to the proximal, unfired starting position of the spike firing member. In other words, the duty cycle jumps above 60% at 5 mm beyond the initial 15 mm range described above. Thus, the control system can not react to the elevated duty cycle until after, for example, the 30 mm checkpoint.

[0568] Notably, in addition to the above, Figure 82B and Figure 82B The graphs of FIGS. 1 1-13, as well as several other graphs, depict the flow of points along the spike firing profile. The proximity of the points represents a fairly high data sampling rate, but lower or higher data sampling rates can be used. As can be seen in these graphs, the data is subject to some amount of jitter or oscillation, which can cause the control system to react to anomalous data, especially when the duty cycle data approaches the upper or lower duty cycle thresholds. In various cases, the control system can utilize a data smoothing algorithm that uses an average of the data over multiple collected data points and / or other statistical evaluations to determine the duty cycle at the target speed evaluation point. In at least one such case, the control system uses an average of three consecutive duty cycle measurements, for example, to determine the duty cycle value used to evaluate the algorithm criteria.

[0569] Figure 82B Three graphs are depicted: a duty cycle graph of the spike firing drive (i), a firing force graph (ii), and a firing velocity graph (iii). The duty cycle graph (i), the firing force graph (ii), and the firing velocity graph (iii) are interrelated to demonstrate the spike firing profile. The duty cycle of the spike firing profile jumps from below the lower duty cycle threshold of 40% to above the upper duty cycle threshold of 60% at the about 30 mm marker, which deforms the spike at about 15 mm. This jump in duty cycle is not because the firing force increased; rather, the jump in duty cycle occurs because the control system increased the duty cycle to increase the speed of the spike firing drive according to its target speed selection criteria. Figure 82AA similar jump in duty cycle at about 20 mm is depicted; however, the duty cycle jumps because the staple firing member encounters elevated resistance as it deforms the staples, and the control system responds by increasing the length of the voltage pulse it applies to the electric motor in order to maintain the staple firing speed at its target speed. In other words, the control system abruptly increases the duty cycle because the control system is working to maintain the medium speed of the staple firing system, i.e., 12 mm / s. This situation does not last long because the control system re-lowers the duty cycle at the 30 mm target speed checkpoint while simultaneously lowering the speed of the staple firing stroke to its low target speed, i.e., 6 mm / s.

[0570] Figure 82B and Figure 83A depicts a graph showing the firing force of a staple firing drive that is used to staple and cut actual tissue versus the firing force of the staple firing drive used to staple and cut a tissue simulant, such as foam.

[0571] Figure 83B and Figure 84A depicts several staple firing stroke examples that occur while stapling and cutting stomach tissue. The staple firing strokes follow a very similar duty cycle pattern. For example, all of the staple firing strokes start below the lower duty cycle threshold, and in response, the control system increases the speed of the staple firing stroke from medium speed to high speed. To do so, the control system increases the duration of the voltage pulse applied to the electric motor of the staple drive system at the first checkpoint. In doing so, however, the duty cycle jumps to the upper duty cycle threshold, and at the next checkpoint, the control system shortens the voltage pulse to lower the duty cycle and slow the staple firing stroke back to medium speed. Notably, in one example, the speed of the staple firing drive remains at high speed. In that example, the staples are smaller and the duty cycle remains below the threshold compared to the staples used during the other staple firing strokes.

[0572] Figure 84B depicts the duty cycle of two staple firing strokes while stapling thin jejunal tissue, one of which occurs while the end effector is articulating and the other of which occurs while the end effector is not articulating. As can be seen in Figure 85A , the two duty cycle curves are very similar and significantly between a duty cycle of about 60% and a duty cycle of about 80%. Figure 85B depicts the duty cycle of two staple firing strokes while stapling thick jejunal tissue, one of which occurs while the end effector is articulating and the other of which occurs while the end effector is not articulating. As can be seen in Figure 86A , the two duty cycle curves are very similar and significantly between a duty cycle of about 60% and a duty cycle of about 80%. Additionally, it is notable that the duty cycle is significantly higher when the end effector is not articulating compared to when the end effector is articulating.Figure 86A ) compared to thick jejunal tissue ( Figure 86B ) has a slightly higher duty cycle. Figure 86B The duty cycle of two staple firing strokes is depicted as the end effector is stapling tissue, where one staple firing stroke occurs as the end effector is articulating and the other staple firing stroke occurs as the end effector is not articulating. As can be seen in Figure 86A the two duty cycle curves are very similar and it is noted that once the staple firing drive begins deforming the staples at about 15 mm from the proximal, unfired position of the firing member, the maximum duty cycle is reached.

[0573] Figure 86B includes a plot 63000 depicting the duty cycle of the staple firing stroke. As shown in plot 63000, for the first 30 mm of the staple firing stroke (15 mm of initial travel and 15 mm of staple firing), the duty cycle is at or just below 40%, and then the control system raises the duty cycle to increase the speed of the staple firing drive. Similar to the above, in this case increasing the duty cycle causes the duty cycle to exceed the top duty cycle threshold of 60%, where the duty cycle remains constant for the remainder of the staple firing stroke (i.e., the last 30 mm).

[0574] Figure 86C includes a plot 64000 depicting the duty cycle of the staple firing stroke. As shown in plot 64000, the duty cycle starts below the 40% duty cycle threshold, but then gradually increases into a region between the upper and lower duty cycle thresholds. In such a region, the control system does not increase or decrease the speed of the staple firing system and / or otherwise adjust the duty cycle of the firing drive motor beyond maintaining the speed of the staple firing system at the intermediate target speed. Thus, a smooth duty cycle curve is observed without abrupt changes.

[0575] Figure 86C includes a plot 65000 depicting the duty cycle of the staple firing stroke. As shown in plot 65000, the duty cycle starts at the low duty cycle threshold of about 40%, and then rapidly progresses upward once the firing member begins deforming the staples at the 15 mm point. In fact, the duty cycle increases to nearly 100% until the next checkpoint at 30 mm, where the control system lowers the duty cycle to slow the staple firing drive as described above. Figure 87 a sharp drop in the duty cycle is depicted, but returns to an elevated state just above the upper duty cycle threshold for the remainder of the staple firing stroke.

[0576] The low duty cycle threshold is described as 40% in many instances and 45% in other instances. That is, the low duty cycle threshold can be any suitable value, such as 30%, 33%, 35%, or 50%. Similarly, the upper duty cycle threshold is described as 60%. That is, the upper duty cycle threshold can be any suitable value, such as 50%, 55%, 65%, 67%, 70%, or 75%.

[0577] As described above, when the clinician releases the firing trigger, the staple firing stroke stops. When the clinician actuates the firing trigger again, the staple firing stroke resumes. In such instances, the control system returns the speed of the staple firing stroke to the speed just prior to the staple firing stroke stopping. The control system includes one or more memory devices for storing the speed of the staple firing stroke during the staple firing stroke such that the control system has access to the stored speed to restart the staple firing stroke. If the control system does not have access to this data, the control system can restart the staple firing stroke, for example, at a speed wherein.

[0578] As described herein, the surgical instrument 10000 is configured to assess the speed of the staple firing stroke and compare the measured speed of the staple firing stroke to a target speed. The surgical instrument 10000 includes an encoder in communication with the control system that is configured to measure the speed of the staple firing stroke. In at least one instance, the encoder observes a gear in the firing drive to assess the speed of the staple firing stroke. The gear includes teeth that pass in front of the encoder as the gear rotates during the staple firing stroke. The control system uses the rate at which the teeth pass the encoder to assess the speed of the firing drive. In at least one instance, the gear makes one complete rotation during the entire staple firing stroke. In addition to or instead of the above, the gear is composed of metal and the control system includes a Hall effect sensor that is configured to sense the rate at which the metal gear teeth pass the Hall effect sensor. In various embodiments, the control system is configured to assess the speed of a translating component of the firing drive.

[0579] As described herein, the algorithm of the control system uses the duty cycle of the firing drive electric motor to assess whether the speed of the staple firing drive should be adjusted and in which direction, i.e., slower or faster. In addition to the duty cycle of the firing drive electric motor, various other algorithms use data to adjust the speed of the staple firing stroke. For example, the speed adjustment algorithm can utilize, for example, the articulation angle of the end effector, the initial battery voltage, the operable battery voltage, the current through the motor, the PID error, and / or any characterization of the PWM circuit that is generated during the manufacturing process of the surgical instrument. These parameters can be used in mathematical operations or evaluation formulas to determine whether to adjust the speed of the staple firing stroke, the direction of the adjustment, and / or the amount of the adjustment, among other things. The parameters used can be instantaneous measurements and / or measurements averaged over several readings. The parameters used can include the rate of change or the change in slope of the measurements. The values of the parameters can be added, subtracted, multiplied, and / or divided according to the evaluation formula.

[0580] Figure 88 An end effector 40000 is depicted that includes an anvil jaw 40420 and a staple cartridge jaw 10410. The anvil jaw 40420 includes a proximal portion 40100 and a distal portion or tip 40200 attached to the proximal portion 40100. The distal portion 40200 is rotatable between a first operational orientation Figure 89 ) and a second operational orientation Figure 89 and Figures 68-71 ) to enable the clinician to select between a straight anvil tip and an angled anvil tip prior to using the end effector 40000.

[0581] The proximal portion 40100 includes an angled distal end that can be characterized by a first angle 40120 and a second angle 40130. The first angle 40120 is measured with reference to a top plane defined by the top of the proximal portion 40100, while the second angle 40130 is measured with reference to a bottom plane defined by the bottom of the proximal portion 40100. In various instances, the first angle 40120 and the second angle 40130 are complementary angles. In at least one instance, the first angle 40120 and the second angle 40130 are substantially complementary. The distal portion 40200 includes an angled proximal end that is attached to the distal end of the proximal portion 40100. The angled proximal end of the distal portion 40200 can be characterized by a first angle 40220 and a second angle 40230. In various instances, the first angle 40220 and the second angle 40230 are complementary angles. In at least one instance, the first angle 40220 and the second angle 40230 are substantially complementary. In various instances, the first angle 40120 and the first angle 40220 are complementary angles, and the second angle 40130 and the second angle 40230 are complementary angles. This configuration allows the proximal portion 40100 and the distal portion 40200 of the anvil jaw 40420 to have complementary angled attachment planes, where the distal face 40110 of the proximal portion 40100 and the proximal face 40210 of the distal portion 40200 abut each other in both the first orientation and the second orientation.

[0582] With the attachment mechanism, with reference to Figure 68 and Figure 70 , the distal portion 40200 is able to rotate relative to the proximal portion 40100 such that the distal portion 40200 can be rotated into different orientations. To move the distal portion 40200 to the second orientation shown in Figure 71 , the distal portion 40200 is rotated 180 degrees from the first orientation shown in Figure 69 . This configuration allows the user to change the anvil jaw 40420 between a straight tip anvil jaw and an angled tip anvil jaw. In the second orientation shown in Figure 69A and Figure 70 , the first angle 40120 and the second angle 40230 abut each other, and correspondingly, the first angle 40220 and the second angle 40130 abut each other. The angle at the attachment junction in the second orientation ( Figure 68 ) is not as complementary as the angle in the first orientation ( Figure 70 ).

[0583] The attachment mechanism used can be any suitable attachment mechanism. In at least one instance, with reference to Figure 71The attachment mechanism includes a flexible rotatable pin 40300 anchored to the proximal portion 40100 and the distal portion 40200. This mechanism allows the rotatable portion to be rotated between different orientations while maintaining the proximal portion 40100 and the distal portion 40200 attached to one another. One or more spring members and / or detents can be used in conjunction with the pin to maintain the portion in the first or second operational orientations. The attachment mechanism can be embedded in the proximal portion 40100 and / or the distal portion 40200. The attachment mechanism can include a bi-stable compliant mechanism configured to bias the portion 40200 into either orientation to prevent accidental partial rotation of the rotatable distal portion 40200. The attachment mechanism can include spring loaded detents, living hinges, sliding members, and / or various other locking members. The attachment mechanism can also include an interference fit joint and / or a friction fit joint between the proximal portion 40100 and the distal portion 40200.

[0584] In addition to the above, and with further reference to Figure 70 Figure 68 Figure 69A Figure 69AThe flexible pin 40300 includes a spherical first end 40310 mounted in a cavity defined in the proximal anvil portion 40100, a spherical second end 40320 mounted in a cavity defined in the distal anvil portion 40200, and a flexible connector 40330 connecting the first and second ends 40310, 40320. The spherical first and second ends 40310, 40320 are rotatable within their respective cavities such that the flexible pin 40300 is rotatable relative to the proximal portion 40100 and / or such that the distal portion 40200 is rotatable relative to the flexible pin 40300. In either case, such relative rotation allows for rotation of the distal portion 40200 as described above. The length of the flexible connector 40330 is selected such that the flexible connector 40300 is in a state of elastic tension for each orientation of the distal portion 40200. Thus, the flexible connector 40330 serves to pull the distal portion 40200 against the first anvil portion 40100. In view of the proximal portion 40100 including staple-forming pockets and the distal portion 40200 not including staple-forming pockets, the holding force provided by the pin 40300 need not bear the staple-forming force and is sufficient to hold the distal portion 40200 in place when the end effector 40000 is positioned within a patient. The pin can be spring-loaded in the socket such that a spring pulls the head portion proximally in the cavity, thereby holding the proximal portion 40100 and the distal portion 40200 together. To rotate the distal portion 40200 between orientations, the distal portion 40200 can be pulled distally to overcome the biasing force, twisted to another orientation, and released so that the spring can pull the distal portion 40200 against the proximal portion 40100. The interface between the distal portion 40200 and the proximal portion can also include interlocking features extending therefrom to prevent inadvertent movement relative to one another. For example, when the distal portion 40200 is in its first and second orientations, but not when the distal portion 40200 is pulled away from the proximal portion 40100, a tooth can extend from one portion and into a corresponding slot defined in the other portion.

[0585] In at least one instance, the distal portion 40200 includes two halves that are assembled around the attachment mechanism, for example. The two halves can utilize an elastomer to hold the halves together around the pin, for example. In at least one instance, a snap-fit mechanism can be used to assemble the two halves together around the attachment mechanism.

[0586] In various instances, the proximal portion 40100 and the distal portion 40200 are composed of one or more materials. For example, the proximal portion 40100 can be composed of one or more materials and the distal portion 40200 can be composed of one or more materials. In at least one instance, the distal portion 40200 is composed of a metal toward the attachment joint and a overmolded soft tip extending distally from the metal portion. The soft tip can be composed of, for example, rubber and / or plastic. The anvil jaw 40410 can also include an intermediate component positioned between the proximal portion 40100 and the distal portion 40200. The intermediate component can house one or more portions of the attachment mechanism. The intermediate component can also provide an aesthetic and / or functional transition between the proximal portion 40100 and the distal portion 40200, which can be useful in instances where the proximal portion 40100 and the distal portion 40200 comprise more than one material.

[0587] In at least one instance, the first portion 40100 and the second portion 40200 include an edge designed to eliminate any sharp edges presented by rotation of the second portion 40200 relative to the first portion 40100.

[0588] As described above, the surgical instruments disclosed herein can include control systems. Each of the control systems can include a circuit board having one or more processors and / or storage devices. In addition to this, the control systems are configured to store, for example, sensor data. They are also configured to store data that identifies the type of staple cartridge attached to, for example, a stapling instrument. More specifically, when a staple cartridge is attached to a stapling instrument, the type of staple cartridge can be identified by a sensor and the sensor data can be stored in the control system. The control system can access this information to assess whether the staple cartridge is suitable for use.

[0589] The surgical instrument systems described herein are actuated by electric motors; however, the surgical instrument systems described herein can be actuated in any suitable manner. In certain instances, the motors disclosed herein can comprise part or parts of a robotic control system. For example, U.S. Patent Application Serial No. 13 / 118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Patent 9,072,535, which discloses several examples of robotic surgical instrument systems in greater detail, the disclosure of which is incorporated by reference herein in its entirety. The disclosures of International Patent Publication WO 2017 / 083125, entitled STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE, published May 18, 2017; International Patent Publication WO 2017 / 083126, entitled STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS, published May 18, 2017; International Patent Publication 2015 / 153642, entitled SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION, published October 8, 2015; U.S. Patent Application Publication 2017 / 0265954, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS, filed March 17, 2017; U.S. Patent Application Publication 2017 / 0265865, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DISTAL PULLEY, filed February 15, 2017; and U.S. Patent Application Publication 2017 / 0290586, entitled STAPLING CARTRIDGE, filed March 29, 2017, are incorporated by reference herein in their entireties.

[0590] The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. For example, various embodiments are envisioned that deploy fasteners other than staples, such as clips or tacks. Moreover, various embodiments are also envisioned that utilize any suitable means for sealing tissue. For example, an end effector according to various embodiments can comprise electrodes configured to heat and seal tissue. Additionally, for example, an end effector according to certain embodiments can apply vibratory energy to seal tissue.

[0591] The entire disclosure of each of the following patents is hereby incorporated by reference herein:

[0592] U.S. Patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which issued on April 4, 1995;

[0593] U.S. Patent No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on February 21, 2006;

[0594] U.S. Patent No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on September 9, 2008;

[0595] U.S. Patent No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on December 16, 2008;

[0596] U.S. Patent No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which issued on March 2, 2010;

[0597] U.S. Patent No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which issued on July 13, 2010;

[0598] U.S. Patent No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, which issued on March 12, 2013;

[0599] U.S. Patent Application Serial No. 11 / 343,801, now U.S. Patent No. 7,670,334, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATING DISTAL FRAMEWORK;

[0600] U.S. Patent Application Serial No. 12 / 031,573, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed February 14, 2008;

[0601] U.S. Patent Application Serial No. 12 / 031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed February 15, 2008, now U.S. Patent No. 7,980,443;

[0602] U.S. Patent Application Serial No. 12 / 235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Patent No. 8,210,411 ;

[0603] U.S. Patent Application Serial No. 12 / 235,972, entitled MOTORIZED SURGICAL INSTRUMENT, now U.S. Patent No. 9,050,083.

[0604] U.S. Patent Application Serial No. 12 / 249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Patent No. 8,608,045;

[0605] U.S. Patent Application Serial No. 12 / 647,100, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filed December 24, 2009, now U.S. Patent No. 8,220,688;

[0606] U.S. Patent Application Serial No. 12 / 893,461, entitled STAPLE CARTRIDGE, filed September 29, 2012, now U.S. Patent No. 8,733,613;

[0607] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTIPLE CHAMBER DEVICES FOR THE DELIVERY OF THERAPEUTIC AGENTS, now U.S. Patent No. 9,035,757;

[0608] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTIPLE CHAMBER DEVICES FOR THE DELIVERY OF THERAPEUTIC AGENTS, now U.S. Patent No. 9,035,757;

[0609] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTIPLE CHAMBER DEVICES FOR THE DELIVERY OF THERAPEUTIC AGENTS, now U.S. Patent No. 9,035,757;

[0610] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTIPLE CHAMBER DEVICES FOR THE DELIVERY OF THERAPEUTIC AGENTS, now U.S. Patent No. 9,035,757;

[0611] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTIPLE CHAMBER DEVICES FOR THE DELIVERY OF THERAPEUTIC AGENTS, now U.S. Patent No. 9,035,757;

[0612] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTIPLE CHAMBER DEVICES FOR THE DELIVERY OF THERAPEUTIC AGENTS, now U.S. Patent No. 9,035,757; and

[0613] U.S. Patent Application Serial No. 13 / 803,148, entitled MULTIPLE CHAMBER DEVICES FOR THE DELIVERY OF THERAPEUTIC AGENTS, now U.S. Patent No. 9,035,757.

[0614] While various devices have been described herein with regard to certain embodiments, many modifications and variations to these embodiments can be implemented. In one or more embodiments, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching. Accordingly, the terms of a claim should not be construed as limiting the scope of the disclosure to the precise structure described in the specification and claims. In another embodiment, well-known structures and functions have not been described in detail in order to avoid obscuring aspects of the present disclosure. This application is intended to cover any and all variations of the application using the general principles disclosed herein. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed.

[0615] The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps including, but not limited to, disassembly of the device, followed by cleaning and / or replacement of particular pieces, and subsequent reassembly of the device. In particular, a reconditioning facility and / or surgical team can disassemble a device and, after cleaning and / or replacing particular parts of the device, can reassemble the device for subsequent use. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

[0616] The devices disclosed herein can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument can then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and / or high-energy electrons. The radiation can kill bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. Any other techniques known in the art to sterilize instruments can also be utilized, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma, and / or steam.

[0617] While this application has been described as having exemplary designs, the present application can be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the application using its general principles.

Claims

1. A surgical instrument, comprising: a shaft; an end effector extending distally from the shaft; a firing system, comprising: an electric motor; a first jaw; a second jaw movable relative to the first jaw; and a firing member drivable by the electric motor during a firing stroke to move from a proximal position toward a distal position to cut patient tissue captured between the first and second jaws; and a control system, comprising: a control circuit comprising a pulse width modulation circuit in communication with the electric motor, wherein the pulse width modulation circuit is configured to apply voltage pulses to the electric motor, wherein a duration of the voltage pulses controls a speed of the firing member, and wherein the control circuit is configured to assess a duty cycle of the electric motor by summing a total pulse duration of the voltage pulses, summing a total gap duration between the voltage pulses, and dividing the total pulse duration by a sum of the total pulse duration and the total gap duration to calculate a duty cycle; and a speed sensor configured to detect a speed of the firing member, wherein the speed sensor is in communication with the control circuit, and wherein the control circuit is configured to: adjust a duty cycle of the electric motor to achieve a target speed of the firing member; assess the duty cycle at predetermined different points of adjustment located between the proximal position and the distal position; cause the firing member to move at the target speed if the duty cycle is between a predetermined lower threshold and a predetermined upper threshold; increase the target speed of the firing member when the duty cycle is below the predetermined lower threshold; and decrease the target speed of the firing member when the duty cycle is above the predetermined upper threshold.

2. The surgical instrument of Claim 1, wherein, the end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein the firing member drives the staples from the staple cartridge during the firing stroke.

3. The surgical instrument of Claim 1, wherein, the firing member comprises a first cam configured to engage the first jaw and a second cam configured to engage the second jaw during the firing stroke, and wherein the firing member holds the second jaw relative to the first jaw during the firing stroke.

4. The surgical instrument of Claim 1, wherein, the speed sensor comprises a motor speed sensor, and wherein the speed sensor detects the speed of the firing member by sensing a speed of the electric motor.

5. The surgical instrument of Claim 1, wherein, the control circuit is configured to increase the speed of the firing member when the speed of the firing member is below the target speed.

6. The surgical instrument of Claim 1, wherein, the control circuit is configured to decrease the speed of the firing member when the speed of the firing member is above the target speed.

7. The surgical instrument of Claim 1, wherein, the control system is configured to assess the duty cycle at a beginning of the firing stroke.

8. The surgical instrument of Claim 7, wherein, The control system is further configured to evaluate the duty cycle during the firing stroke.

9. The surgical instrument of Claim 1, wherein, The control system is configured to evaluate the duty cycle for the entire firing stroke.

10. A surgical instrument, comprising: a shaft; an end effector extending distally from the shaft; a firing system comprising: an electric motor; a first jaw; a second jaw movable relative to the first jaw; and a tissue-cutting knife drivable by the electric motor during a firing stroke to move from a proximal position toward a distal position to cut patient tissue captured between the first and second jaws; and a control system comprising: a control circuit comprising a pulse-width modulation circuit in communication with the electric motor, wherein the pulse-width modulation circuit is configured to apply voltage pulses to the electric motor, wherein a duration of the voltage pulses controls a speed of the tissue-cutting knife, and wherein the control circuit is configured to evaluate a duty cycle of the electric motor by summing a total pulse duration of the voltage pulses, summing a total gap duration between the voltage pulses, and dividing the total pulse duration by a sum of the total pulse duration and the total gap duration to calculate the duty cycle; and a speed sensor configured to detect a speed of the tissue-cutting knife, wherein the speed sensor is in communication with the control circuit, and wherein the control circuit is configured to: adjust the duty cycle of the electric motor to achieve a target speed of the tissue-cutting knife; evaluate the duty cycle at predetermined different positions between the proximal position and the distal position; cause the tissue-cutting knife to move at the target speed if the duty cycle is between a predetermined lower threshold and a predetermined upper threshold; increase the target speed of the tissue-cutting knife when the duty cycle is below the predetermined lower threshold for a period of time; and decrease the target speed of the tissue-cutting knife when the duty cycle is above the predetermined upper threshold for a period of time.

11. The surgical instrument of claim 10, wherein, the end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein the tissue-cutting knife drives the staples from the staple cartridge during the firing stroke.

12. The surgical instrument of claim 10, wherein, the tissue-cutting knife comprises a first cam configured to engage the first jaw and a second cam configured to engage the second jaw during the firing stroke, and wherein the tissue-cutting knife holds the second jaw relative to the first jaw during the firing stroke.

13. The surgical instrument of Claim 10, wherein, the speed sensor comprises a motor speed sensor, and wherein the speed sensor detects the speed of the tissue-cutting knife by sensing a speed of the electric motor.

14. The surgical instrument of Claim 10, wherein, the control circuit is configured to increase the speed of the tissue-cutting knife when the speed of the tissue-cutting knife is below the target speed. the end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein the tissue-cutting knife drives the staples from the staple cartridge during the firing stroke. the tissue-cutting knife comprises a first cam configured to engage the first jaw and a second cam configured to engage the second jaw during the firing stroke, and wherein the tissue-cutting knife holds the second jaw relative to the first jaw during the firing stroke. the speed sensor comprises a motor speed sensor, and wherein the speed sensor detects the speed of the tissue-cutting knife by sensing a speed of the electric motor. the control circuit is configured to increase the speed of the tissue-cutting knife when the speed of the tissue-cutting knife is below the target speed.

15. The surgical instrument of Claim 10, wherein, The control circuit is configured to decrease the speed of the tissue cutting knife when the speed of the tissue cutting knife is higher than the target speed.

16. The surgical instrument of Claim 10, wherein, The control system is configured to evaluate the duty cycle at the start of the firing stroke.

17. The surgical instrument of claim 16, wherein, The control system is further configured to evaluate the duty cycle during the firing stroke.

18. The surgical instrument of Claim 10, wherein, The control system is configured to evaluate the duty cycle for the entire firing stroke.

19. The surgical instrument of Claim 10, wherein, The control system is configured to evaluate the duty cycle at a sampling rate, and wherein each of the time periods comprises a time for performing at least two consecutive samples.

20. A surgical instrument, comprising: a shaft; an end effector extending distally from the shaft; a firing system comprising: an electric motor; a first jaw; a second jaw movable relative to the first jaw; and a tissue cutting knife drivable by the electric motor to move from a proximal position toward a distal position during a firing stroke to cut patient tissue captured between the first and second jaws; and a control system comprising: a control circuit comprising a pulse width modulation circuit in communication with the electric motor, wherein the pulse width modulation circuit is configured to apply voltage pulses to the electric motor, wherein a duration of the voltage pulses controls a speed of the tissue cutting knife, and wherein the control circuit is configured to evaluate a duty cycle of the electric motor by summing a total pulse duration of the voltage pulses, summing a total gap duration between the voltage pulses, and dividing the total pulse duration by a sum of the total pulse duration and the total gap duration to calculate the duty cycle; and a speed sensor configured to detect a speed of the tissue cutting knife, wherein the speed sensor is in communication with the control circuit, and wherein the control circuit is configured to: adjust the duty cycle of the electric motor to achieve a target speed of the tissue cutting knife; evaluate the duty cycle at adjustment points located at predetermined different positions between the proximal position and the distal position; cause the tissue cutting knife to move at the target speed if the duty cycle is between a predetermined lower threshold and a predetermined upper threshold; increase the target speed of the tissue cutting knife when the duty cycle is below the predetermined lower threshold for a distance of the firing stroke; and decrease the target speed of the tissue cutting knife when the duty cycle is above the predetermined upper threshold for a distance of the firing stroke.

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