Surgical instrument with orientation detection system

Abstract

A surgical instrument configured to detect its orientation and adjust its operation based on the detected orientation is disclosed.

Description

[0001] Cross Reference to Related Applications

[0002] This patent application claims priority to U.S. Provisional Patent Application Serial No. 62 / 955,306 entitled “SURGICAL INSTRUMENT SYSTEMS”, filed December 30, 2019, pursuant to Section 119(e) of Title 35 of the United States Code, the entire contents of which are incorporated herein by reference. Background Technology

[0003] This invention relates to surgical instruments, and in various arrangements, to surgical suturing and cutting instruments designed to suture and cut tissues, and staple cartridges used with them. Attached Figure Description

[0004] The various features and advantages of the implementation scheme described herein can be understood in conjunction with the following figures and the following description:

[0005] Figure 1 It is a plan view of a surgical instrument assembly including a shaft, an end effector attached to the shaft, and a stretchable optical waveguide attached to the shaft and the firing member.

[0006] Figure 2 It is shown as a component being removed. Figure 1 A partial perspective view of the surgical instrument assembly;

[0007] Figure 3 It includes Figure 1 A perspective view of a surgical instrument assembly consisting of a shaft and end effector, and a stretchable optical waveguide attached to the shaft and the blade body.

[0008] Figure 4 It includes Figure 1 A front view of a surgical instrument assembly comprising the shaft and end effector, and a stretchable optical waveguide attached to the end effector and the blade body, wherein the blade body is shown in its original position.

[0009] Figure 5 yes Figure 4 A front view of a surgical instrument assembly, in which the blade body is shown in the end-of-stroke position;

[0010] Figure 6 yes Figure 4 A front view of a surgical instrument assembly, in which the end effector articulates relative to an axis;

[0011] Figure 7A It is a partial perspective view of a surgical instrument assembly that includes a shaft, an actuating member, and a sensing system configured to sense parameters of the actuating member.

[0012] Figure 7B yes Figure 7A End view of the surgical instrument assembly;

[0013] Figure 8 It is a partial front view of a surgical instrument assembly including a shaft, an actuating member, and a sensing system having a Hall effect sensor configured to detect the position of the actuating member;

[0014] Figure 9 yes Figure 8 A curve showing the position of the actuating component relative to the motor position;

[0015] Figure 10 yes Figure 8 A graph showing the expected voltage of the Hall effect sensor relative to the motor position;

[0016] Figure 11 It includes Figure 9 and Figure 10 The curve and during the actuation stroke Figure 8 A graph showing an example of the actual readout of a Hall effect sensor;

[0017] Figure 12 These are graphs showing the actuation stroke of the actuating component measured by a motor encoder and graphs showing the actuation stroke of the actuating component measured by a stretchable optical waveguide.

[0018] Figure 13 It is a partial perspective view of a surgical instrument assembly including a shaft, an end actuator attached to the shaft via a joint joint, and a flexible circuit having a stretchable and non-stretchable region.

[0019] Figure 14 It is in a non-stretch configuration. Figure 13 A front view of the stretchable region of a flexible circuit;

[0020] Figure 15 It is in a stretched configuration. Figure 13 A front view of the stretchable region of a flexible circuit;

[0021] Figure 16 It is a front view of a flexible circuit including a stretchable region comprising an elastic support member, wherein the stretchable region is shown in a non-stretched configuration.

[0022] Figure 17 yes Figure 16 A front view of a flexible circuit, wherein the stretchable region is shown in a stretchable configuration;

[0023] Figure 18 yes Figure 16 A front view of a flexible circuit, wherein the stretchable region is shown in a non-stretched configuration;

[0024] Figure 19 It is a perspective view of a surgical instrument assembly including a shaft and flexible circuitry extending through the shaft, with components removed, wherein the flexible circuitry includes pre-bent sections.

[0025] Figure 20 yes Figure 19 A cross-sectional view of the flexible circuit;

[0026] Figure 21 It is a perspective view of a surgical instrument assembly including a shaft and flexible circuitry extending through the shaft, with components removed, wherein the flexible circuitry includes pre-bent sections.

[0027] Figure 22 yes Figure 21 A cross-sectional view of the flexible circuit;

[0028] Figure 23 It is a perspective view of a surgical instrument assembly including a shaft and flexible circuitry extending through the shaft, with components removed, wherein the flexible circuitry includes pre-bent sections.

[0029] Figure 24 yes Figure 23 A cross-sectional view of the flexible circuit;

[0030] Figure 25 It is a plan view of a surgical instrument assembly including an articular joint and flexible circuitry extending through the articular joint, with components removed, wherein the surgical instrument assembly is shown in a first articular configuration.

[0031] Figure 26 yes Figure 25 A plan view of a surgical instrument assembly, wherein the surgical instrument assembly is shown in a second joint motion configuration;

[0032] Figure 27 yes Figure 25 A plan view of a surgical instrument assembly, wherein the surgical instrument assembly is shown in a non-articular motion configuration;

[0033] Figure 28 This is a front view of a surgical instrument assembly, including an end effector, a firing member, and a sensing system with multiple sensors and magnets, with components removed.

[0034] Figure 29 yes Figure 28 A plan view of a surgical instrument assembly, with the firing mechanism in the non-firing position;

[0035] Figure 30 yes Figure 28 A plan view of a surgical instrument assembly, with the firing mechanism in the firing position;

[0036] Figure 31It is a perspective view of a surgical instrument assembly, shown with components removed, including an end actuator jaw having a staple cartridge channel configured to receive a staple cartridge therein and a sensing system having multiple pressure sensors.

[0037] Figure 32 yes Figure 31 A cross-sectional view of a surgical instrument assembly, showing a staple cartridge positioned in the jaws of an end effector;

[0038] Figure 33 yes Figure 31 A cross-sectional view of a surgical instrument assembly, showing a staple cartridge positioned in the jaws of an end effector;

[0039] Figure 34 It is a perspective view of a surgical instrument assembly including a handle, a shaft extending from the handle, an end effector extending from the shaft, and a flexible circuit extending through the shaft and forming a sensing system.

[0040] Figure 35 yes Figure 34 A partial front view of a surgical instrument assembly, wherein an actuating member configured to be sensed by a sensing system includes a first length;

[0041] Figure 36 yes Figure 34 A partial front view of a surgical instrument assembly, wherein the actuating member is under load and includes [missing information]. Figure 35 The first length is different from the second length;

[0042] Figure 37 yes Figure 34 A partial exploded view of the surgical instrument components;

[0043] Figure 38 It is a plan view of a surgical instrument assembly including a shaft, an articulated joint, an end effector attached to the shaft via the articulated joint, and a sensing system, with components removed, wherein the surgical instrument assembly is in a first articulated configuration.

[0044] Figure 39 yes Figure 38 A plan view of a surgical instrument assembly, wherein the surgical instrument assembly is configured for second joint movement;

[0045] Figure 40 yes Figure 38 A plan view of a surgical instrument assembly, wherein the surgical instrument assembly is configured in a non-articular motion configuration;

[0046] Figure 41 It is a perspective view of a stretchable sensing fabric including a main body and various sensing materials positioned within the main body;

[0047] Figure 42 yesFigure 41 A planar view of a stretchable sensing fabric, wherein the stretchable sensing fabric is in a relaxed configuration;

[0048] Figure 43 yes Figure 41 A plan view of a stretchable sensing fabric, wherein the stretchable sensing fabric is in a stretched configuration;

[0049] Figure 44 The components shown as being removed include the firing mechanism and... Figure 41 A perspective view of a surgical instrument assembly consisting of multiple stretchable sensing fabrics.

[0050] Figure 45 yes Figure 44 A cross-sectional view of the surgical instrument assembly;

[0051] Figure 46 It is a perspective view of a surgical instrument assembly, including a shaft, an end effector attached to the shaft via an articulated joint, and a sensing system including a stretchable sensing fabric and flexible circuitry, with components removed.

[0052] Figure 47 yes Figure 46 A cross-sectional view of the components of a surgical instrument assembly;

[0053] Figure 48 It is a graph showing the range of acceptable load curves for the actuating member of a surgical instrument assembly;

[0054] Figure 49 It is shown that... Figure 48 The curve diagram defines the range of acceptable load curves compared to the actual load curve of the actuating component;

[0055] Figure 50 This is a partial cross-sectional view of a surgical instrument assembly, showing a sensing system configured to measure parameters of the surgical instrument assembly with components removed.

[0056] Figure 51 yes Figures 28-30 A plan view of the surgical instrument components;

[0057] Figure 52 Including descriptions relative to the firing stroke Figure 51 Multiple graphs showing sensor readings and data stream bandwidth of the sensing system for the surgical instrument components;

[0058] Figure 53 It is a perspective view of a surgical system including surgical instrument attachment interfaces and multiple surgical instrument accessories;

[0059] Figure 54This is a partial perspective view of a surgical instrument assembly oriented in an upright manner;

[0060] Figure 55 It is oriented in the opposite direction. Figure 54 A partial perspective view of the surgical instrument assembly;

[0061] Figure 56 It is a front view of an end effector assembly including an anvil jaw and a bin jaw, wherein the end effector assembly is oriented in the direction in which the anvil opens in a direction in coordination with gravity;

[0062] Figure 57 yes Figure 56 A front view of an end effector assembly, wherein the end effector is oriented in the direction in which the anvil opens in the direction opposite to gravity;

[0063] Figure 58 It is a partially exploded perspective view of a surgical instrument assembly including an attachment interface, a shaft assembly that can be attached to the attachment interface, and a sensing system configured to detect the orientation of the shaft assembly relative to the attachment interface.

[0064] Figure 59 yes Figure 58 A schematic representation of a sensing system, wherein the shaft assembly is oriented in a first orientation;

[0065] Figure 60 yes Figure 58 A schematic representation of a sensing system, wherein the shaft assembly is oriented in a second orientation;

[0066] Figure 61 yes Figure 58 A schematic representation of a sensing system, in which the shaft assembly is oriented in a third orientation;

[0067] Figure 62 It is a front view of the operating table and the patient, with the operating table and the patient oriented in a first orientation.

[0068] Figure 63 yes Figure 62 A frontal view of the operating table and the patient, with the operating table and the patient oriented in a second orientation;

[0069] Figure 64 yes Figure 62 A frontal view of the operating table and the patient, with the operating table and the patient oriented in a third orientation;

[0070] Figure 65 It is a flowchart depicting the control circuit of surgical instruments; and

[0071] Figure 66 This is a schematic diagram of a surgical instrument system that includes a hub and multiple modular instrument components.

[0072] In several views, corresponding reference symbols indicate corresponding parts. The examples described herein illustrate certain embodiments of the invention in one form, and such examples should not be construed as limiting the scope of the invention in any way. Detailed Implementation

[0073] The applicant of this application owns the following U.S. patent applications filed on the same date as this application, each of which is incorporated herein by reference in its entirety:

[0074] - The agent's case file number END9235USNP1 / 190718-1M, titled "METHOD FOR OPERATING A SURGICAL INSTRUMENT";

[0075] - The agent's case file number for the case titled "SURGICAL INSTRUMENT COMPRISING AN ADJUSTMENT SYSTEM" is END9235USNP2 / 190718-2; - The agent's case file number for the case titled "SURGICAL INSTRUMENT COMPRISING AN ADJUSTMENT SYSTEM" is END9235USNP2 / 190718-2;

[0076] - The agent's case file number for the case titled "SURGICAL INSTRUMENT COMPRISING A CONTROL SYSTEM RESPONSIVE TO SOFTWARE CONFIGURATIONS" is END9235USNP3 / 190718-3; - The agent's case file number for the case titled "SURGICAL INSTRUMENT COMPRISING A CONTROL SYSTEM RESPONSIVE TO SOFTWARE CONFIGURATIONS" is END9235USNP3 / 190718-3;

[0077] - The agent's case file number for the title "SURGICAL INSTRUMENT COMPRISING A SIGNAL INTERFERENCERESOLUTION SYSTEM" is END9235USNP5 / 190718-5;

[0078] - The agent's case file number END9235USNP6 / 190718-6, titled "SURGICAL INSTRUMENT COMPRISING A FEEDBACK CONTROL CIRCUIT";

[0079] - The agent's case file number for the title "SURGICAL INSTRUMENT COMPRISING A FLEX CIRCUIT" is END9235USNP7 / 190718-7;

[0080] - The agent's case file number END9235USNP8 / 190718-8, entitled "SURGICAL INSTRUMENT COMPRISING A SENSING SYSTEM"; and

[0081] - The agent's case file number END9235USNP9 / 190718-9, entitled "SURGICAL INSTRUMENT COMPRISING A FLEX CIRCUIT INCLUDING ASENSOR SYSTEM".

[0082] The applicant of this application owns the following U.S. patent applications filed on May 29, 2020, each of which is incorporated herein by reference in its entirety:

[0083] - U.S. Patent Application Serial No. 16 / 887,499 entitled "USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATIONENERGY MODALITY END-EFFECTOR";

[0084] - U.S. Patent Application Serial No. 16 / 887,493 entitled “METHOD OF OPERATING A COMBINATION ULTRASONIC / BIPOLAR RFSURGICAL DEVICE WITH A COMBINATION ENERGY MODALITY END-EFFECTOR”;

[0085] - U.S. Patent Application Serial No. 16 / 887,506 entitled “Deflectable Support of RF Energy Electrode with Resect Tooposing Ultrasonic Blade”;

[0086] - U.S. Patent Application Serial No. 16 / 887,515 entitled “NON-BIASED DEFLECTABLE ELECTRODE TO MINIMIZE CONTACT BETWEENULTRASONIC BLADE AND ELECTRODE”;

[0087] - U.S. Patent Application Serial No. 16 / 887,519 entitled “DEFLECTABLE ELECTRODE WITH HIGHER DISTAL BIAS RELATIVE TOPROXIMAL BIAS”;

[0088] - U.S. Patent Application Serial No. 16 / 887,532 entitled “DEFLECTABLE ELECTRODE WITH VARIABLE COMPRESSION BIAS ALONGTHE LENGTH OF THE DEFLECTABLE ELECTRODE”;

[0089] - U.S. Patent Application Serial No. 16 / 887,554 entitled “ASYMMETRIC SEGMENTED ULTRASONIC SUPPORT PAD FOR COOPERATIVEENGAGEMENT WITH A MOVABLE RF ELECTRODE”;

[0090] - U.S. Patent Application Serial No. 16 / 887,561 entitled "VARIATION IN ELECTRODE PARAMETERS AND DEFLECTABLE ELECTRODETO MODIFY ENERGY DENSITY AND TISSUE INTERACTION";

[0091] - U.S. Patent Application Serial No. 16 / 887,568 entitled “TECHNIQUES FOR DETECTING ULTRASONIC BLADE TO ELECTRODECONTACT AND REDUCING POWER TO ULTRASONIC BLADE”;

[0092] - U.S. Patent Application Serial No. 16 / 887,576 entitled "CLAMP ARM JAW TO MINIMIZE TISSUE STICKING AND IMPROVE TISSUECONTROL"; and

[0093] - U.S. Patent Application Serial No. 16 / 887,579 entitled “PARTIALLY CONDUCTIVE CLAMP ARM PAD TO ENABLE ELECTRODE WEARTHROUGH AND MINIMIZE SHORT CIRCUITING”.

[0094] The applicant of this application owns the following U.S. patent applications filed on May 28, 2020, each of which is incorporated herein by reference in its entirety:

[0095] - U.S. patent application serial number 16 / 885,813 entitled “METHOD FOR AN ELECTROSURGICAL PROCEDURE”;

[0096] - U.S. patent application serial number 16 / 885,820 entitled “ARTICULATABLE SURGICAL INSTRUMENT”;

[0097] - U.S. patent application serial number 16 / 885,823 entitled "SURGICAL INSTRUMENT WITH JAW ALIGNMENT FEATURES";

[0098] - U.S. patent application serial number 16 / 885,826 entitled "SURGICAL INSTRUMENT WITH ROTATABLE AND ARTICULATABLE SURGICALEND EFFECTOR";

[0099] - U.S. patent application serial number 16 / 885,838 entitled "ELECTROSURGICAL INSTRUMENT WITH ASYNCHRONOUS ENERGIZING ELECTRODES";

[0100] - U.S. patent application serial number 16 / 885,851 entitled "ELECTROSURGICAL INSTRUMENT WITH ELECTRODES BIASING SUPPORT";

[0101] - U.S. patent application serial number 16 / 885,860 entitled "ELECTROSURGICAL INSTRUMENT WITH FLEXIBLE WIRING ASSEMBLIES";

[0102] - U.S. patent application serial number 16 / 885,866 entitled "ELECTROSURGICAL INSTRUMENT WITH VARIABLE CONTROL MECHANISMS";

[0103] - U.S. patent application serial number 16 / 885,870 entitled "ELECTROSURGICAL SYSTEMS WITH INTEGRATED AND EXTERNAL POWERSOURCES";

[0104] - U.S. Patent Application Serial No. 16 / 885,873 entitled “ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING ENERGYFOCUSING FEATURES”;

[0105] - U.S. Patent Application Serial No. 16 / 885,879 entitled “ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING VARIABLEENERGY DENSITIES”;

[0106] - U.S. patent application serial number 16 / 885,881 entitled "ELECTROSURGICAL INSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGYCAPABILITIES";

[0107] - U.S. Patent Application Serial No. 16 / 885,888 entitled "ELECTROSURGICAL END EFFECTORS WITH THERMALLY INSULATIVE AND THERMALLY CONDUCTIVE PORTIONS";

[0108] - U.S. Patent Application Serial No. 16 / 885,893 entitled “ELECTROSURGICAL INSTRUMENT WITH ELECTRODES OPERABLE INBIPOLAR AND MONOPOLAR MODES”;

[0109] - U.S. patent application serial number 16 / 885,900 entitled "ELECTROSURGICAL INSTRUMENT FOR DELIVERING BLENDED ENERGY MODALITIES TO TISSUE";

[0110] - U.S. patent application serial number 16 / 885,917 entitled "CONTROL PROGRAM ADAPTATION BASED ON DEVICE STATUS AND USERINPUT";

[0111] - U.S. Patent Application Serial No. 16 / 885,923 entitled "CONTROL PROGRAM FOR MODULAR COMBINATION ENERGY DEVICE"; and

[0112] - U.S. Patent Application Serial No. 16 / 885,931 entitled “SURGICAL SYSTEM COMMUNICATION PATHWAYS”.

[0113] The applicant of this application owns the following U.S. provisional patent applications filed on December 30, 2019, each of which is incorporated herein by reference in its entirety:

[0114] - U.S. Provisional Patent Application Serial No. 62 / 955,294 entitled “USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATIONENERGY MODALITY END-EFFECTOR”;

[0115] - U.S. Provisional Patent Application Serial No. 62 / 955,292 entitled "COMBINATION ENERGY MODALITY END-EFFECTOR"; and

[0116] - U.S. Provisional Patent Application Serial No. 62 / 955,299 entitled “ELECTROSURGICAL INSTRUMENTS FOR COMBINATION ENERGY DELIVERY”.

[0117] The applicant of this application owns the following U.S. patent applications filed on December 19, 2019, each of which is incorporated herein by reference in its entirety:

[0118] - U.S. patent application serial number 16 / 720,766 entitled “METHOD FOR OPERATING A SURGICAL INSTRUMENT”;

[0119] - U.S. patent application serial number 16 / 720,706 entitled “STAPLE CARTRIDGE COMPRISING A SEATING CAM”;

[0120] - U.S. patent application serial number 16 / 720,731 entitled “SURGICAL INSTRUMENT COMPRISING A RAPID CLOSURE MECHANISM”;

[0121] - U.S. Patent Application Serial No. 16 / 720,735 entitled “SURGICAL INSTRUMENT COMPRISING A CLOSURE SYSTEM INCLUDING ACLOSURE MEMBER AND AN OPENING MEMBER DRIVEN BY A DRIVE SCREW”;

[0122] - U.S. patent application serial number 16 / 720,747 entitled "SURGICAL INSTRUMENT COMPRISING A NESTED FIRING MEMBER";

[0123] - U.S. patent application serial number 16 / 720,751 entitled “STAPLE CARTRIDGE COMPRISING A DEPLOYABLE KNIFE”;

[0124] - U.S. patent application serial number 16 / 720,769 entitled “STAPLE CARTRIDGE COMPRISING A DETACHABLE TISSUE CUTTINGKNIFE”;

[0125] - U.S. patent application serial number 16 / 720,730 entitled "STAPLING SYSTEM COMPRISING A CLAMP LOCKOUT AND A FIRINGLOCKOUT";

[0126] - U.S. patent application serial number 16 / 720,742 entitled “STAPLE CARTRIDGE COMPRISING A LATCH LOCKOUT”;

[0127] - U.S. patent application serial number 16 / 720,776 entitled "SURGICAL INSTRUMENT COMPRISING A POWERED ARTICULATION SYSTEM";

[0128] - U.S. patent application serial number 16 / 720,781 entitled "MOTOR DRIVEN SURGICAL INSTRUMENT";

[0129] - U.S. Patent Application Serial No. 16 / 720,789 entitled “STAPLING INSTRUMENT COMPRISING INDEPENDENT JAW CLOSING AND STAPLE FIRING SYSTEMS”;

[0130] - U.S. patent application serial number 16 / 720,725 entitled “STAPLE CARTRIDGE COMPRISING DRIVER RETENTION MEMBERS”;

[0131] - U.S. patent application serial number 16 / 720,740 entitled “STAPLE CARTRIDGE COMPRISING DRIVER RETENTION MEMBERS”;

[0132] - U.S. Patent Application Serial No. 16 / 720,788 entitled "STAPLE CARTRIDGE COMPRISING PROJECTIONS EXTENDING FROM ACURVED DECK SURFACE"; and

[0133] - U.S. Patent Application Serial No. 16 / 720,806 entitled “STAPLE CARTRIDGE COMPRISING A CURVED DECK SURFACE”.

[0134] The applicant of this application owns the following U.S. patent applications filed on September 5, 2019, each of which is incorporated herein by reference in its entirety:

[0135] - U.S. Patent Application Serial No. 16 / 562,123 entitled “METHOD FOR CONSTRUCTING AND USING A MODULAR SURGICAL ENERGY SYSTEM WITH MULTIPLE DEVICES”;

[0136] - U.S. patent application serial number 16 / 562,135 entitled “METHOD FOR CONTROLLING AN ENERGY MODULE OUTPUT”;

[0137] - U.S. Patent Application Serial No. 16 / 562,144 entitled "METHOD FOR CONTROLLING A MODULAR ENERGY SYSTEM USERINTERFACE"; and

[0138] - U.S. Patent Application Serial No. 16 / 562,125 entitled “METHOD FOR COMMUNICATING BETWEEN MODULES AND DEVICES IN AMODULAR SURGICAL SYSTEM”.

[0139] The applicant of this application owns the following U.S. patent applications filed on March 25, 2019, each of which is incorporated herein by reference in its entirety:

[0140] - U.S. patent application serial number 16 / 363,070 entitled "FIRING DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS";

[0141] - U.S. patent application serial number 16 / 363,051 entitled "FIRING DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS";

[0142] - U.S. Patent Application Serial No. 16 / 363,045 entitled "ARTICULATION DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS"; and

[0143] - U.S. Patent Application Serial No. 16 / 363,062 entitled “FIRING DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS”.

[0144] The applicant of this application owns the following U.S. patent applications filed on June 30, 2019, each of which is incorporated herein by reference in its entirety:

[0145] - U.S. Patent Application Serial No. 16 / 458,104 entitled “METHOD FOR AUTHENTICATING THE COMPATIBILITY OF A STAPLECARTRIDGE WITH A SURGICAL INSTRUMENT”;

[0146] - U.S. patent application serial number 16 / 458,108 entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN RFID SYSTEM";

[0147] - U.S. Patent Application Serial No. 16 / 458,111 entitled “SURGICAL INSTRUMENT COMPRISING AN RFID SYSTEM FOR TRACKING AMOVABLE COMPONENT”;

[0148] - U.S. patent application serial number 16 / 458,114 entitled "SURGICAL INSTRUMENT COMPRISING AN ALIGNED RFID SENSOR";

[0149] - U.S. patent application serial number 16 / 458,105 entitled “SURGICAL STAPLING SYSTEM HAVING AN INFORMATION DECRYPTIONPROTOCOL”;

[0150] - U.S. patent application serial number 16 / 458,110 entitled “SURGICAL STAPLING SYSTEM HAVING AN INFORMATION ENCRYPTIONPROTOCOL”;

[0151] - U.S. patent application serial number 16 / 458,120 entitled "SURGICAL STAPLING SYSTEM HAVING A LOCKOUT MECHANISM FOR ANINCOMPATIBLE CARTRIDGE";

[0152] - U.S. patent application serial number 16 / 458,125 entitled "SURGICAL STAPLING SYSTEM HAVING A FRANGIBLE RFID TAG"; and

[0153] - U.S. Patent Application Serial No. 16 / 458,103 entitled “PACKAGING FOR A REPLACEABLE COMPONENT OF A SURGICAL STAPLING SYSTEM”.

[0154] The applicant of this application owns the following U.S. patent applications filed on June 30, 2019, each of which is incorporated herein by reference in its entirety:

[0155] - U.S. patent application serial number 16 / 458,107 entitled “METHOD OF USING MULTIPLE RFID CHIPS WITH A SURGICAL ASSEMBLY”;

[0156] - U.S. patent application serial number 16 / 458,109 entitled “MECHANISMS FOR PROPER ANVIL ATTACHMENT SURGICAL STAPLING HEADASSEMBLY”;

[0157] - U.S. patent application serial number 16 / 458,119 entitled “MECHANISMS FOR MOTOR CONTROL ADJUSTMENTS OF A MOTORIZEDSURGICAL INSTRUMENT”;

[0158] - U.S. patent application serial number 16 / 458,115 entitled "SURGICAL INSTRUMENT WITH BATTERY COMPATIBILITY VERIFICATION FUNCTIONALITY";

[0159] - U.S. Patent Application Serial No. 16 / 458,117 entitled "SURGICAL SYSTEM WITH RFID TAGS FOR UPDATING MOTOR ASSEMBLYPARAMETERS";

[0160] - U.S. patent application serial number 16 / 458,121 entitled "SURGICAL SYSTEMS WITH MULTIPLE RFID TAGS";

[0161] - U.S. patent application serial number 16 / 458,122 entitled "RFID IDENTIFICATION SYSTEMS FOR SURGICAL INSTRUMENTS";

[0162] - U.S. patent application serial number 16 / 458,106 entitled "RFID IDENTIFICATION SYSTEMS FOR SURGICAL INSTRUMENTS";

[0163] - U.S. patent application serial number 16 / 458,112 entitled "SURGICAL RFID ASSEMBLIES FOR DISPLAY AND COMMUNICATION";

[0164] - U.S. Patent Application Serial No. 16 / 458,116 entitled "SURGICAL RFID ASSEMBLIES FOR COMPATIBILITY DETECTION"; and

[0165] - U.S. Patent Application Serial No. 16 / 458,118 entitled “SURGICAL RFID ASSEMBLIES FOR INSTRUMENT OPERATIONAL SETTING CONTROL”.

[0166] The applicant of this patent application owns the following U.S. patent applications filed on December 4, 2018, the disclosure of each of which is incorporated herein by reference in its entirety:

[0167] - U.S. patent application serial number 16 / 209,385 entitled “METHOD OF HUB COMMUNICATION, PROCESSING, STORAGE AND DISPLAY”;

[0168] - U.S. patent application serial number 16 / 209,395 entitled “METHOD OF HUB COMMUNICATION”;

[0169] - U.S. Patent Application Serial No. 16 / 209,403 entitled “METHOD OF CLOUD BASED DATA ANALYTICS FOR USE WITH THE HUB”;

[0170] - U.S. patent application serial number 16 / 209,407 entitled “METHOD OF ROBOTIC HUB COMMUNICATION, DETECTION, AND CONTROL”;

[0171] - U.S. Patent Application Serial No. 16 / 209,416 entitled “METHOD OF HUB COMMUNICATION, PROCESSING, DISPLAY, AND CLOUDANALYTICS”;

[0172] - 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”;

[0173] - U.S. Patent Application Serial No. 16 / 209,427 entitled “METHOD OF USING REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLESENSORS TO OPTIMIZE PERFORMANCE OF RADIO FREQUENCY DEVICES”;

[0174] - U.S. Patent Application Serial No. 16 / 209,433 entitled “METHOD OF SENSING PARTICULATE FROM SMOKE EVACUATED FROM APATIENT, ADJUSTING THE PUMP SPEED BASED ON THE SENSED INFORMATION, AND COMMUNICATING THE FUNCTIONAL PARAMETERS OF THE SYSTEM TO THE HUB”;

[0175] - U.S. patent application serial number 16 / 209,447 entitled “METHOD FOR SMOKE EVACUATION FOR SURGICAL HUB”;

[0176] - U.S. patent application serial number 16 / 209,453 entitled “METHOD FOR CONTROLLING SMART ENERGY DEVICES”;

[0177] - U.S. patent application serial number 16 / 209,458 entitled “METHOD FOR SMART ENERGY DEVICE INFRASTRUCTURE”;

[0178] - U.S. Patent Application Serial No. 16 / 209,465 entitled “METHOD FOR ADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORKCONTROL AND INTERACTION”;

[0179] - U.S. Patent Application Serial No. 16 / 209,478 entitled “METHOD FOR SITUATIONAL AWARENESS FOR SURGICAL NETWORK ORSURGICAL NETWORK CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASED ON ASENSED SITUATION OR USAGE”;

[0180] - U.S. Patent Application Serial No. 16 / 209,490 entitled "METHOD FOR FACILITY DATA COLLECTION AND INTERPRETATION"; and

[0181] - U.S. Patent Application Serial No. 16 / 209,491 entitled “METHOD FOR CIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENTBASED ON SITUATIONAL AWARENESS”.

[0182] The applicant of this application owns the following U.S. patent applications filed on June 26, 2019, each of which is incorporated herein by reference in its entirety:

[0183] - U.S. Patent Application Serial No. 16 / 453,273 entitled “METHOD FOR PROVIDING AN AUTHENTICATION LOCKOUT IN A SURGICALSTAPLER WITH A REPLACEABLE CARTRIDGE”;

[0184] - U.S. Patent Application Serial No. 16 / 453,283 entitled “SURGICAL STAPLING ASSEMBLY WITH CARTRIDGE BASED RETAINER CONFIGURED TO UNLOCK A FIRING LOCKOUT”;

[0185] - U.S. Patent Application Serial No. 16 / 453,289 entitled “SURGICAL STAPLING ASSEMBLY WITH CARTRIDGE BASED RETAINER CONFIGURED TO UNLOCK A CLOSURE LOCKOUT”;

[0186] - U.S. Patent Application Serial No. 16 / 453,302 entitled “UNIVERSAL CARTRIDGE BASED KEY FEATURE THAT UNLOCKS MULTIPLELOCKOUT ARRANGEMENTS IN DIFFERENT SURGICAL STAPLERS”;

[0187] - U.S. Patent Application Serial No. 16 / 453,310 entitled “STAPLE CARTRIDGE RETAINERS WITH FRANGIBLE RETENTION FEATURES AND METHODS OF USING SAME”;

[0188] - U.S. patent application serial number 16 / 453,330 entitled "STAPLE CARTRIDGE RETAINER WITH FRANGIBLE AUTHENTICATION KEY";

[0189] - U.S. patent application serial number 16 / 453,335 entitled “STAPLE CARTRIDGE RETAINER WITH RETRACTABLE AUTHENTICATIONKEY”;

[0190] - U.S. Patent Application Serial No. 16 / 453,343 entitled “STAPLE CARTRIDGE RETAINER SYSTEM WITH AUTHENTICATION KEYS”;

[0191] - U.S. patent application serial number 16 / 453,355 entitled “INSERTABLE DEACTIVATOR ELEMENT FOR SURGICAL STAPLER LOCKOUTS”;

[0192] - U.S. patent application serial number 16 / 453,369 entitled “DUAL CAM CARTRIDGE BASED FEATURE FOR UNLOCKING A SURGICALSTAPLER LOCKOUT”;

[0193] - U.S. Patent Application Serial No. 16 / 453,391 entitled "STAPLE CARTRIDGES WITH CAM SURFACES CONFIGURED TO ENGAGEPRIMARY AND SECONDARY PORTIONS OF A LOCKOUT OF A SURGICAL STAPLING DEVICE";

[0194] - U.S. Patent Application Serial No. 16 / 453,413 entitled “SURGICAL STAPLE CARTRIDGES WITH MOVABLE AUTHENTICATION KEYARRANGEMENTS”;

[0195] - U.S. Patent Application Serial No. 16 / 453,423 entitled "Deactivator Election for Defeating Surgical Staplening Device Lockouts"; and

[0196] - U.S. Patent Application Serial No. 16 / 453,429 entitled “SURGICAL STAPLE CARTRIDGES WITH INTEGRAL AUTHENTICATION KEYS”.

[0197] The applicant of this application owns the following U.S. design patent applications, each filed on June 25, 2019, the full text of which is incorporated herein by reference:

[0198] - U.S. design patent application serial number 29 / 696,066 entitled "SURGICAL STAPLE CARTRIDGE RETAINER WITH FIRING SYSTEMAUTHENTICATION KEY";

[0199] - U.S. design patent application serial number 29 / 696,067 entitled "SURGICAL STAPLE CARTRIDGE RETAINER WITH CLOSURE SYSTEMAUTHENTICATION KEY"; and

[0200] - U.S. design patent application serial number 29 / 696,072 entitled “SURGICAL STAPLE CARTRIDGE”.

[0201] The applicant of this application owns the following U.S. patent applications, each filed on February 21, 2019, the full text of which is incorporated herein by reference:

[0202] - U.S. Patent Application Serial No. 16 / 281658 entitled “METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HASSEPARATE ROTARY CLOSURE AND FIRING SYSTEMS”;

[0203] - U.S. patent application serial number 16 / 281,670 entitled "STAPLE CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFTA FIRING MEMBER";

[0204] - U.S. Patent Application Serial No. 16 / 281,675 entitled “SURGICAL STAPLERS WITH ARRANGEMENTS FOR maintaining A FIRINGMEMBER THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE HASBEEN INSTALLED THEREIN”;

[0205] - U.S. Patent Application Serial No. 16 / 281,685 entitled “SURGICAL INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES”;

[0206] - U.S. Patent Application Serial No. 16 / 281,693 entitled “SURGICAL STAPLING ASSEMBLY COMPRISING A LOCKOUT AND ANEXTERIOR ACCESS ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT”;

[0207] - 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 INSTALLEDTHEREIN";

[0208] - U.S. patent application serial number 16 / 281,707 entitled "SURGICAL INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT";

[0209] - U.S. patent application serial number 16 / 281741 entitled "SURGICAL INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT";

[0210] - U.S. Patent Application Serial No. 16 / 281,762 entitled “SURGICAL STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING LOCKOUT ARRANGEMENTS”;

[0211] - U.S. Patent Application Serial No. 16 / 281,660 entitled "SURGICAL STAPLE CARTRIDGE WITH FIRING MEMBER DRIVEN CAMMING ASSEMBLY THAT HAS AN ONBOARD TISSUE CUTTING FEATURE";

[0212] - U.S. Patent Application Serial No. 16 / 281,666 entitled "SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS";

[0213] - U.S. Patent Application Serial No. 16 / 281672 entitled "SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES";

[0214] - U.S. Patent Application Serial No. 16 / 281,678 entitled "ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND FRAMEENGAGEMENT FEATURES"; and

[0215] - 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".

[0216] The applicant of this patent application owns the following U.S. provisional patent applications filed on March 28, 2018, the entire contents of each of which are incorporated herein by reference:

[0217] - U.S. Provisional Patent Application Serial No. 62 / 649,302 entitled “INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES”;

[0218] - U.S. Provisional Patent Application Serial No. 62 / 649,294 entitled “DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD”;

[0219] - U.S. Provisional Patent Application Serial No. 62 / 649,300 entitled “SURGICAL HUB SITUATIONAL AWARENESS”;

[0220] - U.S. Provisional Patent Application Serial No. 62 / 649,309 entitled “SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES INOPERATING THEATER”;

[0221] - U.S. Provisional Patent Application Serial No. 62 / 649,310 entitled “COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS”;

[0222] - U.S. Provisional Patent Application Serial No. 62 / 649,291 entitled “USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINEPROPERTIES OF BACK SCATTERED LIGHT”;

[0223] - U.S. Provisional Patent Application Serial No. 62 / 649,296 entitled “ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES”;

[0224] - U.S. Provisional Patent Application Serial No. 62 / 649,333 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION ANDRECOMMENDATIONS TO A USER”;

[0225] - U.S. Provisional Patent Application Serial No. 62 / 649,327 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES”;

[0226] - U.S. Provisional Patent Application Serial No. 62 / 649,315 entitled “DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICSNETWORK”;

[0227] - U.S. Provisional Patent Application Serial No. 62 / 649,313 entitled “CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES”;

[0228] - U.S. Provisional Patent Application Serial No. 62 / 649,320 entitled “DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”;

[0229] - U.S. Provisional Patent Application Serial No. 62 / 649,307 entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICALPLATFORMS"; and

[0230] - U.S. Provisional Patent Application Serial No. 62 / 649,323 entitled “SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”.

[0231] The applicant of this application owns the following U.S. provisional patent application filed on March 30, 2018, the entire contents of which are incorporated herein by reference:

[0232] - U.S. Provisional Patent Application Serial No. 62 / 650,887 entitled "SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES".

[0233] The applicant of this application owns the following U.S. patent application filed on December 4, 2018, which is incorporated herein by reference in its entirety:

[0234] - 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”.

[0235] The applicant of this application owns the following U.S. patent applications filed on August 20, 2018, each of which is incorporated herein by reference in its entirety:

[0236] - U.S. patent application serial number 16 / 105,101 entitled “METHOD FOR FABRICATING SURGICAL STAPLER ANVILS”;

[0237] - U.S. patent application serial number 16 / 105,183 entitled “REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL”;

[0238] - U.S. Patent Application Serial No. 16 / 105,150 entitled "SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS ANDTISSUE STABILITY FEATURES";

[0239] - U.S. patent application serial number 16 / 105,098 entitled "FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS";

[0240] - U.S. Patent Application Serial No. 16 / 105,140 entitled "SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH";

[0241] - U.S. patent application serial number 16 / 105,081 entitled “METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICALINSTRUMENT”;

[0242] - U.S. Patent Application Serial No. 16 / 105,094 entitled “SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS”;

[0243] - 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”;

[0244] - U.S. Patent Application Serial No. 16 / 105,104 entitled “POWERED ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING ANDLOCKING ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A FIRING DRIVE SYSTEM”;

[0245] - U.S. Patent Application Serial No. 16 / 105,119 entitled “ARTICULATION MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS”;

[0246] - U.S. Patent Application Serial No. 16 / 105,160 entitled "SWITCHING ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL INSTRUMENTS"; and

[0247] - U.S. design patent application serial number 29 / 660,252 entitled “SURGICAL STAPLER ANVILS”.

[0248] The applicant of this application owns the following U.S. patent applications filed on August 3, 2017, each of which is incorporated herein by reference in its entirety:

[0249] - U.S. patent application serial number 15 / 668,324 entitled "SURGICAL SYSTEM SHAFT INTERCONNECTION";

[0250] - U.S. Patent Application Serial No. 15 / 668,301 entitled "SURGICAL SYSTEM BAILOUT"; and

[0251] - U.S. Patent Application Serial No. 15 / 668,319 entitled “SURGICAL SYSTEM COMPRISING AN ARTICULATION BAILOUT”.

[0252] The applicant of this application owns the following U.S. patent applications filed on June 28, 2017, each of which is incorporated herein by reference in its entirety:

[0253] - U.S. patent application serial number 15 / 635,693 entitled “SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT”;

[0254] - U.S. patent application serial number 15 / 635,729 entitled “SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO”;

[0255] - U.S. patent application serial number 15 / 635,785 entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO";

[0256] - U.S. patent application serial number 15 / 635,808 entitled “SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS”;

[0257] - U.S. patent application serial number 15 / 635,837 entitled “SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEMLOCKABLE TO A FRAME”;

[0258] - U.S. Patent Application Serial No. 15 / 635,941 entitled “SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEMLOCKABLE BY A CLOSURE SYSTEM”;

[0259] - U.S. Patent Application Serial No. 15 / 636,029 entitled “SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT”;

[0260] - U.S. patent application serial number 15 / 635,958 entitled “SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLEROTATABLE COUPLERS”;

[0261] - U.S. Patent Application Serial No. 15 / 635,981 entitled “SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLECARTRIDGE NOSES”;

[0262] - U.S. Patent Application Serial No. 15 / 636,009 entitled “SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURETUBE PROFILE”;

[0263] - U.S. patent application serial number 15 / 635,663 entitled “METHOD FOR ARTICULATING A SURGICAL INSTRUMENT”;

[0264] - U.S. Patent Application Serial No. 15 / 635,530 entitled “SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS”;

[0265] - U.S. Patent Application Serial No. 15 / 635,549 entitled “SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLYMOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWSPRIOR TO FIRING”;

[0266] - U.S. Patent Application Serial No. 15 / 635,559 entitled "SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT ANAXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TOTHE PIVOT AXIS";

[0267] - U.S. Patent Application Serial No. 15 / 635,578 entitled “SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS”;

[0268] - U.S. Patent Application Serial No. 15 / 635,594 entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT AXIS";

[0269] - U.S. Patent Application Serial No. 15 / 635,612 entitled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICALINSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICALINSTRUMENT JAW";

[0270] - U.S. Patent Application Serial No. 15 / 635,621 entitled “SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES”;

[0271] - U.S. patent application serial number 15 / 635,631 entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER";

[0272] - U.S. patent application serial number 15 / 635,521 entitled “SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT”;

[0273] - U.S. design patent application serial number 29 / 609,083 entitled “SURGICAL INSTRUMENT SHAFT”;

[0274] - U.S. design patent application serial number 29 / 609,087 entitled “SURGICAL FORMING ANVI”;

[0275] - U.S. design patent application serial number 29 / 609,093 entitled “SURGICAL FASTENER CARTRIDGE”;

[0276] - U.S. design patent application serial number 29 / 609,121 entitled "SURGICAL INSTRUMENT";

[0277] - U.S. design patent application serial number 29 / 609,125 entitled "SURGICAL INSTRUMENT";

[0278] - U.S. design patent application serial number 29 / 609,128 entitled "SURGICAL INSTRUMENT"; and

[0279] - U.S. design patent application serial number 29 / 609,129 entitled “DISPLAY SCREEN PORTION OF A SURGICAL INSTRUMENT HAVING AGRAPHICAL USER INTERFACE”.

[0280] The applicant of this application owns the following U.S. patent applications filed on June 27, 2017, each of which is incorporated herein by reference in its entirety:

[0281] - U.S. Patent Application Serial No. 15 / 634,024 entitled “SURGICAL ANVIL MANUFACTURING METHODS”;

[0282] - U.S. patent application serial number 15 / 634,035 entitled "SURGICAL ANVIL ARRANGEMENTS";

[0283] - U.S. patent application serial number 15 / 634,046 entitled "SURGICAL ANVIL ARRANGEMENTS";

[0284] - U.S. patent application serial number 15 / 634,054 entitled "SURGICAL ANVIL ARRANGEMENTS";

[0285] - U.S. patent application serial number 15 / 634,068 entitled “SURGICAL FIRING MEMBER ARRANGEMENTS”;

[0286] - U.S. patent application serial number 15 / 634,076 entitled “STAPLE FORMING POCKET ARRANGEMENTS”;

[0287] - U.S. patent application serial number 15 / 634,090 entitled “STAPLE FORMING POCKET ARRANGEMENTS”;

[0288] - U.S. Patent Application Serial No. 15 / 634,099 entitled "SURGICAL END EFFECTORS AND ANVILS"; and

[0289] - U.S. Patent Application Serial No. 15 / 634,117 entitled “ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS”.

[0290] The applicant of this application owns the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety:

[0291] - U.S. patent application serial number 15 / 386,185 entitled “SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIESTHEREOF”;

[0292] - U.S. patent application serial number 15 / 386,230 entitled “ARTICULATABLE SURGICAL STAPLING INSTRUMENTS”;

[0293] - U.S. Patent Application Serial No. 15 / 386,221 entitled “LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS”;

[0294] - U.S. patent application serial number 15 / 386,209 entitled “SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF”;

[0295] - U.S. Patent Application Serial No. 15 / 386,198 entitled “LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES”;

[0296] - U.S. patent application serial number 15 / 386,240 entitled “SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR”;

[0297] - U.S. patent application serial number 15 / 385,939 entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN”;

[0298] - U.S. Patent Application Serial No. 15 / 385,941 entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FORSHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES ANDARTICULATION AND FIRING SYSTEMS";

[0299] - U.S. patent application serial number 15 / 385,943 entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS”;

[0300] - U.S. Patent Application Serial No. 15 / 385,950 entitled “SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTIONFEATURES”;

[0301] - U.S. patent application serial number 15 / 385,945 entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN”;

[0302] - U.S. patent application serial number 15 / 385,946 entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS”;

[0303] - U.S. Patent Application Serial No. 15 / 385,951 entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASINGA JAW OPENING DISTANCE";

[0304] - U.S. patent application serial number 15 / 385,953 entitled “METHODS OF STAPLING TISSUE”;

[0305] - U.S. Patent Application Serial No. 15 / 385,954 entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FORSURGICAL END EFFECTORS";

[0306] - U.S. Patent Application Serial No. 15 / 385,955 entitled “SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOPARRANGEMENTS”;

[0307] - U.S. patent application serial number 15 / 385,948 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

[0308] - U.S. Patent Application Serial No. 15 / 385,956 entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES";

[0309] - 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”;

[0310] - U.S. patent application serial number 15 / 385,947 entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN”;

[0311] - U.S. patent application serial number 15 / 385,896 entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";

[0312] - U.S. patent application serial number 15 / 385,898 entitled “STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENTTYPES OF STAPLES”;

[0313] - U.S. patent application serial number 15 / 385,899 entitled “SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL”;

[0314] - U.S. patent application serial number 15 / 385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISINGWINDOWS DEFINED THEREIN";

[0315] - U.S. patent application serial number 15 / 385,902 entitled “SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER”;

[0316] - U.S. Patent Application Serial No. 15 / 385,904 entitled “STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / ORSPENT CARTRIDGE LOCKOUT”;

[0317] - U.S. patent application serial number 15 / 385,905 entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT";

[0318] - U.S. Patent Application Serial No. 15 / 385,907 entitled “SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT”;

[0319] - U.S. patent application serial number 15 / 385,908 entitled "FIRING ASSEMBLY COMPRISING A FUSE";

[0320] - U.S. patent application serial number 15 / 385,909 entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE";

[0321] - U.S. patent application serial number 15 / 385,920 entitled “STAPLE FORMING POCKET ARRANGEMENTS”;

[0322] - U.S. patent application serial number 15 / 385,913 entitled “ANVIL ARRANGEMENTS FOR SURGICAL STAPLE / FASTENERS”;

[0323] - 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”;

[0324] - U.S. patent application serial number 15 / 385,893 entitled “BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS”;

[0325] - U.S. Patent Application Serial No. 15 / 385,929 entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICALINSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

[0326] - U.S. Patent Application Serial No. 15 / 385,911 entitled “SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLECLOSING AND FIRING SYSTEMS”;

[0327] - U.S. patent application serial number 15 / 385,927 entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES";

[0328] - U.S. Patent Application Serial No. 15 / 385,917 entitled “STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPINGBREADTHS”;

[0329] - U.S. Patent Application Serial No. 15 / 385,900 entitled “STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARYSIDEWALLS AND POCKET SIDEWALLS”;

[0330] - U.S. patent application serial number 15 / 385,931 entitled “NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FORSURGICAL STAPLE / FASTENERS”;

[0331] - U.S. patent application serial number 15 / 385,915 entitled “FIRING MEMBER PIN ANGLE”;

[0332] - U.S. patent application serial number 15 / 385,897 entitled “STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMINGSURFACE GROOVES”;

[0333] - U.S. Patent Application Serial No. 15 / 385,922 entitled “SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES”;

[0334] - U.S. patent application serial number 15 / 385,924 entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS";

[0335] - U.S. Patent Application Serial No. 15 / 385,912 entitled “SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT AFIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS”;

[0336] - U.S. patent application serial number 15 / 385,910 entitled “ANVIL HAVING A KNIFE SLOT WIDTH”;

[0337] - U.S. patent application serial number 15 / 385,906 entitled “FIRING MEMBER PIN CONFIGURATIONS”;

[0338] - U.S. patent application serial number 15 / 386,188 entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES";

[0339] - U.S. Patent Application Serial No. 15 / 386,192 entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAPSETTING FEATURES";

[0340] - U.S. Patent Application Serial No. 15 / 386,206 entitled “STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES”;

[0341] - U.S. Patent Application Serial No. 15 / 386,226 entitled “DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS”;

[0342] - U.S. Patent Application Serial No. 15 / 386,222 entitled “SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITHPOSITIVE OPENING FEATURES”;

[0343] - U.S. Patent Application Serial No. 15 / 386,236 entitled “CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICALSTAPLING INSTRUMENTS”;

[0344] - U.S. Patent Application Serial No. 15 / 385,887 entitled “METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICALINSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT”;

[0345] - U.S. Patent Application Serial No. 15 / 385,889 entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTIONSYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM";

[0346] - U.S. patent application serial number 15 / 385,890 entitled “SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE ANDRETRACTABLE SYSTEMS”;

[0347] - U.S. Patent Application Serial No. 15 / 385,891 entitled “SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THEOUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS”;

[0348] - U.S. Patent Application Serial No. 15 / 385,892 entitled “SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO ANARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM”;

[0349] - U.S. patent application serial number 15 / 385,894 entitled “SHAFT ASSEMBLY COMPRISING A LOCKOUT”;

[0350] - U.S. patent application serial number 15 / 385,895 entitled “SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATIONLOCKOUTS”;

[0351] - U.S. patent application serial number 15 / 385,916 entitled “SURGICAL STAPLING SYSTEMS”;

[0352] - U.S. patent application serial number 15 / 385,918 entitled "SURGICAL STAPLING SYSTEMS";

[0353] - U.S. patent application serial number 15 / 385,919 entitled “SURGICAL STAPLING SYSTEMS”;

[0354] - U.S. Patent Application Serial No. 15 / 385,921 entitled “SURGICAL STAPLE / FASTENER CARTRIDGE WITH MOVABLE CAMMINGMEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES”;

[0355] - U.S. patent application serial number 15 / 385,923 entitled “SURGICAL STAPLING SYSTEMS”;

[0356] - 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 FIRED CARTRIDGE ISINSTALLED IN THE END EFFECTOR”;

[0357] - U.S. Patent Application Serial No. 15 / 385,926 entitled “AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS”;

[0358] - U.S. Patent Application Serial No. 15 / 385,928 entitled “Protective Cover Arrangements for A Joint Interface Between Amovable Jaw and Actor Shaft of a SURGICAL INSTRUMENT”;

[0359] - U.S. Patent Application Serial No. 15 / 385,930 entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENINGFEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS";

[0360] - U.S. patent application serial number 15 / 385,932 entitled “ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFTARRANGEMENT”;

[0361] - U.S. Patent Application Serial No. 15 / 385,933 entitled “ARTICULATION LOCK”;

[0362] - U.S. Patent Application Serial No. 15 / 385,934 entitled “ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR INAN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM”;

[0363] - 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"; and

[0364] - U.S. Patent Application Serial No. 15 / 385,936 entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKEAMPLIFICATION FEATURES”;

[0365] The applicant of this application owns the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety:

[0366] - U.S. patent application serial number 15 / 191,775 entitled “STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES”;

[0367] - U.S. Patent Application Serial No. 15 / 191,807 entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPEDSTAPLES";

[0368] - U.S. patent application serial number 15 / 191,834 entitled “STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME”;

[0369] - U.S. Patent Application Serial No. 15 / 191,788 entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES"; and

[0370] - U.S. Patent Application Serial No. 15 / 191,818 entitled “STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS”.

[0371] The applicant of this application owns the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety:

[0372] - U.S. design patent application serial number 29 / 569,218 entitled "SURGICAL FASTENER";

[0373] - U.S. design patent application serial number 29 / 569,227 entitled "SURGICAL FASTENER";

[0374] - U.S. design patent application serial number 29 / 569,259 entitled "SURGICAL FASTENER CARTRIDGE"; and

[0375] - U.S. design patent application serial number 29 / 569,264 entitled “SURGICAL FASTENER CARTRIDGE”.

[0376] The applicant of this application owns the following patent applications filed on April 1, 2016, each of which is incorporated herein by reference in its entirety:

[0377] - U.S. patent application serial number 15 / 089,325 entitled “METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM”;

[0378] - U.S. patent application serial number 15 / 089,321 entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY";

[0379] - U.S. Patent Application Serial No. 15 / 089,326 entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";

[0380] - U.S. patent application serial number 15 / 089,263 entitled “SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIPPORTION”;

[0381] - U.S. Patent Application Serial No. 15 / 089,262 entitled “ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM”;

[0382] - U.S. Patent Application Serial No. 15 / 089,277 entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVILCONCENTRIC DRIVE MEMBER";

[0383] - U.S. Patent Application Serial No. 15 / 089,296 entitled "Interchangelable Surgical Tool Assembled with a Surgical Endeffertor That Is Selectively Rattatable About a Shaft Axis";

[0384] - U.S. patent application serial number 15 / 089,258 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION";

[0385] - U.S. Patent Application Serial No. 15 / 089,278 entitled “SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVECUTTING OF TISSUE”;

[0386] - U.S. patent application serial number 15 / 089,284 entitled “SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT”;

[0387] - U.S. Patent Application Serial No. 15 / 089,295 entitled “SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSIONLOCKOUT”;

[0388] - U.S. patent application serial number 15 / 089,300 entitled “SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT”;

[0389] - U.S. Patent Application Serial No. 15 / 089,196 entitled “SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT”;

[0390] - U.S. patent application serial number 15 / 089,203 entitled “SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT”;

[0391] - U.S. Patent Application Serial No. 15 / 089,210 entitled “SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGELOCKOUT”;

[0392] - U.S. patent application serial number 15 / 089,324 entitled “SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM”;

[0393] - U.S. patent application serial number 15 / 089,335 entitled “SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS”;

[0394] - U.S. patent application serial number 15 / 089,339 entitled “SURGICAL STAPLING INSTRUMENT”;

[0395] - U.S. Patent Application Serial No. 15 / 089,253 entitled “SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OFSTAPLES HAVING DIFFERENT HEIGHTS”;

[0396] - U.S. patent application serial number 15 / 089,304 entitled “SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET”;

[0397] - U.S. patent application serial number 15 / 089,331 entitled “ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE / FASTENERS”;

[0398] - U.S. Patent Application Serial No. 15 / 089,336 entitled “STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES”;

[0399] - U.S. patent application serial number 15 / 089,312 entitled “CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUESUPPORT”;

[0400] - U.S. Patent Application Serial No. 15 / 089,309 entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and

[0401] - U.S. Patent Application Serial No. 15 / 089,349 entitled “CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL”.

[0402] The applicant of this application also owns U.S. patent applications filed on December 31, 2015, each of which is incorporated herein by reference in its entirety:

[0403] - U.S. Patent Application Serial No. 14 / 984,488 entitled “MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE INPOWERED SURGICAL INSTRUMENTS”;

[0404] - U.S. Patent Application Serial No. 14 / 984,525 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS"; and

[0405] - U.S. Patent Application Serial No. 14 / 984,552 entitled “SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROLCIRCUITS”.

[0406] The applicant of this application also owns U.S. patent applications filed on February 9, 2016, each of which is incorporated herein by reference in its entirety:

[0407] - U.S. Patent Application Serial No. 15 / 019,220 entitled “SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLYTRANSLATABLE END EFFECTOR”;

[0408] - U.S. Patent Application Serial No. 15 / 019,228 entitled “SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATIONARRANGEMENTS”;

[0409] - U.S. Patent Application Serial No. 15 / 019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";

[0410] - 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";

[0411] - U.S. Patent Application Serial No. 15 / 019,215 entitled “SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATIONARRANGEMENTS”;

[0412] - U.S. patent application serial number 15 / 019,227 entitled “ARTICULATIONLINK ARRANGEMENTS WITH SINGLE ARTICULATIONLINK ARRANGEMENTS”;

[0413] - U.S. Patent Application Serial No. 15 / 019,235 entitled “SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLEDRIVEN ARTICULATION SYSTEMS”;

[0414] - U.S. Patent Application Serial No. 15 / 019,230 entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAMARRANGEMENTS”; and

[0415] - U.S. Patent Application Serial No. 15 / 019,245 entitled “SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS”.

[0416] The applicant of this application also owns U.S. patent applications filed on February 12, 2016, each of which is incorporated herein by reference in its entirety:

[0417] - U.S. Patent Application Serial No. 15 / 043,254 entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”;

[0418] - U.S. Patent Application Serial No. 15 / 043,259 entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”;

[0419] - U.S. Patent Application Serial No. 15 / 043,275 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS"; and

[0420] - U.S. Patent Application Serial No. 15 / 043,289 entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”.

[0421] The applicant of this application owns the following patent applications, filed on June 18, 2015, each of which is incorporated herein by reference in its entirety:

[0422] - U.S. Patent Application Serial No. 14 / 742,925 entitled “SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS”, now U.S. Patent No. 10,182,818;

[0423] - U.S. Patent Application Serial No. 14 / 742,941 entitled “SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSINGFEATURES” is now U.S. Patent No. 10,052,102;

[0424] - U.S. Patent Application Serial No. 14 / 742,914 entitled “MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS”, now U.S. Patent No. 10,405,863;

[0425] - U.S. Patent Application Serial No. 14 / 742,900 entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAMSTRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT” is now U.S. Patent No. 10,335,149;

[0426] - U.S. Patent Application Serial No. 14 / 742,885 entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. Patent 10,368,861; and

[0427] - U.S. Patent Application Serial No. 14 / 742,876 entitled “PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLESURGICAL INSTRUMENTS” is now U.S. Patent No. 10,178,992.

[0428] The applicant of this application owns the following patent applications, filed on March 6, 2015, each of which is incorporated herein by reference in its entirety:

[0429] - The U.S. patent application serial number 14 / 640,746 entitled “POWERED SURGICAL INSTRUMENT” is now U.S. Patent 9,808,246;

[0430] - U.S. Patent Application Serial No. 14 / 640,795 entitled “MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWEREDSURGICAL INSTRUMENTS”, now U.S. Patent No. 10,441,279;

[0431] - U.S. Patent Application Serial No. 14 / 640,832 entitled “ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURERATES FOR MULTIPLE TISSUE TYPES” is now published as U.S. Patent Application Publication No. 2016 / 0256154.

[0432] - The U.S. patent application serial number 14 / 640,935 entitled “OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TOMEASURE TISSUE COMPRESSION” is now published as U.S. Patent Application Publication 2016 / 0256071;

[0433] - U.S. Patent Application Serial No. 14 / 640,831 entitled “MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTORFOR POWERED SURGICAL INSTRUMENTS”, now U.S. Patent No. 9,985,148;

[0434] - U.S. Patent Application Serial No. 14 / 640,859 entitled “TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINESTABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES”, now U.S. Patent No. 10,052,044;

[0435] - U.S. Patent Application Serial No. 14 / 640,817 entitled “INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS”, now published as U.S. Patent Application No. 9,924,961;

[0436] - U.S. Patent Application Serial No. 14 / 640,844 entitled “CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULARSHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE” is now U.S. Patent No. 10,045,776.

[0437] - U.S. Patent Application Serial No. 14 / 640,837 entitled “SMART SENSORS WITH LOCAL SIGNAL PROCESSING” is now U.S. Patent No. 9,993,248;

[0438] - The U.S. patent application serial number 14 / 640,765 entitled “SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGEINTO A SURGICAL STAPLE / FASTENER” is now published as U.S. Patent Application Publication 2016 / 0256160;

[0439] - U.S. Patent Application Serial No. 14 / 640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON AROTATABLE SHAFT," now U.S. Patent 9,901,342; and

[0440] - The U.S. Patent Application Serial No. 14 / 640,780 entitled “SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING” is now U.S. Patent No. 10,245,033.

[0441] The applicant of this application owns the following patent applications, filed on February 27, 2015, each of which is incorporated herein by reference in its entirety:

[0442] - The U.S. patent application serial number 14 / 633,576 entitled “SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION” is now U.S. Patent 10,045,779;

[0443] - 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” is now U.S. Patent No. 10,180,463.

[0444] - The U.S. patent application serial number 14 / 633,560 entitled “SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES” is now published as U.S. Patent Application Publication 2016 / 0249910;

[0445] - The U.S. patent application serial number 14 / 633,566 entitled “CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY” is now U.S. Patent 10,182,816.

[0446] - The U.S. patent application serial number 14 / 633,555 entitled “SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TOBE SERVICED” is now U.S. Patent 10,321,907;

[0447] - The U.S. patent application serial number 14 / 633,542 entitled “REINFORCED BATTERY FOR A SURGICAL INSTRUMENT” is now U.S. Patent 9,931,118;

[0448] - U.S. Patent Application Serial No. 14 / 633,548 entitled “POWER ADAPTER FOR A SURGICAL INSTRUMENT”, now U.S. Patent No. 10,245,028;

[0449] - The U.S. patent application serial number 14 / 633,526 entitled “ADAPTABLE SURGICAL INSTRUMENT HANDLE” is now U.S. Patent 9,993,258;

[0450] - U.S. Patent Application Serial No. 14 / 633,541 entitled "MODULAR STAPLING ASSEMBLY", now U.S. Patent 10,226,250; and

[0451] - U.S. Patent Application Serial No. 14 / 633,562 entitled “SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFEPARAMETER” is now U.S. Patent No. 10,159,483.

[0452] The applicant of this application owns the following patent applications, filed on December 18, 2014, each of which is incorporated herein by reference in its entirety:

[0453] - U.S. Patent Application Serial No. 14 / 574,478 entitled “SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE ENDEFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER” is now U.S. Patent No. 9,844,374.

[0454] - The U.S. patent application serial number 14 / 574,483 entitled “SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS” is now U.S. Patent 10,188,385;

[0455] - The U.S. patent application serial number 14 / 575,139 entitled “DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS” is now U.S. Patent 9,844,375;

[0456] - U.S. Patent Application Serial No. 14 / 575,148 entitled “LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS” is now U.S. Patent No. 10,085,748.

[0457] - 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” is now U.S. Patent No. 10,245,027.

[0458] - U.S. Patent Application Serial No. 14 / 575,143 entitled “SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS”, now U.S. Patent No. 10,004,501;

[0459] - U.S. Patent Application Serial No. 14 / 575,117 entitled “SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDMOVABLE FIRING BEAM SUPPORT ARRANGEMENTS”, now U.S. Patent 9,943,309;

[0460] - The U.S. patent application serial number 14 / 575,154 entitled “SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS” is now U.S. Patent 9,968,355;

[0461] - U.S. Patent Application Serial No. 14 / 574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLEARTICULATION SYSTEM", now U.S. Patent 9,897,000; and

[0462] - The U.S. patent application serial number 14 / 574,500 entitled “SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM” is now U.S. Patent 10,117,649.

[0463] The applicant of this application owns the following patent applications, filed on March 1, 2013, each of which is incorporated herein by reference in its entirety:

[0464] - U.S. Patent Application Serial No. 13 / 782,295 entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYSFOR SIGNAL COMMUNICATION” is now U.S. Patent No. 9,700,309;

[0465] - The U.S. patent application serial number 13 / 782,323 entitled “Rotary Powered Articulation Joints For Surgical Instruments” is now U.S. Patent 9,782,169;

[0466] - The U.S. patent application serial number 13 / 782,338 entitled “THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication 2014 / 0249557;

[0467] - U.S. Patent Application Serial No. 13 / 782,499 entitled “Electromechanical Surgical Device with Signal RelayArrangement” is now U.S. Patent No. 9,358,003;

[0468] - The U.S. patent application serial number 13 / 782,460 entitled "Multiple Processor Motor Control for Modular Surgical Instruments" is now U.S. Patent 9,554,794;

[0469] - The U.S. patent application serial number 13 / 782,358 entitled “JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL Instruments” is now U.S. Patent 9,326,767;

[0470] - The U.S. patent application serial number 13 / 782,481 entitled “SENSOR STRAIGHTENED END EFFECTOR DURING Removal THROUGHTROCAR” is now U.S. Patent 9,468,438.

[0471] - The U.S. Patent Application Serial No. 13 / 782,518 entitled “CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH Removable IMPLEMENT PORTIONS” is now published as U.S. Patent Application 2014 / 0246475;

[0472] - U.S. Patent Application Serial No. 13 / 782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH Multiple DEGREES OFFREEDOM", now U.S. Patent 9,398,911; and

[0473] - The U.S. patent application serial number 13 / 782,536 entitled “SURGICAL INSTRUMENT SOFT STOP” is now U.S. Patent 9,307,986.

[0474] The applicant of this application also owns the following patent applications filed on March 14, 2013, each of which is incorporated herein by reference in its entirety:

[0475] - The U.S. patent application serial number 13 / 803,097 entitled “ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE” is now U.S. Patent 9,687,230;

[0476] - The U.S. patent application serial number 13 / 803,193 entitled “CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALINSTRUMENT” is now published as U.S. Patent Application Publication 9,332,987;

[0477] - U.S. Patent Application Serial No. 13 / 803,053 entitled “Interchangelable Shaft Assemblies for Use with a Surgicalinstrum” is now U.S. Patent No. 9,883,860;

[0478] - The U.S. patent application serial number 13 / 803,086 entitled “ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATIONLOCK” is now published as U.S. Patent Application Publication 2014 / 0263541;

[0479] - U.S. Patent Application Serial No. 13 / 803,210 entitled “SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORSURGICAL INSTRUMENTS” is now U.S. Patent No. 9,808,244;

[0480] - The U.S. patent application serial number 13 / 803,148 entitled “MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT” is now U.S. Patent 10,470,762;

[0481] - The U.S. patent application serial number 13 / 803,066 entitled “DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS” is now U.S. Patent 9,629,623;

[0482] - U.S. Patent Application Serial No. 13 / 803,117 entitled “ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS” is now published as U.S. Patent Application No. 9,351,726.

[0483] - U.S. Patent Application Serial No. 13 / 803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS", now published as U.S. Patent Application Publication 9,351,727; and

[0484] - The U.S. patent application serial number 13 / 803,159 entitled “METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT” is now U.S. Patent 9,888,919;

[0485] The applicant of this application also owns the following patent applications filed on March 7, 2014, which are incorporated herein by reference in their entirety:

[0486] - The U.S. patent application serial number 14 / 200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS" is now U.S. Patent 9,629,629.

[0487] The applicant of this application also owns the following patent applications filed on March 26, 2014, each of which is incorporated herein by reference in its entirety:

[0488] - The U.S. patent application serial number 14 / 226,106 entitled “POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication 2015 / 0272582;

[0489] - The U.S. patent application serial number 14 / 226,099 entitled “STERILIZATION VERIFICATION CIRCUIT” is now U.S. Patent 9,826,977;

[0490] - The U.S. patent application serial number 14 / 226,094 entitled “VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT” is now published as U.S. Patent Application Publication 2015 / 0272580;

[0491] - U.S. Patent Application Serial No. 14 / 226,117 entitled “POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUITAND WAKE UP CONTROL” is now U.S. Patent No. 10,013,049;

[0492] - U.S. Patent Application Serial No. 14 / 226,075 entitled “MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES” is now U.S. Patent No. 9,743,929;

[0493] - U.S. Patent Application Serial No. 14 / 226,093 entitled “FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALINSTRUMENTS” is now U.S. Patent No. 10,028,761.

[0494] - The U.S. patent application serial number 14 / 226,116 entitled “SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION” is now published as U.S. Patent Application Publication 2015 / 0272571;

[0495] - The U.S. patent application serial number 14 / 226,071 entitled “SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR” is now U.S. Patent 9,690,362;

[0496] - The U.S. patent application serial number 14 / 226,097 entitled “SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS” is now U.S. Patent 9,820,738;

[0497] - 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;

[0498] - The U.S. patent application serial number 14 / 226,133 entitled “MODULAR SURGICAL INSTRUMENT SYSTEM” is now published as U.S. Patent Application Publication 2015 / 0272557;

[0499] - The U.S. patent application serial number 14 / 226,081 entitled “SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT” is now U.S. Patent 9,804,618;

[0500] - U.S. Patent Application Serial No. 14 / 226,076 entitled “POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION” is now U.S. Patent No. 9,733,663;

[0501] - U.S. Patent Application Serial No. 14 / 226,111 entitled "SURGICAL STAPLING INSTRUMENT SYSTEM", now U.S. Patent 9,750,499; and

[0502] - The U.S. patent application serial number 14 / 226,125 entitled “SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT” is now U.S. Patent 10,201,364.

[0503] The applicant of this application also owns the following patent applications filed on September 5, 2014, each of which is incorporated herein by reference in its entirety:

[0504] - U.S. Patent Application Serial No. 14 / 479,103 entitled “CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE” is now U.S. Patent No. 10,111,679;

[0505] - U.S. Patent Application Serial No. 14 / 479,119 entitled “ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION” is now U.S. Patent No. 9,724,094;

[0506] - The U.S. patent application serial number 14 / 478,908 entitled “MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION” is now U.S. Patent 9,737,301;

[0507] - U.S. Patent Application Serial No. 14 / 478,895 entitled “MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'SOUTPUT OR INTERPRETATION” is now U.S. Patent No. 9,757,128;

[0508] - The U.S. patent application serial number 14 / 479,110 entitled “POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE” is now U.S. Patent 10,016,199;

[0509] - U.S. Patent Application Serial No. 14 / 479,098 entitled “SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION” is now U.S. Patent No. 10,135,242;

[0510] - U.S. Patent Application Serial No. 14 / 479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE," now U.S. Patent 9,788,836; and

[0511] - U.S. Patent Application Serial No. 14 / 479,108 entitled “LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION” is now published as U.S. Patent Application Publication No. 2016 / 0066913.

[0512] The applicant of this application also owns the following patent applications filed on April 9, 2014, each of which is incorporated herein by reference in its entirety:

[0513] - The U.S. patent application serial number 14 / 248,590 entitled “MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVESHAFTS” is now U.S. Patent 9,826,976;

[0514] - The U.S. patent application serial number 14 / 248,581 entitled “SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRINGDRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT” is now U.S. Patent 9,649,110;

[0515] - The U.S. patent application serial number 14 / 248,595 entitled “SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLINGTHE OPERATION OF THE SURGICAL INSTRUMENT” is now U.S. Patent 9,844,368;

[0516] - The U.S. patent application serial number 14 / 248,588 entitled “POWERED LINEAR SURGICAL STAPLE / FASTENER” is now U.S. Patent 10,405,857;

[0517] - The U.S. patent application serial number 14 / 248,591 entitled “TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT” is now U.S. Patent 10,149,680;

[0518] - U.S. Patent Application Serial No. 14 / 248,584 entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENTFEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now U.S. Patent 9,801,626;

[0519] - The U.S. patent application serial number 14 / 248,587 entitled “POWERED SURGICAL STAPLE / FASTENER” is now U.S. Patent 9,867,612;

[0520] - U.S. Patent Application Serial No. 14 / 248,586 entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICALINSTRUMENT", now U.S. Patent 10,136,887; and

[0521] - The U.S. patent application serial number 14 / 248,607 entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUSINDICATION ARRANGEMENTS" is now U.S. Patent 9,814,460.

[0522] The applicant of this application also owns the following patent applications filed on April 16, 2013, each of which is incorporated herein by reference in its entirety:

[0523] - U.S. Provisional Patent Application Serial No. 61 / 812,365 entitled “SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”;

[0524] - U.S. Provisional Patent Application Serial No. 61 / 812,376 entitled “LINEAR CUTTER WITH POWER”;

[0525] - U.S. Provisional Patent Application Serial No. 61 / 812,382 entitled “LINEAR CUTTER WITH MOTOR AND PISTOL GRIP”;

[0526] - U.S. Provisional Patent Application Serial No. 61 / 812,385 entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL"; and

[0527] - U.S. Provisional Patent Application Serial No. 61 / 812,372 entitled “SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”.

[0528] This document sets forth numerous specific details to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and illustrated in the figures. 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 illustrated herein are non-limiting examples, and thus will recognize that the specific structural and functional details disclosed herein are representative and illustrative. Variations and changes may be made to these embodiments without departing from the scope of the claims.

[0529] 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. Therefore, a surgical system, apparatus, or device that “comprises,” “haves,” “includes,” or “contains” one or more elements has, but is not limited to, having only those elements. Similarly, the elements of a system, apparatus, or device that “comprises,” “haves,” “includes,” or “contains” one or more features have, but are not limited to, having only those features.

[0530] The terms "proximal" and "distal" are used herein in relation to the clinician manipulating the handle portion of the surgical instrument. "Proximal" refers to the portion closest to the clinician, and "distal" refers to the portion furthest from the clinician's position. It should also be understood that, for brevity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used in conjunction with accompanying drawings. However, surgical instruments are used in many orientations and locations, and these terms are not restrictive and / or absolute.

[0531] Various exemplary apparatuses and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and apparatuses disclosed herein can be used in a wide range of surgical procedures and applications, including, for example, in combination with open surgery. Continuing to refer to this specific embodiment, the reader will further understand that the various instruments disclosed herein can be inserted into the body in any manner, such as through natural cavities, through incisions or puncture holes formed in tissue, etc. The working portion or end effector portion of the instrument can be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced.

[0532] The surgical suturing system may include an axis and an end effector extending from the axis. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and can be removed from the first jaw; however, other embodiments are contemplated in which the staple cartridge cannot be removed from the first jaw or at least can be easily replaced 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 closed axis; however, other embodiments are contemplated in which the first jaw is pivotable relative to the second jaw. The surgical suturing system also includes an articulation joint configured to allow the end effector to rotate or perform articulation relative to the axis. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments without an articulation joint are contemplated.

[0533] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal and distal ends. In use, the staple cartridge is positioned on a first side of the tissue to be sutured, and an anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress the tissue and clamp it against the platform. Staples, removably stored in the cartridge body, can then be deployed into the tissue. The cartridge body includes staple cavities defined within the cartridge body, in which staples are removably stored. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slots, and three rows of staple cavities are positioned on a second side of the longitudinal slots. Other arrangements of the staple cavities and staples are also possible.

[0534] The nail is supported by a nail actuator within the cartridge. The actuator is movable between a first or non-firing position and a second or firing position to eject the nail from the cartridge. The actuator is retained within the cartridge by a retainer extending around the bottom of the cartridge and including a resilient member configured to grip the cartridge and hold the retainer to the cartridge. The actuator is movable between its non-firing position and its firing position by a slider. The slider is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slider includes multiple ramp surfaces configured to slide beneath the actuator toward the anvil and to lift the actuator, on which the nail is supported.

[0535] In addition to the above, the slider can also move distally via the firing member. The firing member is configured to contact the slider and push it distally. A longitudinal slot defined in the cartridge is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member also includes a first cam engaging a first jaw and a second cam engaging a second jaw. As the firing member advances distally, the first and second cams control the distance or tissue gap between the platform of the cartridge and the anvil. The firing member also includes a blade configured to cut into tissue captured between the cartridge and the anvil. It is desirable that the blade be positioned at least partially close to the ramp surface so that the staples are fired before the blade.

[0536] Figure 1 and Figure 2 A surgical instrument assembly 1000 is depicted, including a sensing system configured to sense parameters such as, for example, displacement of the actuating member of the surgical instrument assembly 1000. The surgical instrument assembly 1000 includes a shaft assembly 1010 and an end effector 1030 attached to the shaft assembly 1010 via an articulation joint 1020. The shaft assembly 1010 includes an attachment portion 1011 configured to attach to an attachment interface. Such an attachment interface may include, for example, a surgical robot and / or a handheld surgical device. The shaft assembly 1010 also includes a body portion 1013 configured to accommodate internal components of the surgical instrument assembly 1000. The end effector assembly 1030 includes a proximal frame portion 1031 attached to the shaft assembly 1011 via the articulation joint 1020. The end effector assembly 1030 also includes a first jaw 1032 and a second jaw 1033. The end effector assembly 1030 includes a surgical suture end effector; however, other types of surgical end effectors are envisioned.

[0537] The surgical instrument assembly 1000 also includes an actuation system 1050 configured to actuate the function of the end effector assembly 1030. The actuation system 1050 includes a first actuating member 1051 configured to be operatively coupled to an actuation actuator of an attachment interface to actuate the function of the end effector assembly 1030. The actuation system 1050 also includes a second actuating member 1055 coupled to the first actuating member 1051 such that the first actuating member 1051 can move the second actuating member 1055. The second actuating member 1055 includes a proximal end portion 1056, which includes a tab 1057 extending into a slot 1053 of the first actuating member 1051. The second actuating member 1055 extends through a joint motion joint 1020 and into the end effector assembly 1030. The second actuating member 1055 includes a blade body 1059 configured to be actuated via the end effector assembly 1030 during the firing stroke. The second actuating member 1055 includes a flexible configuration such that it is actuated when the surgical instrument assembly 1000 is in an articulated configuration. While a surgical suture actuating member is depicted, other longitudinally translatable surgical actuating members are contemplated.

[0538] The surgical instrument assembly 1000 also includes a sensing system 1060 configured to sense parameters of the actuation system 1050. The sensing system 1060 includes a stretchable optical waveguide 1061, comprising a proximal end 1063 fixed to a shaft 1013 relative to the actuation system 1050 and a distal end 1065 fixed to a tab 1058 of a second actuation member 1055. The stretchable optical waveguide 1061 extends across the articular joint 1020. The stretchable optical waveguide 1061 is configured to be stretched as the second actuation member 1055 moves distally through the firing stroke. The tab 1058 is configured to pull and stretch the stretchable optical waveguide 1061 as the second actuation member 1055 is advanced distally through the firing stroke. In at least one case, the stretchable optical waveguide 1061 remains taut in its original position.

[0539] The sensing system 1060 also includes an attachment point 1064. A stretchable optical waveguide 1061 includes a PDMS optical waveguide attached to the attachment point 1064. The stretchable optical waveguide 1061 includes a photosensor that utilizes light emission within the optical waveguide and an optical measurement device to measure the transmission of light through the waveguide when it is stretched. In at least one case, the light is provided by a vertical-cavity surface-emitting laser. Such an optical measurement device may include, for example, a photodiode. As the stretchable optical waveguide 1061 is stretched, the loss of light transmission within the stretchable optical waveguide 1061 increases. This difference in light transmission within the stretchable optical waveguide 1061 can be detected by the photodiode. Similarly, when the stretchable optical waveguide 1061 returns to its unstretched or original position, the amount of light transmitted within the stretchable optical waveguide 1061 increases.

[0540] The surgical instrument assembly 1000 also includes control circuitry configured to monitor light transmission through a stretchable optical waveguide 1061 by monitoring a signal emitted by a photodiode. In at least one case, the stretchable optical waveguide 1061 includes a single output corresponding to the stretched length of the stretchable optical waveguide 1061. The control circuitry is configured to determine parameters, such as the displacement of a blade body 1059, based on the monitored light transmission within the stretchable optical waveguide 1061. In such cases, the signal received from the photodiode corresponds to the position of the blade body 1059. The position of the blade body 1059 can be determined by comparing the monitored signal with a predetermined dataset and / or by a predetermined algorithm. In addition to the above, monitoring the signal from the photodiode over time allows for the tracking of time-related parameters. For example, such parameters include acceleration and velocity.

[0541] In at least one case, the control circuit is configured to measure light transmission or optical loss within the stretchable optical waveguide 1061 when the actuation system 1050 is in a non-firing configuration. The control circuit can then compare the measured light transmission within the stretchable optical waveguide 1061 with the light transmission measured in the non-firing configuration to determine the position of the blade body 1059 relative to its non-firing position. The position of the blade body 1059 can then be determined based on the change in light transmission within the stretchable optical waveguide 1061 according to the stretching length of the stretchable optical waveguide 1061.

[0542] In at least one case, the control circuit is configured to compare a determined displacement of the blade body 1059 with a desired displacement of the blade body 1059 derived by a motor encoder on the motor driving the actuation system 1050. In at least one case, the control circuit is configured to adjust the control program of the actuation system 1050 in the event of a difference between the motor-encoder data and the displacement sensed by means of the sensing system 1060. The difference between the two systems may indicate, for example, a system backlash between the motor and the blade body 1059. For example, such detected deviations can be corrected by the control circuit to ensure a complete firing stroke.

[0543] In at least one instance, a surgical instrument may include multiple stretchable optical waveguides. For example, a joint motion system may include stretchable optical waveguides, and / or a separate closure system may include stretchable optical waveguides. The waveguides may be attached to any suitable location on the drive member and any suitable location on the axis. In at least one instance, the stretchable optical waveguide is attached to two non-fixed attachment locations. For example, the waveguide may be attached to both the blade body and the joint motion drive rod. In this case, the variation in the actuation length of each member may be substantially sufficient to enable the use of the stretchable optical waveguide in this manner.

[0544] The control system, which receives data on the actual positions of the nail-firing actuator, the closing actuator, and / or the joint movement actuator, can modify the actuation stroke of these actuators after evaluating the data. For example, if the control system detects that the nail-firing actuator is more distal than expected, the control system can shorten the actuation stroke of the nail-firing actuator.

[0545] Figure 3 A surgical instrument assembly 1100 is depicted, which includes a sensing system configured to sense parameters of the actuating member of the surgical instrument assembly 1100. The surgical instrument assembly 1100 is similar in many respects to the surgical instrument assembly 1000 discussed above. The surgical instrument assembly 1100 includes a sensing system 1160 configured to sense parameters of an actuating system 1050. The sensing system 1160 includes a stretchable optical waveguide 1161, which includes a proximal end 1163 fixed to a shaft 1013 relative to the actuating system 1050 and a distal end 1165 directly fixed to a blade body 1059. The stretchable optical waveguide 1161 extends across an articulation joint 1020. The stretchable optical waveguide 1161 is configured to be stretchable as the second actuating member 1055 moves through its firing stroke. The blade body 1059 is configured to pull and stretch the stretchable optical waveguide 1161 when the second actuation member 1055 is advanced distally through the firing stroke. In at least one case, the stretchable optical waveguide 1161 remains taut in its original position.

[0546] refer to Figure 3 In addition to the above, distances 1171, 1173, and 1175 are marked and correspond to various positions of the blade body 1059 along its firing stroke. Distance 1171 corresponds to the original position of the blade body 1059, distance 1173 corresponds to the middle position of the blade body 1059, and distance 1175 corresponds to the end position of the blade body 1059's stroke. These distances 1171, 1173, and 1175 correspond to the magnitude of light transmission sensed within the stretchable optical waveguide 1161. If, for a given position of the blade body 1059, the light sensed within the optical waveguide 1161 matches the expected light within the optical waveguide 1161, the control system does not modify the stroke length of the blade body 1059. However, if the light sensed within the optical waveguide 1161 does not match the expected light within the optical waveguide 1161, the control system may shorten or lengthen the stroke length of the blade body 1059 so that the blade body 1059 stops at the correct position at the end of the firing stroke. In addition to or alternative to the above, the control system may modify another parameter of the firing stroke based on the light sensed within the optical waveguide 1161. For example, when the sensed light intensity within the optical waveguide 1161 does not match the expected light intensity, the control system may change the speed and / or acceleration of the blade body 1059. For example, when the sensed light intensity and the expected light intensity do not match, the control system may reduce the maximum speed and / or the maximum acceleration of the blade body 1059. In many cases, a slower blade body 1059 is less likely to cause unintended damage to the suture system that might be caused by a displaced blade body 1059. Moreover, for example, when the sensed light intensity and the expected light intensity do not match, the control system may reduce the maximum current that might be drawn by the electric motor. In such cases, the force transmitted through the blade body 1059 is reduced to decrease the likelihood of unintended damage to the suture system. In some cases, when a difference is detected, the control system may modify the time between operating steps or pause between operating steps. In at least one case, for example, the control system may increase the pause between the clamping end actuator and the firing stroke of the actuating nail.

[0547] Figures 4-6A surgical instrument assembly 1200 is depicted, which includes a sensing system configured to sense parameters of the actuating members of the surgical instrument assembly 1200. The surgical instrument assembly 1200 is similar in many respects to the surgical instrument assemblies 1000 and 1100 discussed above. The surgical instrument assembly 1200 includes a sensing system 1260 configured to sense parameters of an actuation system 1050. The sensing system 1260 includes a stretchable optical waveguide 1261, which includes a proximal end 1263 fixed to a proximal frame portion 1031 (remote to the articulation joint 1020) of an end effector assembly 1030 relative to the actuation system 1050 and a distal end 1265 directly fixed to a blade body 1059. The sensing system 1260 also includes an electrical connection 1280 attached to the sensing system 1260 and configured to transmit signals to control circuitry. The stretchable optical waveguide 1261 does not extend across the joint joint 1020. The stretchable optical waveguide 1261 is configured to be stretchable as the blade body 1059 moves through the firing stroke. The blade body 1059 is configured to pull and stretch the stretchable optical waveguide 1261 as the second actuating member 1055 is advanced distally through the firing stroke.

[0548] Figure 4 A stretchable optical waveguide 1261 is shown in its original configuration, with the original configuration of the indicator knife body 1059 in its original position 1271. In at least one case, the stretchable optical waveguide 1261 remains taut in its original configuration. Figure 5 A stretchable optical waveguide 1261 in a stretch configuration is shown, which indicates the blade body 1059 at the end-of-stroke position 1275. Figure 6 A surgical instrument assembly 1200 in a joint motion configuration is shown, wherein electrical connections are bent around the joint motion joint to accommodate the joint motion configuration. Figure 6 It can be seen that the stretchable optical waveguide 1261 is not affected by the joint movement of the end effector assembly 1030.

[0549] In at least one case, the control circuit is configured to determine when the blade body 1059 reaches position 1273. Figure 4Once the blade body 1059 reaches position 1273, the control circuit can dynamically brake the motor driving the blade body 1059 to prevent the blade body 1059 from colliding with the end effector assembly 1030. Such a collision could cause damage to the blade body 1059 and / or components within the surgical instrument assembly 1200, resulting in seizing and / or jamming. In at least one case, the control system can use a pulse width modulation (PWM) circuit to dynamically brake the blade body 1059, which shortens the voltage pulses applied to the electric motor. In other cases, for example, a frequency modulation (FM) circuit can be used. In some cases, the magnitude of the voltage applied to the electric motor is reduced. In some cases, the control system can apply a reverse polarity pulse to the electric motor to slow down the firing stroke. In any case, the information provided to the control system by waveguide 1261 allows the control system to determine when to initiate the braking process. In at least one case, for example, the nail firing stroke is 60 mm long, and the control system is configured to initiate its braking routine at a position 50 mm in the nail firing stroke. If the control system detects that the light intensity detected by waveguide 1261 does not match the predicted light intensity at a given distance in the nail firing stroke, the control system may, for example, begin its braking process 50 mm in advance.

[0550] In addition to the above, the control system can be configured to assess whether the measured light within the waveguide is within a specific acceptable range. In such cases, at least based on this type of measurement, the control system will determine that matching has been performed and will not alter the firing stroke characteristics. However, if the measured light falls outside the acceptable range, the control system can modify the firing stroke, as described herein.

[0551] The stretchable optical waveguide 1261 is configured to be stretchable within a channel in the first jaw 1032 as the blade body 1059 advances. An embodiment in which the stretchable optical waveguide 1261 is positioned to stretch within the second jaw 1033 is contemplated. In at least one case, the stretchable optical waveguide 1261 can be used to determine the position of the first jaw 1032 relative to the second jaw 1033. For example, in a surgical suture end effector assembly, the blade body 1059 is used to clamp the first jaw 1032 relative to the second jaw 1033. In such assemblies, the longitudinal travel of the blade body 1059 can also determine the clamping state of the end effector assembly 1030. Another example may involve a separate clamping actuator; however, when the end effector assembly is clamped, the blade body 1059 is slightly pulled forward and / or pushed into a ready-to-fire position. This movement caused by the clamping actuator can be detected by the stretchable optical waveguide 1261.

[0552] Figure 7A and Figure 7BA surgical instrument assembly 1300 is depicted, configured to detect parameters of an actuating member of the surgical instrument assembly 1300. The surgical instrument assembly 1300 includes a hollow shaft 1310, an actuating member 1320 (e.g., a firing member), and a sensing system 1330 configured to sense parameters (e.g., movement) of the actuating member 1320. The sensing system 1330 includes a plurality of light emitters 1331 oriented perpendicular to or at least substantially perpendicular to the actuating member 1320 and mounted to the hollow shaft 1310; a plurality of windows 1321 defined in the actuating member 1320 and configured to allow light to pass through the actuating member 1320; and a plurality of light sensors or receivers 1333 configured to detect light emitted by the light emitters 1331 and mounted to the hollow shaft 1310.

[0553] As the actuating member 1320 translates within the hollow shaft 1310, the light sensor 1333 detects changes in the presence of light caused by the window 1321. This change in the presence of light corresponds to the movement of the actuating member 1320. Multiple light sensors 1333 arranged longitudinally along the shaft 1310 allow for the detection of changes in the presence of light along the length within the shaft 1310. The control circuitry can monitor the signal from each light sensor and determine the exact position of the actuating member 1320. The control circuitry can also monitor these signals over time to determine other parameters, such as the velocity and acceleration of the actuating member 1320.

[0554] In at least one embodiment, the light sensor 1333 includes a photodiode. In at least one embodiment, the light emitter 1331 includes an LED. Any suitable light sensor and / or light emitter can be used. Furthermore, any suitable combination of light sensor and light emitter can be used. In at least one embodiment, the position of the actuating member 1320 is determined solely by the detection of the presence of light. In at least one embodiment, the position of the actuating member 1320 is determined by the detection of light intensity. The light intensity can be varied by arranging a plurality of windows 1321 in a specific pattern, some of which allow a first amount of light to pass through, and others which allow a second amount of light, different from the first amount, to pass through. Such a light sensing system can provide greater reliability in aqueous environments. For example, the presence of light detection can be more reliable where bodily fluids and / or debris may be present within the range of the sensing system 1330.

[0555] Still referencing Figure 7A and Figure 7B The control circuit can compare the position of the actuator 1320 detected by the sensing system 1330 with the expected position of the actuator 1320 detected by the motor encoder driving the actuator 1320. The motor control program can be adjusted, and / or an alarm indicating a deviation between the outputs of each detection system can be sent to the user.

[0556] In various cases, stretchable resistive materials can be used to sense one or more parameters of the drive components in a surgical instrument assembly in a manner similar to the stretchable optical waveguides discussed above.

[0557] Figure 8 A surgical instrument assembly 1400 is depicted, comprising a shaft 1410, an actuating member 1420, and a sensing system 1430 configured to sense parameters, such as displacement of the actuating member 1420. The sensing system 1430 includes a first Hall effect sensor 1431 positioned co-located with the shaft 1410, a second Hall effect sensor 1433 positioned co-located with the shaft 1410, and a magnet 1435 attached to the actuating member 1420. The first Hall effect sensor 1431 is proximal to the second Hall effect sensor 1433. The magnet 1435 is configured to alter the magnetic field surrounding the first Hall effect sensor 1431 and the second Hall effect sensor 1433, thereby allowing control circuitry to determine the position of the actuating member 1420.

[0558] Figure 9 This is a graph 1401 showing the position of the actuating member 1420 relative to the motor position. For example, an encoder can be used to detect the motor position. Figure 10 This is graph 1402 showing the expected voltage of Hall effect sensors 1431 and 1433 relative to the motor position. Figure 11 This includes graphs 1401 and 1402, and graph 1403 showing the actual readouts of Hall effect sensors 1431 and 1433 during the actuation stroke. The actual readouts of Hall effect sensors 1431 and 1433 differ from their expected readouts. This could be attributed, for example, to component wear. Because the actual readouts of Hall effect sensors 1431 and 1433 differ from their expected readouts, the control circuitry can detect this difference and adjust the motor control program of actuating member 1420 to correct the position of actuating member 1420 relative to sensing system 1430 and / or otherwise alter the operation of the motor control program. In various cases, for example, the motor control program may slow down actuating member 1420, shorten the stroke of actuating member 1420, and / or reduce the maximum current that can be drawn by the electric motor. In some cases, when a difference is detected, the control system may modify the time between operating steps or pause between operating steps. In at least one case, for example, the control system may add a pause between the clamping end actuator and the firing stroke of the actuating pin. In addition to or instead of the above, when the expected readout differs from the actual readout, the control circuit may ignore the sensing system 1430 and rely solely on the motor encoder.

[0559] In various embodiments, in addition to the above, the distance between Hall effect sensors 1431 and 1433 is fixed and is known in the control system of the surgical instrument. In many cases, magnet 1435 will simultaneously disturb the fields generated by Hall effect sensors 1431 and 1433. For example, if magnet 1435 is closer to Hall effect sensor 1431 than Hall effect sensor 1433, the disturbance detected by Hall effect sensor 1431 may be greater than the disturbance detected by Hall effect sensor 1433. In at least one case, the control system can use the relative disturbance detected by Hall effect sensors 1431 and 1433 to determine and verify the position of actuation member 1420. If one or both of these sensors produce an output that does not match the expected output of a given output of the electric motor, the control system can enter a remedial state in which the data input stream takes precedence.

[0560] In at least one case, the control circuit is configured to monitor the movement of the motor and the movement of an actuator configured to be actuated by the motor. The control circuit is configured to compare the monitored movements and take corresponding actions. Figure 12 This is a graph showing the relationship between a motor and an actuator configured to be actuated by the motor. The control circuitry is configured to move the actuator by, for example, a 60 mm stroke, but any suitable stroke length can be used. For example, a 30 mm or 45 mm stroke can be used. The movement of motor 1510 is directly monitored by a motor encoder. The movement of actuator 1520 is directly monitored by any suitable sensing system (e.g., those suitable sensing systems discussed herein). In this case, the actuator movement is sensed by a stretchable optical waveguide. Graph 1510 shows the motor movement sensed by the motor encoder relative to time. This measurement is motor-local. Graph 1520 shows the actuator movement sensed by the stretchable optical waveguide relative to time. This measurement is actuator-local. In at least one case, the actuator is downstream of one or more modular attachment locations in a modular surgical instrument system. For example, a first measurement may be performed in a first component of the modular instrument system, while a second measurement may be performed in a second component attached to the first component, wherein the attachment between the first and second components is direct or indirect.

[0561] The control circuit is configured to operate the motor to actuate the actuator. At position A, the control circuit determines that the motor has been actuated by a specific amount corresponding to the actuator's expected 50mm movement. As can be seen at position A, the actuator has not yet traveled the expected 50mm because the stretchable optical waveguide has not yet sensed a 50mm movement. At position B, the stretchable optical waveguide has sensed that the actuator has moved 50mm, and the motor has been actuated by more than the specific amount corresponding to the actuator's expected 50mm movement. This new amount seen at position D can be recorded by the control circuit to calibrate the motor control program so that this new amount of motor movement corresponds to the actuator's expected 50mm movement forward from that point. This data can also be simply recorded and taken into account in subsequent actuations.

[0562] Once actual actuator movement is sensed at position 50 mm (B), the control circuitry is configured to extrapolate a new 60 mm target (E). At this point, the control circuitry is configured to recalibrate the 50 mm and 60 mm targets for motor movement. Once the new targets D and E are recorded, the control circuitry can run the motor until both the sensed movements of the motor and actuator reach the targets (C, E). This calibration can be performed for each modular attachment and for each actuation of a surgical instrument attachment. For example, the control circuitry is configured to compensate for variations in actuation that may be caused by transmission backlash, backlash, and / or wear.

[0563] In at least one scenario, for example, predefined parameters of the motor (e.g., rotor inertia) can be measured and / or calibrated as part of the initial assembly modularly attached to the motor. Such parameters can be measured during dynamic braking events that slow the motor to prevent unintentional overstressing of components as the actuating member approaches the end of its stroke (such as the start or end of the stroke). These parameters can also be measured during motor acceleration (e.g., start-up and / or restart strokes). During such events, control circuitry can utilize a motor encoder to monitor the rotor's inertia and utilize a local sensing system within the shaft to determine the corresponding rotor inertia. If, given predefined parameters, a difference is detected between the determined inertia values ​​based on the motor encoder and the local sensing system within the shaft, the system can adjust the motor's dynamic braking and / or acceleration (rate, start trigger, magnitude) to achieve more efficient motor control over the attached surgical instrument.

[0564] In various cases, surgical instrument accessories configured to attach to a surgical instrument control interface (e.g., a surgical robot) include onboard electronics. Onboard electronics may include any suitable circuit elements (e.g., sensors, printed circuit boards, processors, and / or batteries). Reference now. Figures 13-15The image depicts a surgical instrument assembly 2000. The surgical instrument assembly 2000 includes a shaft 2010, a joint joint 2011, and an end effector 2020 attached to the shaft 2010 via the joint joint 2011. The end effector 2020 is configured to articulate relative to the shaft 2010 about the joint joint 2011. The surgical instrument assembly 2000 also includes a joint actuator 2013 configured to enable articulation of the end effector 2020.

[0565] Still referencing Figures 13-15 The surgical instrument assembly 2000 also includes a first flexible circuit 2030 attached to the joint motion actuator 2013 and a second flexible circuit 2040 attached to another actuator (e.g., a firing member) of the surgical instrument assembly 2000. The first flexible circuit 2030 extends from a proximal end through the shaft 2010, at which point it is electrically coupled to contacts of a surgical control interface. The second flexible circuit 2040 extends from a proximal end through the shaft 2010, at which point it is also electrically coupled to contacts of a surgical control interface.

[0566] The first flexible circuit 2030 includes a non-stretchable region 2031 and a stretchable region 2035. The stretchable region 2035 includes stretchable printed copper at both ends of a printed circuit board 2033. The printed circuit board 2033 is attached to the first flexible circuit 2030 at a proximal position and to the joint motion actuator 2013 at a distal position. The non-stretchable region 2031 is configured to function as a normal flexible circuit, and the stretchable region 2035 is configured to be elastically stretched within the shaft 2010. The first flexible circuit 2030 can be connected to various sensors, such as sensors positioned on the joint motion actuator 2013, configured to measure parameters of the joint motion actuator 2013. The stretchable region 2035 is configured to extend as the joint motion actuator 2013 moves through a joint stroke while maintaining electrical connection between the sensor of the joint motion actuator and upstream circuitry.

[0567] The second flexible circuit 2040 includes a non-stretchable region 2041 and a stretchable region 2045. The stretchable region 2045 includes stretchable printed copper attached to a printed circuit board 2043 at both ends of the stretchable region 2045. The printed circuit board 2043 is attached to the second flexible circuit 2040 at a proximal position and to the firing member across the articulated joint 2011 at a distal position. The non-stretchable region 2041 is configured to function as a normal flexible circuit, and the stretchable region 2045 is configured to be elastically stretched within the shaft 2010 across the articulated joint 2011. In this configuration, the stretchable region 2045 may be referred to as the articulated segment of the second flexible circuit 2040. The second flexible circuit 2040 may be connected to various sensors, such as sensors positioned on the firing member and / or within the end effector 2020, which are configured to measure one or more parameters of the end effector. The stretchable region 2045 is configured to stretch as the end effector 2020 moves about the articulated joint 2011, while maintaining electrical connection between the sensor and / or firing member of the end effector 2020 and the upstream circuitry. If the second flexible circuitry 2040 is directly attached to the firing member, the stretchable region 2045 is also configured to stretch or elongate as the firing member advances within the end effector 2020.

[0568] In at least one configuration, the first flexible circuit 2030 and the second flexible circuit 2040 are configured to elastically rebound and elastically present a neutral, non-stretched configuration. Once in a neutral configuration, the first flexible circuit 2030 and the second flexible circuit 2040 can be stretched again upon actuation of various actuators within the surgical instrument assembly 2000.

[0569] In at least one case, the stretchable region comprises flexible conductive ink, and the non-stretchable region comprises conductive metal traces.

[0570] In at least one case, a configuration is provided to ensure that the stretchable region re-presents an appropriate neutral configuration after the load on the stretchable region is relaxed. Figures 16-18 A flexible circuit 2100 is depicted, which includes a non-stretchable region 2110 and a stretchable region 2120 positioned between the non-stretchable region 2110. The stretchable region 2120 includes a plurality of resilient struts or connecting members 2130 for attaching portions of the flexible circuit 2100 together within the stretchable region 2120. Figure 16 The stretchable region 2120 is shown in a relaxed state. In this state, the elastic support member 2130 of the flexible circuit 2100 and the stretchable region 2120 are in a neutral, unloaded state. In at least one case, the elastic support member 2130 is configured to be tensioned in the neutral, unloaded state. Once the stretchable region 2120 is stretched... Figure 17The elastic strut member 2130 is also stretched in the same direction and orientation as the tensile region 2120. In this stretched state, the elastic strut member 2130 can ensure the integrity of the tensile region 2120 by bearing at least some of the force loads and controlling the relative positioning of the regions. When the load on the tensile region 2120 is relaxed, the tensile region 2120 can be returned to its original neutral, unloaded state by the elastic strut member 2130. Figure 18 In at least one case, the elastic strut member 2130 can be used to ensure that the stretchable zone 2120 is not overstretched.

[0571] like Figures 16-18 As can be seen, the elastic strut member 2130 is oriented in the same direction along the predetermined tensile direction. The elastic strut member 2130 may include materials and constructions designed to stretch only in the intended tensile direction to increase the predictability of the elastic strut member 2130. In at least one case, the elastic strut member 2130 is oriented in a cross-shaped configuration. This configuration can increase the tension provided by the elastic strut member 2130.

[0572] In at least one case, as described in more detail herein, a stretchable region of a flexible circuit can be used to measure actuator parameters. For example, the stretchable region can be attached to a fixed position and an actuator such that the actuator stretches the stretchable region when the actuator is actuated. A sensor arrangement (e.g., a Hall effect sensor positioned at the fixed attachment or rotational position and a magnet positioned at the actuator attachment position) can be used to measure, for example, the displacement of the actuator as the actuator moves through the actuation stroke.

[0573] In various cases, the surgical instrument assembly includes a flexible circuit attached to a fixed location on the shaft of the surgical instrument assembly and one or more locations on the actuating member of the surgical instrument assembly. The flexible circuit may include one or more segments extending from the portion fixed to the shaft, the segments being wound in a coiled pattern around the shaft. One segment wound on the shaft is wound half a turn more than another segment, such that the segment extends in the opposite direction to the other segment. The flexible circuit is spring-biased in its coiled pattern. The flexible circuit is configured to be pulled by an actuator to unfold relative to the shaft and stretch across the length of the shaft. When the load on the flexible circuit is relaxed, the flexible circuit is configured to rewind itself back onto its coiled pattern on the shaft. In at least one case, the shaft is configured to be able to translate to actuate the function of the surgical instrument assembly. In various cases, the shaft is rotatable and / or articulated, and in others, the shaft is fixed.

[0574] In various cases, connectors within surgical instrument assemblies (such as articulated joints and / or rotary joints, where multiple drive members are connected to each other) include means for protecting, for example, wiring harnesses and / or flexible circuitry extending through and / or around the joint. The wiring harness is protected from induced stresses and strains throughout the entire range of motion of the joint. In at least one case, the wiring harness includes a pre-bent section extending through the articulated joint. In this case, the pre-bent section is formed in a manner anticipated as to how the wiring harness will react when the end effector performs articulation around the articulated joint.

[0575] Figure 19 and Figure 20 A surgical instrument assembly 2200 is depicted, comprising a shaft 2201 and a flexible circuit or wiring harness 2210 extending through the shaft 2201. The flexible circuit 2210 includes a pre-bent section 2220 configured to be positioned near a connector within the surgical instrument assembly 2200. In at least one embodiment, the pre-bent configuration of the pre-bent section 2220 provides slack to accommodate bending of a component around a connector positioned nearby in the pre-bent section 2220. In at least one embodiment, the pre-bent section 2220 provides space for a component. In at least one embodiment, the pre-bent section 2220 includes one or more portions of a component secured to the surgical instrument assembly 2200 at and / or near the connector. In at least one embodiment, the pre-bent section 2220 is configured to be flexed or bent by the component to which it is attached when the component is actuated within the surgical instrument assembly 2200.

[0576] like Figure 20 As can be seen, the pre-bending segment 2220 of the flexible circuit 2210 resides within a plurality of flexible circuit profile planes 2221. The flexible circuit profile plane is considered to be a plane defined by the substrate layer of the flexible circuit itself. In at least one case, the flexible circuit 2210 is configured to be substantially bent only within the flexible circuit bending plane. Figure 19 and Figure 20 As can be seen, the pre-bending section 2220 of the flexible circuit 2210 includes multiple bends in the bending plane of the flexible circuit. In at least one case, the flexible circuit 2210 may be bent slightly outside the bending plane of the flexible circuit.

[0577] Figure 21 and Figure 22A surgical instrument assembly 2300 is depicted, comprising a shaft 2301 and a flexible circuit or harness 2310 extending through the shaft 2301. The flexible circuit 2310 includes a pre-bent section 2320 configured to be positioned near a connector within the surgical instrument assembly 2300. In at least one embodiment, the pre-bent configuration of the pre-bent section 2320 provides slack to accommodate bending of a component around a connector positioned near the pre-bent section 2320. In at least one embodiment, the pre-bent section 2320 provides in-shaft space for other components within the shaft. In at least one embodiment, the pre-bent section 2320 includes one or more portions of a component secured to the surgical instrument assembly 2300 at and / or near the connector. In at least one embodiment, the pre-bent section 2320 is configured to be flexed or bent by the component to which it is attached when the component is actuated within the surgical instrument assembly 2200.

[0578] like Figure 22 As can be seen, the pre-bending section 2320 of the flexible circuit 2310 resides within a plurality of flexible circuit profile planes 2321. The flexible circuit profile plane is considered to be a plane defined by the substrate layer of the flexible circuit itself. In at least one case, the flexible circuit 2310 is configured to be substantially bent only within the flexible circuit bending plane. Figure 21 and Figure 22 As can be seen, the pre-bending section 2320 of the flexible circuit 2310 includes multiple bends in the bending plane of the flexible circuit. In at least one case, the flexible circuit 2310 may be bent slightly outside the bending plane of the flexible circuit.

[0579] Still referencing Figure 21 and Figure 22 The flexible circuit 2310 includes an eccentric segment 2323, which comprises a section of the flexible circuit that is laterally eccentric relative to the axis of the shaft. This positioning can provide in-axis space for other shaft components in certain areas. In this case, the pre-bent segment 2320 is offset relative to the axis of the shaft to bypass the central actuator 2303. For example, various surgical instrument systems (e.g., surgical suture end actuators) require a central drive system due to the high operating loads required to fire them. In such systems, the eccentric flexible circuit 2310 can provide space for such a central drive system.

[0580] Figure 23 and Figure 24A surgical instrument assembly 2400 is depicted, comprising a shaft 2401 and a flexible circuit or wiring harness 2410 extending through the shaft 2401. The flexible circuit 2410 includes a pre-bent section 2420. In at least one embodiment, the pre-bent section 2420 is configured to be positioned near a connector within the surgical instrument assembly 2400. In at least one embodiment, the pre-bent section 2420 provides space within the shaft for other components. In at least one embodiment, the pre-bent section 2420 is mounted to an inner surface of the shaft 2401 such that the pre-bent section 2420 conforms to the tubular shape of the shaft 2401.

[0581] like Figure 24 As can be seen, the pre-bent section 2420 of the flexible circuit 2410 resides in a single flexible circuit profile plane 2421. In at least one case, this single flexible circuit profile plane 2421 is conformable to the tubular shape of the shaft 2401. The flexible circuit profile plane is considered to be a plane defined by the substrate layer of the flexible circuit itself. In at least one case, the flexible circuit 2410 is configured to be able to bend substantially only in the flexible circuit bending plane. Figure 23 and Figure 24 As can be seen, the pre-bent section 2420 of the flexible circuit 2410 is shaped into a tubular form along the axis 2401 and bent in a flexible circuit bending plane transverse to the flexible circuit profile plane 2421. This bending can be advantageous near the joint motion joint to control the movement of the flexible circuit 2410 within the axis.

[0582] Still referencing Figure 23 and Figure 24 The flexible circuit 2410 includes an eccentric segment 2423, which comprises a segment of the flexible circuit laterally eccentric relative to the longitudinal axis of the shaft. This positioning can provide space for other shaft components in certain areas. In this case, the pre-bent segment 2420 is offset relative to the shaft axis to bypass the central actuator 2403. For example, various surgical instrument systems (e.g., surgical suture end actuators) typically require a central drive system, i.e., a drive system oriented along the longitudinal axis of the shaft, due to the high operating loads required to fire surgical suture end actuators. The flexible circuit 2410 can provide space for such a central drive system. In at least one case, the flexible circuit in the shaft for a surgical instrument assembly is configured to bend in multiple planes and in directions corresponding to the bending planes of the joints and / or components of the surgical instrument assembly.

[0583] In at least one case, the flexible circuit is manufactured with pre-bent and / or pre-flexed sections such that the pre-bent and / or pre-flexed sections do not need to be bent or flexed into this configuration during use. In various cases, the pre-flexed sections comprise a portion of the flexible circuit that is in a bent configuration when the flexible circuit is not under load. Under load, the pre-flexed sections may be further bent and / or straightened under load.

[0584] Figures 25-27 A surgical instrument assembly 2500 is depicted, comprising a shaft 2510, an articulation joint 2530, and an end effector 2520 attached to the shaft 2510 via the articulation joint 2530. The end effector 2520 is configured to articulate relative to the shaft 2510 via an articulation link 2533 coupled to an articulation actuator 2531. The articulation link connects to the shaft 2510, the end effector 2520, and the articulation actuator 2531. When the articulation actuator 2531 is actuated, the end effector 2520 rotates about an articulation axis AA via the articulation link 2533.

[0585] The surgical instrument assembly 2500 also includes a flexible circuit 2540 that extends through the shaft 2510, the articulation joint 2530, and into the end effector 2520. The flexible circuit 2540 can be used for any suitable electrical connection distal to the articulation joint 2530. In at least one case, the flexible circuit 2540 includes a fixed attachment point within the shaft 2510 and the end effector 2520. In various cases, the flexible circuit includes a considerable width and needs to be laid through various moving parts. The flexible circuit 2540 includes a pre-bent section 2541 laid through the articulation joint 2530 of the surgical instrument assembly 2500. The flexible circuit 2540 extends through the articulation link 2533 and includes an attachment portion 2543 attached to the articulation actuator 2531. When the end effector 2520 performs articulation about the articulation axis AA, the pre-bent section 2543 adapts to the movement of the articulation link 2533, the end effector 2520, the articulation actuator 2531, and the shaft 2510. The articulation actuator 2531 is configured to guide the pre-bent section 2541 to a suitable configuration via the attachment portion 2543 when the end effector 2520 performs articulation about the articulation axis AA. The pre-bent section 2541 allows for slack or hysteresis on the proximal and distal sides of the attachment portion 2543 to prevent any possible strain on the flexible circuit 2540.

[0586] In at least one embodiment, the flexible circuit 2540 includes one or more S-shaped portions. In at least one embodiment, one or more bends in each S-shaped portion are fixed to a moving part of the surgical instrument assembly 2500. In at least one embodiment, the flexible circuit 2540 includes a plurality of resilient strut members configured to bias the pre-bent section 2541 into a neutral pre-bent configuration when the end effector 2520 is not in a joint movement position, such as... Figure 27 As shown. Flexible circuitry with integrated moving component support locations can provide greater stability through areas of surgical instrument assemblies that include moving regions (e.g., joint motion joints).

[0587] Figures 28-30 A surgical instrument assembly 3000 is depicted, comprising an end effector 3001, a firing member 3010, and a sensing system 3030 configured to sense parameters of the firing member 3010. The end effector 3001 includes a cartridge 3020 containing a plurality of staples stored therein. The cartridge 3020 includes a longitudinal slot 3021 configured to receive the firing member 3010, a tissue support surface or platform 3023, a proximal end 3025, and a distal end 3027 therein. The firing member 3010 is configured to eject a staple during its firing stroke and cut patient tissue pressed against the platform 3023 as the firing member advances from the proximal end 3025 to the distal end 3027. The firing member 3010 includes a cutting blade 3011, a lower cam member 3013 configured to engage the lower jaw of the end effector 3001, and an upper cam member 3014 configured to engage the upper jaw of the end effector 3001.

[0588] The sensing system 3030 is configured to sense parameters, such as the displacement of the firing member 3010 as it moves within the end effector 3001. The sensing system 3030 includes a magnet 3031 and a plurality of sensors, including a proximal sensor 3033 positioned on the tissue support surface 3023 at the proximal end 3025 of the staple cartridge 3020, and a distal sensor 3035 positioned on the tissue support surface 3023 at the distal end 3027 of the staple cartridge 3020. Sensors 3033 and 3035 include Hall effect sensors; however, any suitable sensor may be used. The magnet 3031 is positioned on the front of the firing member 3010. As the firing member moves through the firing stroke, the signals from sensors 3033 and 3035 are configured to fluctuate with the movement of the magnet 3031 toward and away from sensors 3033 and 3035. These signals can be used by the control circuitry to interpret parameters of the firing member 3010 (e.g., displacement, velocity, and / or acceleration). The magnet 3031 includes a proximal restraint 3041 adjacent to the sensor 3033.Figure 29 ) and the distal limiting member 3043 of the adjacent sensor 3035 Figures 31-33 ).

[0589] In at least one instance, a Hall effect sensor and a magnet are used to monitor the sliding element of the surgical suture assembly. The sensing system 3033 can be used to sense any suitable movable actuating member within the surgical instrument assembly. For example, the sensing system 3033 can be used to sense a translational member within a bipolar energy surgical instrument. In at least one such embodiment, the translational member includes, for example, a tissue cutter.

[0590] In at least one case, a sensing system 3033 is utilized in conjunction with a control circuit configured to adjust the motor control program. For example, when the surgical instrument assembly 3000 is in an articulated configuration, the sensing system 3033 may detect that the firing member 3010 has not traveled the expected distance compared to the monitored motor movement. This may be due to an increased stroke length caused by the joint movement of the actuating member configured to move the firing member 3010 around the articulated joint. In this case, the control circuit is configured to adjust the motor control program to compensate for the increased stroke length caused by the articulation of the surgical instrument assembly 3000. In at least one case, component wear may cause a loss of stroke length within the actuation system. In this case, the control circuit is configured to adjust the motor control program to compensate for the loss of stroke length, so that the entire nail firing stroke can eventually be completed.

[0591] Figures 34-37 A surgical instrument assembly 3100 is depicted, comprising an end effector jaw 3101 having a cartridge channel 3110 configured to receive a cartridge 3140 therein, and a sensing system 3130 configured to measure parameters of the surgical instrument assembly 3100. The cartridge channel 3110 includes a proximal end portion 3113, a distal end portion 3115, and a slot 3111 extending between the proximal end portion 3113 and the distal end portion 3115, the slot being configured to receive a portion of a firing member therein. The cartridge channel 3110 also includes a bottom 3117 configured to support the bottom of the cartridge 3140.

[0592] Sensing system 3130 is configured to monitor pressure applied to staple cartridge 3140. Sensing system 3130 includes a plurality of pressure sensors, including a first set of sensors 3131A positioned on a first side of slot 3111 and on the bottom 3117 of cartridge channel 3110, and a second set of sensors 3131B positioned on a second side of slot 3111 and on the bottom 3117 of cartridge channel 3110. In at least one embodiment, pressure sensors may be positioned on the side of cartridge channel, in addition to or as a substitute for sensors positioned on the bottom 3117 of cartridge channel 3110. In at least one embodiment, anvil jaws may include pressure sensors configured to detect pressure applied to anvil jaws. In at least one embodiment, pressure-sensitive fabric and / or conductive wire may be laid on the bottom 3117 of cartridge channel 3110. In at least one embodiment, for example, a Velostat sensor may be used; however, any suitable sensor may also be used.

[0593] Sensing system 3130 is configured to detect pressure between staple cartridge 3140 and cartridge channel 3110. Sensors 3131A and 3131B are connected to flexible circuit 3120, which is configured to transmit signals from sensors 3131A and 3131B to control circuitry of surgical instrument assembly 3100. Sensing system 3130 is configured to measure pressure corresponding to each side of staple cartridge 3140 and pressure corresponding to proximal end 3141 and distal end 3143 of staple cartridge 3140. Control circuitry is configured to monitor the pressure sensed by sensors 3131A and 3131B. In at least one case, control circuitry is configured to plot a pressure curve sensed by sensing system 3130 in real-time, geographically, for the user. For example, such pressure curve may be displayed to the user. In at least one case, control circuitry is configured to automatically adjust the motor control program of the firing member based on signals received from pressure sensors 3131A and 3131B. Typically, the tissue compressed between the anvil jaws and the staple cartridge 3140 is not uniformly compressed, resulting in an uneven pressure profile within the tissue, which, in some cases, can affect the staple formation process. Sensors 3131A and 3131B are positioned and arranged to provide data on the pressure profile within the tissue to the control system. For example, the control system can assess whether the tissue is thicker on a first side of the end effector than on a second side. In at least one such case, the control system is configured to slow the staple firing stroke when the difference between the pressure on the first side and the pressure on the second side exceeds a threshold. In such cases, a slower staple firing stroke can lead to better staple formation.

[0594] Figure 35A surgical instrument assembly 3200 is shown, comprising a handle 3210, a shaft assembly 3220 extending from the handle 3210, and an end effector 3240 extending from the shaft assembly 3220. The handle 3210 includes a plurality of actuators 3213 configured to be actuated by a user and a retainable portion 3211 configured to be held by a user. The actuators 3213 are configured to actuate one or more actuating members within the shaft assembly 3220 to actuate the function of the end effector 3240.

[0595] The surgical instrument assembly 3200 also includes a sensing system configured to detect parameters of a shaft member 3230 extending through an outer shaft 3221 of the shaft assembly 3220. The shaft member 3230 includes a plurality of holes 3231 defined therein, configured to slidably receive an actuating member therein. In at least one embodiment, the shaft member 3230 is configured to experience a load during actuation of one or more actuation systems within the surgical instrument assembly 3200. Any suitable member can be sensed by the sensing system. For example, a firing actuator, a closing actuator, and / or a joint motion actuator can be sensed by such a sensing system. The sensing system includes a flexible circuit 3250 and a sensor 3253 extending from a sensor region 3251 of the flexible circuit 3250. For example, the sensor 3253 may include a strain gauge; however, any suitable sensor may also be used. In at least one embodiment, the flexible circuit 3250 extends to an end effector 3240, at which an additional sensor is positioned and connected to the flexible circuit 3250. The shaft component 3230 includes a channel 3233 defined therein, and the flexible circuit 3250 is positioned within the channel.

[0596] In many cases, the measurement of tension and compressive forces and / or strain transmitted through the drive member is more reliable when measured facing the central axis of the drive member opposite to its outer periphery. In other words, the necking of the shaft member also provides a more localized concentration of stress and strain. For this purpose, sensor 3253 is mounted to the necking portion 3235 of shaft member 3230. Including this necking region provides a more reliable area for the sensor to measure the load applied to shaft member 3230, because even a tiny load applied to shaft member 3230 will cause amplified strain in the necking portion 3235. Figures 38-40 As can be seen, the shaft component 3230 is unloaded, and the necked portion 3235 includes a first width and the shaft component 3230 includes a first length. Figures 38In this configuration, shaft member 3230 is under load, and necked portion 3235 is elongated, resulting in necked portion 3235 having a second width greater than the first width and shaft member 3230 having a second length greater than the first length. In at least one case, the tension of shaft member 3230 can be determined by a control circuit that interprets changes in strain values ​​received from sensor 3253 when shaft member 3230 is under load and unloaded.

[0597] In all cases, the sensor 3253 does not alter the overall shape and / or properties of the shaft component 3230. In at least one case, the flexible circuit and / or sensor 3253 is embedded in a recess in the shaft component 3230 such that the overall dimensions of the shaft component 3230 are not altered by the flexible circuit and / or sensor 3253. For example, the thickness of the flexible circuit and / or sensor 3253 is equal to or less than the depth of the recess. This arrangement allows the structural component to maintain its integrity while its properties are monitored locally within the shaft assembly 3220.

[0598] In at least one case, a strain gauge extending from the flexible circuit is attached to several different components within the shaft assembly. In at least one case, a portion of the flexible circuit extending through the shaft assembly is primarily non-stretchable, and another portion of the flexible circuit is stretchable. In various cases, the primarily non-stretchable portion has a higher elastic modulus than the other portions of the flexible circuit. In at least one case, for example, the elastic modulus of the primarily non-stretchable portion is 10 times higher than the elastic modulus of the other portions of the flexible circuit. In at least one case, for example, the elastic modulus of the primarily non-stretchable portion is 100 times higher than the elastic modulus of the other portions of the flexible circuit. In at least one case, the stretchable portion of the flexible circuit is used to sense parameters of components of the shaft assembly. In at least one case, the stretchable portion of the flexible circuit includes a substrate material thinner than the substrate material constituting the non-stretchable portion. In at least one case, the substrate material for the stretchable portion of the flexible circuit is different from the substrate material for the non-stretchable portion of the flexible circuit. In at least one case, a conductor within the flexible circuit serves as a resistive element for sensing tension. For example, such a conductor can be used to measure parameters of structural components within the shaft assembly and / or end effector. In at least one case, the force experienced by the sensed structural member is proportional to the strain experienced by the sensed structural member, which can be detected using any of the methods disclosed herein.

[0599] In at least one instance, the stretchable portion of the flexible circuit for detecting parameters of a structural member within the shaft assembly includes a length that extends across the entire length of the structural member itself to maintain a uniform stretch along the length of the structural member. For example, if only a portion of the structural member contacts the stretchable portion of the flexible circuit, that portion may be reinforced by additional material from the stretchable portion of the flexible circuit, and this could cause sensor readings in that area to unintentionally fluctuate relative to areas not in contact with the stretchable portion of the flexible circuit. In at least one instance, this is avoided by covering the entire length of the structural member with a stretchable flexible circuit portion. In at least one instance, the stretchable flexible circuit portion is used to reinforce a portion of the structural member to be sensed.

[0600] In at least one case, the structural member to be sensed includes features for concentrating forces experienced by the structural member, guiding forces experienced by the structural member in a particular direction, and / or amplifying loads experienced by the structural member across its length. In various cases, guiding and / or amplifying strain flow through the driving member can be achieved through changes in the cross-section and / or geometry of the driving member.

[0601] In at least one case, the strain experienced by the structural component of the shaft assembly due to bending can be sensed by a strain gauge positioned at the furthest point from the bending axis. Positioning such an integrated flexible circuit strain gauge amplifies the detectable stress on the bent structural component. In at least one case, this position is artificially formed. The artificially formed fins can extend from the structural component, wherein the fins form a position further away from the bending axis of the structural component than any part of the structural component itself.

[0602] In at least one case, the control circuit is configured to monitor parameters of structural components to be sensed by a sensing system within the shaft assembly, and is configured to adjust the operation of the surgical instrument assembly in any suitable manner, including those operations disclosed herein.

[0603] In various situations, local displacement sensing of shaft components within the shaft assembly of a surgical instrument can be used to determine the start and end of the travel of the sensed component. Figure 39 A surgical instrument assembly 3300 is depicted, comprising a shaft 3310, an articulation joint 3330, and an end effector 3320 pivotally coupled to the shaft 3310 about the articulation joint 3330. The surgical instrument assembly 3300 also includes a sensing system 3340 configured to monitor displacement of an articulation actuator 3311 configured to articulate the end effector 3320 about an articulation axis AA relative to the shaft 3310.

[0604] The articulation joint 3330 includes a first articulation link 3331 connected to an articulation actuator 3311 and a shaft 3310, and a second articulation link 3333 connected to the first articulation link 3331 and an end effector 3320. The articulation actuator 3311 is configured to advance and retract longitudinally within the shaft 3310 to pivot the end effector 3320 about an articulation axis AA. The first articulation link 3331 is pivotally coupled to the shaft 3310, the articulation actuator 3331, and the second articulation link 3333. The second articulation link 3333 is pivotally coupled to the first articulation link 3331 and the end effector 3320.

[0605] The sensing system 3340 includes a sensor 3341 positioned on the distal end 3313 of the joint motion actuator 3311, a first magnet 3343 positioned on the shaft 3310, and a second magnet 3345 positioned on the second joint motion link 3333. The sensor 3341 includes a Hall effect sensor; however, any suitable sensor and trigger arrangement can be used. For example, an inductive sensor arrangement can be used. Control circuitry is configured to monitor the signal received by the sensor 3341 to determine the exact joint motion position of the end effector 3320 relative to the shaft 3310. As the joint motion actuator 3311 moves through the joint motion stroke, the sensor 3341 moves within a magnetic field that is altered by the magnets 3343 and 3345, causing a deviation in the signal from the sensor 3341. This deviation in the signal can be interpreted by the control circuitry by comparing the signal with an expected signal and a range of joint motion positions to determine the exact joint motion position of the end effector 3320 relative to the shaft 3310.

[0606] Figures 41-43 An end effector 3320 is shown in a first joint movement position, wherein the joint movement actuator 3331 is actuated in a fully proximal position. In this configuration, the first magnet 3343 is at a first distance d from the sensor 3341. 21 And the second magnet 3345 is at a second distance d from the sensor 3341. 11 The control circuit is configured to determine the positions of magnets 3343 and 3345 by interpreting the signal from Hall effect sensor 3341. This can be achieved by comparing the signal with a expected signal range corresponding to a known actuation position as discussed above. Figure 42 An end effector 3320 is shown in a second joint movement position, wherein the joint movement actuator 3331 is actuated in a fully distal position. In this configuration, the first magnet 3343 is at a first distance d from the sensor 3341. 22 And the second magnet 3345 is at a second distance d from the sensor 3341. 12The control circuit is configured to determine the positions of magnets 3343 and 3345 by interpreting the signal from Hall effect sensor 3341. Figure 43 An end effector 3320 in a non-joint motion position is shown. In this configuration, the first magnet 3343 is at a first distance d from the sensor 3341. 23 And the second magnet 3345 is at a second distance d from the sensor 3341. 13 The control circuit is configured to determine the positions of magnets 3343 and 3345 by interpreting the signal from Hall effect sensor 3341.

[0607] The sensing system 3340 can be used by the control circuitry to determine the actual position of the end effector 3320 relative to the axis 3310 without monitoring the output of the joint motion drive system motor. In at least one case, the control circuitry is configured to automatically adjust the motor control program, configured to actuate the joint motion actuator 3311 according to the desired outcome, based on the monitored position of the end effector 3320. For example, a user may instruct the device to place the end effector 3320 in a non-joint motion configuration. The sensing system 3340 can be used to determine the actual position of the end effector 3320. If the end effector 3320 does not fully reach the desired position, the control circuitry can be configured to alert the user and / or automatically adjust the motor control program to actuate the joint motion actuator 3311 until the sensing system 3340 detects the end effector 3320 in the desired position.

[0608] A sensing system that measures the most distal movable actuator (e.g., sensing system 3340) provides greater accuracy than a sensing system that measures the intermediate movable actuator. For example, when measuring a movable actuator upstream of the most distal movable actuator, the sensing system may fail to detect any hysteresis or backlash in the system downstream of the sensed intermediate actuator. Measuring the most distal movable actuator of the drive system ensures that all deviations in the drive system are detected and can therefore, for example, compensate for all deviations in the drive system. In at least one case, the second magnet 3345 is positioned on the end effector 3320 itself.

[0609] In at least one embodiment, the inertia and / or friction of the motion system within the surgical instrument assembly are configured to be monitored. In at least one embodiment, the control circuitry is configured to adjust the motor control program corresponding to the monitored motion system. In at least one embodiment, adjustments can be performed, for example, to minimize excessive loads on the drive member, eliminate impact events on the drive member, and / or ensure the full actuation stroke of the drive member.

[0610] In at least one embodiment, the control circuit is configured to monitor the local displacement and velocity of the drive member and the motor current of the motor configured to actuate the drive member. These parameters can be monitored during acceleration and / or braking events of the drive member to determine the inertia of the system. The control circuit can then determine whether the determined inertia differs from the expected inertia. Therefore, inertia detection can be used to adjust the motor's control program to more accurately execute such braking and / or acceleration events of the drive member. In at least one embodiment, the control circuit is configured to change the initiation timing of the braking cycle of the drive member based on the determined inertia of the previous braking cycle of the drive member.

[0611] In at least one embodiment, the control circuit is configured to prevent high-load impact events within the surgical suture end effector based on the monitored inertia of the firing system within the surgical suture end effector. The control circuit may also be further configured to ensure a complete actuation cycle of the firing system even after adjustment to the braking cycle to prevent high-load impact events. In at least one embodiment, the retraction stroke is also accompanied by the risk of high-load impact events at the proximal end of the retraction stroke. In at least one embodiment, the control circuit is also configured to prevent high-load impact events at the proximal end.

[0612] In at least one case, the control circuit is configured to monitor braking trigger events (e.g., at a determined travel position and / or at a maximum force threshold). Both events may require braking of the drive system. The control circuit is configured to learn the braking trigger and prevent the drive system from reaching the braking trigger in subsequent firings of the drive system. In at least one case, braking timing is accelerated to avoid the braking trigger. In at least one case, braking timing is slowed down to avoid the braking trigger. In at least one case, a first test actuation can be performed within the surgical instrument assembly to determine the difference in inertia within the surgical instrument assembly compared to the nominal inertia of the surgical instrument assembly.

[0613] In various situations, control circuitry is provided to monitor friction within the drive system and adjust the motor control program accordingly. For example, the closure member of a surgical instrument can be monitored when it clamps the jaws within the actuator at the end of the closure member. The acceleration, velocity, and / or displacement of the closure member can be monitored to plot a closure event curve for each actuation of the closure member. The control circuitry is configured to adjust the motor control program that actuates the closure member to ensure that the closure event curve is as consistent as possible during each closure stroke throughout the closure member's lifespan. Over time, the closure system may experience parasitic losses and wear, resulting in deviations in the system's closure stroke. The control circuitry is configured to compensate for these deviations. In at least one case, the control circuitry is configured to adjust the closure stroke based on differences in tissue thickness and / or compressibility, which can also be monitored.

[0614] Figure 44 A stretchable sensing fabric 3400 is depicted, configured to sense one or more parameters of a surgical instrument assembly. The stretchable sensing fabric 3400 includes a body portion 3410 and multiple sensing material locations within the body portion 3410. The multiple sensing materials include multiple sensing fibers 3420, 3430, and 3440, configured to sense one or more parameters of the surgical instrument assembly. In at least one embodiment, the sensing fibers 3420, 3430, and 3440 are configured to measure pressure, bending stress, tensile and / or shear force. The sensing fibers 3420, 3430, and 3440 comprise a conductive material. In at least one embodiment, the fibers 3420, 3430, and 3440 are interwoven into the body portion 3410 of the stretchable sensing fabric 3400. In at least one embodiment, the body portion 3410 comprises, for example, an elastic silicone resin. In at least one embodiment, fibers 3420, 3430, and 3440 are placed in a mold for the body portion 3410, and fibers 3420, 3430, and 3440 are covered by the material of the body portion 3410. At any rate, fibers 3420, 3430, and 3440 are configured to be stretched, twisted, and / or bent together with the body portion 3410. Figure 45 A stretchable sensing fabric 3400 in a relaxed configuration is shown, and Figure 46 A stretchable sensing fabric 3400 in a stretch configuration is shown. Fibers 3420, 3430, and 3440 are configured to be connected to a circuit such that a control circuit can monitor the resistance of fibers 3420, 3430, and 3440 when the fibers change shape.

[0615] In at least one case, the resistance of fibers 3420, 3430, 3440 can be amplified or suppressed by connecting fibers 3420, 3430, 3440 in parallel or in series. In at least one case, each fiber 3420, 3430, 3440 comprises a different material. In at least one case, the material of each fiber 3420, 3430, 3440 is selected based on its resistive properties. For example, when sensing a system with minute movement (e.g., a closed member that can move only slightly through a closed stroke), materials and configurations with a wide range of resistance deviations under minute tension can be selected.

[0616] In at least one embodiment, fibers 3420, 3430, and 3440 can be interlocked by weaving them together, for example, to increase the available stretchable length of each fiber 3420, 3430, and 3440. In at least one embodiment, the stretchable sensing fabric 3400 is attached to the structural member to be sensed solely by means of an adhesive. In at least one embodiment, the stretchable sensing fabric 3400 is attached, for example, to a fixed position within a shaft and to the structural member to be sensed, such that as the structural member moves relative to the shaft, the stretchable sensing fabric 3400 is stretched relative to the shaft to which it is attached. In at least one embodiment, a supplementary spring is provided to increase or decrease the sensitivity of the stretchable sensing fabric 3400.

[0617] In at least one embodiment, fibers 3420, 3430, and 3440 are oriented in multiple different directions and / or positioned in multiple different planes. In at least one embodiment, the stretchable sensing fabric 3400 includes a full-bridge strain gauge configuration. In at least one embodiment, the stretchable sensing fabric 3400 includes a half-bridge strain gauge configuration. In at least one embodiment, the stretchable sensing fabric 3400 includes a quarter-bridge strain gauge configuration.

[0618] In at least one case, the stretchable sensing fabric 3400 is used to monitor displacement, stress, and / or strain. Such parameters can be determined by control circuitry configured to interpret the monitored resistance signals from the fibers within the sensing fabric 3400.

[0619] In at least one embodiment, the body portion 3410 includes material properties that affect how the fibers 3420, 3430, and 3440 are stretched. In this embodiment, the load applied to the body portion 3410 can be directly detected by the fibers 3420, 3430, and 3440. In at least one embodiment, the stretchable sensing fabric 3400 comprises EeonTex conductive textile. In at least one embodiment, the stretchable sensing fabric 3400 comprises SHIELDEX metallized conductive fabric.

[0620] In at least one case, the transparent portion is disposed within the surgical instrument drive system. The drive component itself may include the transparent portion. In at least one case, the transparent portion is a complementary component integrated into the drive system. Optical diffraction can be used to detect the load applied to the transparent portion by measuring the change in light within the transparent portion due to changes in the transmittance and / or reflectance of the material under load and without load.

[0621] In at least one case, the stretchable sensing fabric 3400 can be used in conjunction with any movable actuation component within a surgical instrument system. Figure 47 and Figures 38-40A surgical instrument assembly 3500 is depicted, comprising a surgical suture drive member 3510 configured for use with a surgical suture instrument and a plurality of stretchable sensing fabrics 3400 positioned on the surgical suture drive member 3510. The surgical suture drive member 3510 includes a plurality of bands 3511 stacked together and coupled to a firing member 3520 configured to cut tissue and deploy a staple during a staple firing stroke. As the bands 3511 displace around a joint joint, they bend around the joint joint and open relative to each other. This bending can be detected by the stretchable sensing fabrics 3400 and correlated by a control system with the degree of joint movement by an end effector.

[0622] A stretchable sensing fabric 3400 is positioned on the top 3517 of each band 3511. In at least one case, the stretchable sensing fabric 3400 is attached to each band 3511, for example, with an adhesive. In at least one case, the attachment means for the stretchable sensing fabric 3400 to each band 3511 does not affect the conductive fibers within the stretchable sensing fabric 3400. The surgical instrument assembly 3500 also includes an electrical contact 3531 configured to couple to the fabric 3400, allowing an electrical connection to be made, for example, with a flexible circuit. Each band 3511 also includes a proximal engagement feature 3513 comprising a window 3514 configured to receive a firing drive system to actuate a surgical suture drive member 3510. The fabrics 3400 can be stretched relative to each other to individually monitor one or more parameters of each band 3511. This configuration can be used to monitor various parameters of joint motion of the end effector. This configuration can also be used to detect the load applied to the firing member 3520 as it is advanced through the nail firing stroke.

[0623] Figure 47 and Figure 47 A surgical instrument assembly 3600 is depicted, the surgical instrument assembly including Figure 48 The surgical instrument assembly 3600 includes a shaft 3310, an end effector 3320, and a joint motion joint 3330, as well as a sensing system 3620 configured to detect parameters of the joint motion actuator 3311. The surgical instrument assembly 3600 also includes a firing actuator 3610 comprising a flexible member configured to extend through the joint motion joint 3330 and into the end effector 3320 to actuate the function of the end effector 3320 (e.g., closing the end effector 3320 and / or performing a pin firing stroke).

[0624] The sensing system 3620 includes a flexible circuit 3630, a non-stretchable printed circuit board 3640 coupled to the flexible circuit 3630, and a stretchable sensing fabric 3650 coupled to the printed circuit board 3640. The flexible circuit 3630 extends through a shaft 3310 and can be connected to a surgical control interface (e.g., a handle and / or a surgical robot). The printed circuit board 3640 is attached to and moves with a joint motion actuator 3311. In some cases, the printed circuit board 3640 is attached to a fixed location (e.g., the shaft 3310). The stretchable sensing fabric 3650 includes circuitry connected to electrical contacts on the printed circuit board 3640, and similarly, the flexible circuit 3630 includes circuitry connected to another set of contacts on the printed circuit board 3640. Therefore, signals can be transmitted between the sensing fabric 3650, the printed circuit board 3640, the flexible circuit 3630, and the surgical control interface.

[0625] A stretchable sensing fabric 3650 is configured to be stretchable when the end effector 3320 is jointed by the articulator 3311. More specifically, a second articulator linkage 3333 is attached to the distal end of the stretchable fabric 3650, such that the stretchable sensing fabric 3650 stretches when the end effector 3320 performs articulation. As the stretchable sensing fabric 3650 changes shape under stretching, the conductive fibers within the stretchable sensing fabric 3650 also change shape and produce, for example, a change in resistance. This change in resistance of the conductive fibers within the stretchable sensing fabric 3650 can be detected by control circuitry to determine parameters such as orientation and / or position of the articulator 3311, the articulator 3320, and / or the end effector 3320. In various cases, the control circuitry is located in a printed circuit board 3640 and / or a surgical control interface.

[0626] In at least one instance, the stretchable sensing fabric 3650 is used to determine the exact position of the joint motion actuator based on a predetermined known stretching characteristic of the stretchable sensing fabric 3650. In at least one instance, the stretchable sensing fabric 3650 is used to determine the degree of articulation of the end effector 3320 relative to the shaft 3310. In at least one instance, the stretchable sensing fabric 3650 is used to determine the velocity and / or acceleration of the joint motion actuator 3311. In at least one instance, the stretchable sensing fabric 3650 is used to directly measure one or more rotational characteristics (e.g., rotational speed and / or rotational displacement) of the joint motion link 3333.

[0627] Figure 49A sensing system 3620 is depicted, wherein a non-stretchable printed circuit board 3640 is fixed relative to an axis 3310. A stretchable sensing fabric 3650 includes a first stretchable portion 3651 and a second stretchable portion 3653. In at least one embodiment, a portion of the stretchable sensing fabric 3650 is fixed between the first stretchable portion 3651 and the second stretchable portion 3653 to a joint motion actuator 3311. In this embodiment, multiple stretchable regions can be sensed, and each of these multiple stretchable regions can be used to determine one or more parameters of the surgical instrument assembly 3600. Figure 49 As can be seen, multiple positions of the second joint linkage 3333 are shown, illustrating different stretch lengths of the second stretchable portion 3653 at each position. These different lengths may include different corresponding resistance profiles of conductive fibers within the stretchable sensing fabric 3650. These different corresponding resistance profiles can be evaluated by control circuitry, as described herein. The control circuitry can then determine one or more parameters (e.g., degree of rotation and / or end effector position) based on the detected resistance profiles.

[0628] Figure 51 and Figure 52 Graphs 3701 and 3703 depict a control circuit for use with a surgical instrument assembly and an operating control program configured to determine a load curve and adjust the surgical instrument assembly based on the determined load curve. Graph 3701 shows multiple different load curves within a tissue cutter, which, in at least one case, define an acceptable load range for the tissue cutter. As another example, graph 3703 shows an acceptable load curve range relative to the actual load curve 3704 detected by the control circuit using any suitable sensing system (such as those disclosed herein). Figure 52As seen in the example, the detected actual load curve 3704 is above the acceptable load curve range. The control circuit can then act accordingly. In at least one case, the control circuit is configured to automatically adjust the control program of the surgical instrument assembly to reduce the load curve (e.g., slowing down the drive member and / or pausing the actuation of the drive member). In some cases, the control circuit is configured to reduce the maximum current available to the electric motor to reduce the load curve. In some cases, when a difference is detected, the control system can modify the time between operating steps or pause between operating steps. In at least one case, for example, the control system can increase the pause between clamping the end effector and executing the nail firing stroke. In at least one case, the control circuit is configured to alert the user that the load curve is outside the acceptable range and request input from the user on how to proceed. In at least one case, the control circuit is configured to lock the nail firing drive system when a load curve outside the acceptable load curve range is detected. In this case, for example, other drive systems can be operated to retract the nail firing drive, open the end effector, and / or straighten the end effector.

[0629] In at least one scenario, the control circuitry is configured to determine the tissue thickness within the end effector and define an acceptable load curve range based on the determined tissue thickness. If the measured load curve falls outside the defined acceptable load curve range, the user may be alerted to an irregularity occurring during the actuation stroke. For example, the presence of a foreign object (e.g., a surgical clip) within the end effector could cause the load curve to exceed the defined acceptable load curve range based on the determined tissue thickness.

[0630] In at least one case, the load curve is monitored over time, and adjustments can be made and / or recommended, for example, by the control circuitry based on multiple actuations of the surgical instrument assembly. The control circuitry can determine a steadily increasing load curve during each subsequent actuation of the surgical instrument assembly and can alert the user to this increased load curve. In at least one case, multiple load curves must be measured and evaluated before the control circuitry takes action. In at least one case, the force required to drive the end effector function with worn components can increase over time. In this case, the user can be guided to replace a different component of the surgical instrument assembly based on the detected wear. In at least one case, the control circuitry is configured to adjust the motor control program to compensate for worn components to utilize any remaining lifespan of the worn components. For example, once a certain wear threshold is detected, the control circuitry can use a predetermined usage curve to determine that the surgical instrument assembly can be actuated up to five times before, for example, locking the surgical instrument assembly and / or taking another action.

[0631] In addition to the above, the load profile of the surgical suture assembly can be measured and monitored over time (i.e., throughout the entire lifespan of the surgical suture assembly). In various cases, the surgical suture attachment assembly is configured to use replaceable cartridges, and the load profile can be recorded in the memory of the surgical instrument control system after each firing of a replaceable cartridge. In at least one case, the operating characteristics of the surgical suture attachment assembly can be adjusted for each subsequent replaceable cartridge installed within the surgical suture attachment assembly. In at least one case, the control circuitry can determine batch-specific load characteristics for a batch of cartridges. In this case, a batch-specific control procedure can be created and implemented by the control circuitry based on the load profile measured when cartridges from the batch are used. In at least one case, the control circuitry is configured to utilize manufacturing data transmitted to the control circuitry by the cartridges themselves, for example, using an RFID chip. In this case, the control circuitry can record each event in the firing group that has matching manufacturing data to determine a suitable control procedure for cartridges with matching manufacturing data. For example, matching manufacturing data may include, for example, identical serial numbers, similar serial numbers, and / or serial numbers within a range of serial numbers.

[0632] In various cases, surgical instruments include a shaft, an end effector, and one or more drive systems configured to actuate the shaft and / or the end effector. The end effector includes a first jaw and a second jaw, the second jaw being rotatable relative to the first jaw between an open, unclamped position and a closed, clamped position. One of the drive systems includes a jaw closure system configured to close the second jaw. The surgical instrument may also include an articulation joint rotatably connecting the end effector to the shaft and an articulation drive system configured to articulate the end effector relative to the shaft. The surgical instrument may also include a tissue cutter capable of distal movement during the firing stroke and a blade drive system configured to distally drive the tissue cutter and proximally retract the tissue cutter. The surgical instrument also includes a housing (e.g., a handle) rotatably supporting the shaft such that the shaft is rotatable about a longitudinal axis relative to the housing. The surgical instrument may also include a drive system configured to rotate the shaft about the longitudinal axis in clockwise and counterclockwise directions.

[0633] Each drive system in the drive system of the surgical instruments discussed above is driven by an electric motor. In various cases, each drive system in the drive system includes its own electric motor, which is individually and independently controlled by a controller or control circuit. In other cases, at least two or more drive systems in the drive system are driven by a single electric motor controlled by a controller. In such cases, the surgical instrument includes a shifter or transmission that allows the electric motor to drive the different drive systems individually and independently. In any case, the controller may be responsive to user input, sensor input from within the surgical instrument, and / or sensor input from outside the surgical instrument. In various cases, the controller includes a control system that includes a processor and memory device in the housing, a processor and memory device in the shaft, and / or wiring harnesses connected to and / or communicating with various components of the control system (e.g., including sensors). In at least one case, the control system includes a flexible circuit extending within the shaft that communicates with the control system processor (e.g., a microprocessor). The flexible circuit may include a flexible substrate and electrical traces defined on or housed within the flexible substrate, the flexible substrate being flexible enough to extend between the shaft and the end effector and accommodate the joint movements of the end effector discussed above.

[0634] In at least one instance, in addition to the above, the flexible circuit comprises multiple polyimide layers and a metal circuit positioned between the polyimide layers. In at least one instance, the metal circuit comprises a copper frame, while in some instances, the metal circuit is made of, for example, conductive ink. Some circuits within the flexible circuit are wider, thicker, and / or have higher conductivity than other circuits and may be more suitable for conducting electrical loads, while some circuits are narrower, thinner, and / or have lower conductivity and may be more suitable for conducting data communication signals. In various instances, the electrical load may generate magnetic and / or electric fields that can interfere with data communication signals, and therefore, the electrical circuit may be separate and / or isolated from the communication circuit. In at least one instance, the electrical circuit is arranged in an electrical backbone within the flexible circuit, while the communication circuit is arranged in a communication backbone within the flexible circuit. In various instances, the electrical backbone comprises a first segment within the flexible circuit, while the communication backbone comprises a second segment within the flexible circuit. In at least one instance, the second or communication segment may be further subdivided into segments. Regardless of whether a segment can be called a sub-segment, they may be called segments, and will be referred to as such herein for convenience.

[0635] In various cases, in addition to the above, the flexible circuit includes multiple segments that communicate with the controller. In at least one case, the segments include sensor segments. For example, the flexible circuit may have a first segment including a first sensor, a second segment including a second sensor, and a third segment including a third sensor. The first sensor is configured to detect the state of a component of a surgical instrument at a first position, the second sensor is configured to detect the state of a component of the surgical instrument at a second position, and the third sensor is configured to detect the state of a component of the surgical instrument at a third position. That is, the flexible circuit may include any suitable number of sensors and sensor circuit segments. In various cases, each sensor circuit segment is configured to estimate the state of a different component, while in other cases, two or more sensor circuit segments may be used to estimate the state of the same component. Reference Figure 52 and Figure 50 The surgical instrument assembly 3000 includes a staple cartridge 3020 and a firing member 3010 that moves from a proximal end 3025 to a distal end 3027 of the staple cartridge 3020 during the firing stroke. In various cases, the firing member 3010 includes one or more inclined surfaces configured to eject staples from the staple cartridge 3020, and in some cases, the firing member 3010 includes a tissue cutting blade. In any case, a magnet 3031 is mounted to the firing member 3010, which is tracked by a sensing system 3030 including a proximal sensor 3033 positioned at the proximal end 3025 of the staple cartridge and a distal sensor 3035 positioned at the distal end 3027. The magnet 3031 includes any suitable magnetic element, including one or more magnetic poles, and may be made of, for example, iron and / or nickel. Sensors 3033 and 3035 include, for example, Hall effect sensors, but may also include any suitable type of sensor. Reference Figure 53 In curve 4120, when the firing member 3010 is in its proximal position, the proximal sensor 3033 generates a magnetic field, which is distorted or affected by the magnet 3031. As the firing member 3010 moves distally during its firing stroke, the magnet 3031 moves away from the proximal sensor 3033, and therefore, the effect of the magnet 3031 on the magnetic field generated by the proximal sensor 3033 weakens. This change in the magnetic field is detected by the controller, which interprets it as the firing stroke being initiated. Similarly, refer to... Figure 54 In the curve 4130, as the firing member 3010 moves to the distal side during the firing stroke, the magnet 3031 begins to twist and affect the magnetic field generated by the distal sensor 3035, which is also detected by the controller, which interprets this twist as the completion of the firing stroke.

[0636] The proximal sensor 3033 is part of a proximal sensor flexible circuit segment, and the distal sensor 3035 is part of a distal sensor flexible circuit segment. The proximal and distal sensor segments communicate with control circuitry defined on the flexible circuitry. In various cases, the control circuitry includes, for example, a microchip mounted to the flexible circuitry. The proximal sensor 3033 is configured to provide or transmit data to the control circuitry via the proximal sensor segment, and the distal sensor 3035 is configured to provide or transmit data to the control circuitry via the distal sensor circuitry. In addition to the above, in various cases, the proximal sensor 3033 generates and detects a magnetic field. The presence of the magnet 3031 distorts the magnetic field, and the proximal sensor 3033 generates an analog signal whose voltage magnitude is proportional to the detected magnetic field. The distal sensor 3035 operates in the same manner. In such cases, the control circuitry therefore receives a constant stream of analog data from both the proximal and distal sensors 3033 and 3035. In various cases, the microchip of the control circuit can be configured to intermittently sample the data streams provided by sensors 3033 and 3035. Alternatively, the proximal sensor 3033 and / or the distal sensor 3035 may include digital Hall effect sensors. In either case, the controller microchip may include inputs dedicated to each sensor segment. In various cases, for example, the control circuit may include a multiplexer or MUX configured to receive multiple data streams and combine them into a signal output signal. In any case, the control circuit uses the data received from the sensors to modify the operation of the surgical instrument, as described in more detail below.

[0637] As discussed above, the surgical instrument includes a proximal sensor circuit for detecting movement of the firing member 3010 at the beginning of the nail firing stroke and a distal sensor circuit for detecting movement of the firing member 3010 at the end of the nail firing stroke. In at least one embodiment, the control circuit actively monitors both the proximal and distal sensor circuits throughout the entire nail firing stroke. Similarly, in at least one embodiment, the control circuit actively monitors both the proximal and distal sensor circuits throughout the entire retraction stroke of the firing member 3010. Therefore, the control circuit requires a total or overall data bandwidth adaptable to the first data bandwidth consumed by the proximal sensor segment and the second data bandwidth consumed by the distal sensor segment. Furthermore, in such cases, the control circuit requires sufficient power to simultaneously power both the proximal and distal sensor segments. However, in various cases, it may be desirable to dedicate a larger portion of the total available bandwidth and / or power at a given time to one sensor segment rather than the other. For example, the control circuitry can be configured to allocate a larger share of data bandwidth and power to the proximal sensor segment instead of the distal sensor segment at the beginning of the nail firing stroke, and then allocate a larger share of data bandwidth and power to the distal sensor segment instead of the proximal sensor segment at the end of the nail firing stroke. In this case, the control circuitry can focus its sensing capabilities on the location of the firing member 3010. This arrangement is well-suited for actively monitoring the initial acceleration of the firing member 3010 and its deceleration at the end of the nail firing stroke. In other words, allocating an equal share of data bandwidth to the distal sensor segment at the start of the nail firing stroke is not an efficient use of the control circuitry's data bandwidth, because the distal sensor segment does not monitor the firing member 3010 at the beginning of the nail firing stroke, or the distal sensor segment is not as accurate as the proximal sensor segment in such cases. Similarly, allocating an equal share of the data bandwidth to the proximal sensor segment at the end of the pin firing stroke is not an efficient use of the control circuit's data bandwidth, because the proximal sensor segment does not monitor the firing element 3010 at the end of the pin firing stroke, or the proximal sensor segment is not as accurate as the distal sensor segment in such cases.

[0638] In various embodiments, the control circuitry can be configured to selectively power on and de-power the sensor segment of the flexible circuitry. In at least one such embodiment, the control circuitry can apply sufficient voltage to the proximal sensor segment at the beginning of the pin firing stroke to power the proximal Hall effect sensor 3033, allowing the proximal sensor 3033 to fully emit and detect its magnetic field, as discussed above, while simultaneously not applying sufficient voltage to the distal sensor segment to fully power the distal Hall effect sensor 3035. In this case, the data bandwidth for the distal sensor segment can be minimized or eliminated, allowing the control circuitry to focus the bandwidth of its proximal sensor segment. In other words, the control circuitry can put the distal sensor segment into a sleep mode at the beginning of the pin firing stroke. However, as the firing member 3010 advances distally, the control circuitry can wake up the distal sensor segment by applying sufficient voltage to it and dedicate a sufficient portion of its data bandwidth to the distal sensor segment. Furthermore, the control circuitry can then put the proximal sensor segment into a sleep mode while focusing its data bandwidth on the distal sensor segment. For example, this arrangement allows the control circuitry to accurately brake or slow down the firing element 3010 at the appropriate time and / or stroke length.

[0639] The teachings of the examples discussed above can be applied to any suitable system in surgical instruments. For example, this arrangement can be used in conjunction with an articulation system including a first sensor for detecting joint movement of the end effector in a first direction and a second sensor for detecting joint movement of the end effector in a second direction. Moreover, for example, this arrangement can be used in conjunction with a closure actuation system. Furthermore, such an arrangement can be adapted for use with a rotatable actuation member.

[0640] In various embodiments, in addition to the above, the control circuitry can be configured to intermittently interrogate the sensor segments for data. For example, the sensors may be in a sleep mode, where they do not actively supply voltage signals above a threshold (such as a noise threshold) to the control circuitry until the control circuitry selectively supplies a ping or wake-up signal to one or more of the sensor segments, and in such cases, one or more active sensor segments may supply voltage signals above the noise threshold to the control circuitry. In at least one embodiment, each sensor segment includes a processor and a signal transmitter that communicates with the sensor activated by the interrogation signal from the control circuitry. In such embodiments, each sensor segment is configured to provide at least some preprocessing of the data before it is transmitted to the control circuitry. In at least one case, the segment processor is configured to convert analog signals to digital signals and then transmit the digital signals to the control circuitry. In various cases, the segment processor is configured to modulate the byte size of the data transmitted from the sensor segments to the control circuitry. For example, when the control circuit supplies power to the sensor segment at a voltage value within a first range, the sensor segment supplies data of a first byte size to the control circuit; and when the control circuit supplies power to the sensor segment at a voltage value within a second range different from the first range, the sensor segment supplies data of a second byte size different from the first byte size to the control circuit. In at least one case, the sensor segment processor supplies data of a smaller byte size when the voltage value is lower, and supplies data of a larger byte size when the voltage value is higher. In such cases, the sensor segment processor is configured to interpret the reception of a lower voltage value as an instruction to operate in a low-power / low-bandwidth mode, and the reception of a higher voltage value as an instruction to operate in a high-power / high-bandwidth mode. Any suitable arrangement can be used.

[0641] In various embodiments, in addition to the above, the control circuitry is configured to instruct the sensor segment to provide data at a certain bandwidth. In at least one embodiment, the control circuitry is configured to compare the total data bandwidth with the currently consumed data bandwidth and instruct the sensor segment to provide its data at a bandwidth that will not overload or exceed the remaining available bandwidth. As more and / or less available data bandwidth becomes available, the control circuitry may modify its instructions to the sensor segment. In at least one case, each sensor segment includes a signal receiver configured to receive a signal or multiple instructions from the control circuitry, including data, to deliver sensor data to the control circuitry, for example, at a desired voltage value, bandwidth, and / or byte size. When the sensor segment receives a first set of instructions, the sensor segment delivers sensor data in a first format, and when the sensor segment receives a second set of instructions, the sensor segment delivers sensor data in a second format.

[0642] In various cases, in addition to the above, the control circuit may activate the sensor when the drive component has reached a specific position during its movement. For example, when the firing member 3010 reaches a position 5 mm from the end of the firing stroke, the control circuit may activate the distal sensor segment. In at least one of these cases, the distal sensor segment does not transmit data to the control circuit until it is activated when the firing member 3010 reaches the remaining 5 mm, at which point it transmits data to the control circuit with a high bandwidth. To achieve this, the control circuit monitors the travel of the firing member 3010 during the firing stroke. In at least one case, the control circuit uses data from the proximal sensor segment to assess the position of the firing member 3010; however, the firing member 3010 is no longer adjacent to the proximal sensor 3033, and the reliability of the accuracy of the data from the proximal sensor 3033 may not be reliable enough. Therefore, the control circuit may include one or more sensor systems that can more reliably measure the travel of the firing member 3010. For example, the control circuit may include a sensor system that monitors another drive component of the nail firing system (e.g., the output shaft of the electric motor of the nail firing drive and / or a translational shaft driven by the electric motor). Various other arrangements are described in more detail below.

[0643] In various embodiments, in addition to the above, the surgical instrument includes a wire harness (e.g., a flexible circuit) comprising one or more integrated sensors positioned and arranged to locally (i.e., at a location adjacent to the monitored part) measure the movement of the part. In various cases, as discussed above, the part is rotatable. In at least one of these cases, an array of magnetic elements is mounted, attached, and / or integrated into the rotatable part, which generates a magnetic field detected by an array of coil sensors mounted in the shaft of the surgical instrument. The magnetic elements are arranged in a circular pattern, and the coil sensors are arranged in a circular pattern matching the circular pattern of the magnetic elements, such that the magnetic field generated by the coil sensors is influenced by the magnetic field generated by the magnetic elements. Each of the magnetic elements includes at least one negative pole and at least one positive pole, and the magnetic elements are arranged alternately such that the positive pole of a first magnetic element faces proximal, and adjacent magnetic elements are arranged such that their negative poles face proximal, and so on. Alternatively, the rotatable component includes two magnetic elements mounted to the cylindrical body: a first magnetic element positioned on a first side of the cylindrical body and a second magnetic element positioned on a second or opposite side of the cylindrical body, i.e., the two magnetic elements are positioned 180 degrees apart. In this embodiment, the flexible circuit includes a coil sensor mounted to sequentially detect the first and second magnetic elements in an alternating manner. The positive terminal of the first magnetic element typically faces the coil sensor, while the negative terminal of the second magnetic element typically faces the coil sensor, such that the sensing system has resolution for each half-rotation of the cylindrical body. A higher level of resolution can be achieved using more magnetic elements and / or more coil sensors.

[0644] In various embodiments, in addition to the above, the surgical instrument includes a wiring harness (e.g., a flexible circuit) comprising one or more integrated sensors positioned and arranged to locally (i.e., at a location adjacent to the monitored component) measure the movement of the component. In various cases, as discussed above, the component is translational. In at least one of these cases, the flexible circuit includes a Hall effect sensor, and the translational component includes a magnetic element mounted thereto. During use, the translational component moves through its entire range of motion between a first position and a second position. The Hall effect sensor emits a magnetic field that extends co-located with the entire range of motion of the magnetic element, allowing the Hall effect sensor to monitor the component throughout its entire range of motion.

[0645] In various embodiments, in addition to the above, the flexible circuit includes a first Hall effect sensor and a second Hall effect sensor, and the translational component includes a first magnetic element and a second magnetic element. In at least one embodiment, the second Hall effect sensor is positioned distally or longitudinally relative to the first Hall effect sensor. Similarly, the second magnetic element is positioned distally or longitudinally relative to the first magnetic element. In use, during the firing stroke, the translational component moves from a proximal non-firing position to a distal firing position. During the initial movement of the translational component, the first magnetic element can be detected by the first Hall effect sensor but not the second Hall effect sensor, and furthermore, the second magnetic element cannot be detected by either the first or second Hall effect sensor. When the first magnetic element moves out of the range of the first Hall effect sensor during the firing stroke, the second magnetic element moves into the range of the second Hall effect sensor. Notably, in this embodiment, the first magnetic element does not enter the range of the second Hall effect sensor. Therefore, the entire range of motion of the translational component can be monitored jointly by the first and second Hall effect sensors. In at least one embodiment, there is a small overlap during the firing stroke, wherein a first Hall effect sensor detects a first magnetic element and a second Hall effect sensor detects a second magnetic element. In other embodiments, there is no such overlap, and the monitoring of the first and second Hall effect sensors is line-to-line. The above arrangement will be useful for low-stroke actuation such as energy devices or grippers / dissectors (e.g., 0.250" total stroke), where the stroke resolution is highly correlated with small increments of tissue clamp load variation for changes in stroke position. Once closed onto tissue, the jaw actuator of a 5mm gripper / dissector typically ranges from 0.1" to 0.3" ± 0.05" (e.g., equivalent to several pounds of difference in jaw tissue compression).

[0646] Figure 55A surgical instrument 4000 including the clamping jaws described above is shown. The surgical instrument 4000 includes a shaft 4010 and an end effector 4030. The end effector 4030 includes a non-translational blade 4031 configured to apply vibrational energy to the patient's tissue, and additionally includes a clamping jaw 4033 rotatable between an open and closed position by a closing actuator 4020. The clamping jaw 4033 is rotatably fixed to the shaft 4010 such that the clamping jaw 4033 rotates about a fixed axis, and the closing actuator 4020 is fixed to the clamping jaw 4033 such that when the closing actuator 4020 is pulled proximally, the closing actuator 4020 rotates the clamping jaw 4033 toward the stationary jaw 4031. Correspondingly, the closing actuator 4020 moves distally to drive the clamping jaw 4033 to its open position. The surgical instrument 4000 also includes a sensing system 4040 configured to detect movement of the closure actuator 4020, and thus movement of the clamp jaws 4033. The sensing system 4040 includes a first or proximal magnetic element 4043 mounted to the closure actuator 4020, a second or distal magnetic element 4045 mounted to the closure actuator 4020, and a sensor 4047 mounted to the shaft 4010, configured to detect movement of the magnetic elements 4043 and 4045. Notably, the first magnetic element 4043 includes a negative pole generally facing the sensor 4047, and the second magnetic element 4045 includes a positive pole generally facing the sensor 4047.

[0647] In addition to the above, the sensing system 4040 includes a controller that communicates with the sensor 4047 and is configured to interpret the output of the sensor 4047 to evaluate the position of the closing actuator 4020. Due to the opposite polarities of the first magnetic element 4043 and the second magnetic element 4045, the movement of the closing actuator 4020 has a high degree of resolution. In various cases, the sensor 4047 and the controller cooperate to detect the arrival and disengagement of the magnetic elements 4043 and 4045 within their magnetic field, and from this data, determine the orientation of the clamp jaws 4033. For a first given value of the sensor 4047 reading, the sensing system 4040 can determine that the clamp jaws 4033 are in the fully open position (a). For a second given value of the sensor 4047 reading, the sensing system 4040 can determine that the clamp jaws 4033 are in the partially closed position (b). For a third given value of the sensor 4047 reading, the sensing system 4040 can determine that the clamp jaws 4033 are in the closed position (c), where the clamp jaws 4033 apply low pressure to the tissue captured between the jaws 4031 and 4033, and for a fourth given value of the sensor 4047 reading, the sensing system 4040 can determine that the clamp jaws 4033 are in position (c1) applying high pressure to the tissue.

[0648] In various embodiments, the sensing system of the surgical instrument includes, for example, multiple capacitor plates (e.g., a first capacitor plate and a second capacitor plate). When a translational component passes over the capacitor plates, the sensing system can detect changes in the capacitance of the capacitor plates. In various cases, the first and second capacitor plates are arranged in parallel. In some cases, the translational component passes over both the first and second capacitor plates. Using this information, the control circuitry can assess the position, velocity, and / or orientation of the translational component.

[0649] In various embodiments, the sensing system of the surgical instrument includes one or more optical sensors for tracking the movement of a component. In at least one embodiment, the flexible circuit includes an optical sensor, and the component includes a light-emitting diode (LED) or other light source. As the component is advanced through its firing stroke, the intensity of light emitted from the LED changes as the LED approaches the optical sensor and / or as the LED moves away from the optical sensor. Using data from the optical sensor, the control circuitry of the surgical instrument can determine the position, velocity, and / or orientation of the movable component. In various other embodiments, both the LED and the optical sensor are mounted into the flexible circuitry within the surgical instrument. In such embodiments, the movable component includes a perforation defined therein, which, when aligned with the LED, allows light emitted by the LED to be detected by the optical sensor. In at least one case, the control circuitry counts pulses of light to evaluate the position, velocity, and / or orientation of the movable component. The control circuitry is also able to evaluate partial pulses of light caused by partial alignment of the perforation with the LED and the optical sensor. In at least one case, partial blurring of the light can be calculated to further refine the detection of the position of the movable component.

[0650] In various cases, robotic surgical systems are configured to be used with a number of different surgical instrument attachments. In such cases, each surgical instrument attachment may include a sensing system with sensors and corresponding triggers and actuators configured to be sensed by the sensing system. In at least one case, the trigger of the first surgical attachment may interfere with the sensor readings of the second surgical attachment. For example, the first and second surgical attachments may each include a sensing system comprising Hall effect sensors and / or magnetic systems that can influence or interfere with each other. When the surgical instrument attachments approach each other to the extent that the magnet of the first surgical instrument attachment interferes with the Hall effect sensor of the second surgical instrument attachment, for example, the control system may utilize an interference resolution system to properly operate the surgical instrument attachments, as described below.

[0651] In addition to the above, a control circuit is provided to determine when the Hall effect sensor readings of the attached surgical instrument accessory are caused and / or affected by a magnet or magnetic source outside the intended trigger of the attached surgical instrument accessory. In at least one case, a series of Hall effect sensor values ​​may be stored in a memory and correspond to the intended values ​​of the attached surgical instrument accessory. If any value appears outside the specified range, the control circuit will conclude that the sensing system within the attached surgical instrument accessory is being interfered with. In at least one case, if the signal received by the control circuit is based on monitored parameters of the motor driving the actuator of the attached surgical instrument accessory and does not correspond to the intended signal, the control circuit will conclude that the sensing system within the attached surgical instrument accessory is being interfered with. Moreover, for example, if the Hall effect sensor signal fluctuates and the motor encoder monitoring the movement of the motor does not detect movement, the control circuit will conclude that the sensing system of the attached surgical instrument accessory is being interfered with.

[0652] In at least one case, the sensor is disposed within the shaft of the modular attachment to specifically sense external disturbances. For example, a Hall effect sensor may be disposed within the shaft of the attached surgical instrument attachment to sense an external magnet that can be positioned within the surgical instrument in close proximity to the attached surgical instrument attachment. Control circuitry may monitor the Hall effect sensor to determine whether a surgical instrument attachment, including a magnet, is in close proximity to the attached surgical instrument attachment.

[0653] In at least one case, the control circuitry is configured to take action within the surgical system upon detecting external interference. In at least one case, the control circuitry is configured to disable the local sensing system of the attached surgical instrument attachment such that any interference with the sensing system does not affect the operation of the attached surgical instrument attachment. In at least one case, the control circuitry is configured to ignore the interference based on its magnitude. For example, the interference may be below a certain threshold that would not affect the local sensing system. In this case, the local sensing system is used, and the control circuitry continues to monitor for a possible increase in interference. In at least one case, if the interference is determined to be a constant magnitude, the expected range of the sensors in the sensing system can be adjusted to compensate for the constant magnitude interference, thereby allowing the use of the local sensing system. In at least one case, the constant magnitude interference can be eliminated by subtraction such that the constant magnitude interference does not affect the local sensing system.

[0654] In at least one scenario, multiple sensors are configured to detect external interference. In this scenario, the location of the interference can be determined by triangulation of the interference signal. The interference can then be identified and removed by a user and / or a surgical robot.

[0655] In at least one case, multiple sensing systems within an attached surgical instrument attachment can be configured to trigger and sense each other. This localized interference can be predictable and serves as a useful condition for sensing one or more parameters of one or more actuators within the attached surgical instrument attachment. For example, a surgical suture attachment includes an actuator configured to clamp an end effector and eject a staple from the end effector. In this case, one sensing system, including a magnet and a Hall effect sensor, is positioned within the closed stroke, and a second sensing system, also including a magnet and a Hall effect sensor, is positioned within the firing stroke. In such a system, the Hall effect sensor within the closed stroke can be affected by the magnet of the sensing system. This overlap can be predictable and can provide more accurate detection of actuator parameters during both the closed and firing strokes.

[0656] In at least one case, if the parameters sensed by the sensing system are important for the proper operation of the attached surgical instrument accessory, the sensor of the local sensing system of the attached surgical instrument accessory, which is affected by external interference, can be temporarily switched to another sensing system. For example, if the Hall effect sensor of the sensing system is affected by external interference, the control circuitry can switch to a different monitoring sensing system already equipped within the surgical instrument accessory. In at least one of these cases, the control system can be shifted from a position sensor in the monitoring shaft to a motor position sensor.

[0657] In at least one case, external interference to the local sensing system may not be adjustable or compensated for. In this case, action may be taken by the control circuitry. In at least one case, an alarm may be sent to the robotic surgical system and / or the user. In at least one case, the surgical instrument attachment may be locked such that the surgical instrument attachment is not locked by the control circuitry until the local sensing system returns to an operable state. In at least one case, for example, the control circuitry may put the surgical instrument attachment into a limp mode that activates a low-power actuation state. When the control system determines that it is being disturbed, in various cases, the control system may slow down the speed of the drive system, reduce the acceleration of the drive system, and / or reduce, for example, the maximum current that may be drawn by the electric motor. In some cases, when a discrepancy is detected, the control system may modify the time between operating steps or pause between operating steps. In at least one case, for example, the control system may add a pause between the clamping end actuator and the firing stroke of the actuating pin.

[0658] Figure 54A surgical instrument system 6000 is depicted, comprising a robotic surgical interface 6010 and a plurality of surgical instrument attachments 6020 configured to attach to the robotic surgical interface. The surgical instrument system 6000 includes a wireless communication network. The surgical instrument attachments 6020 are configured to communicate with each other before any of the surgical instrument attachments 6020 is attached to the robotic surgical interface 6010. The surgical instrument attachments 6020 may, for example, communicate the status of each attachment 6020 to each other, indicating which surgical instrument attachments 6020 are ready to be attached to the robotic surgical interface 6010. This information may be provided by the attachment itself and its current status, and / or may be provided by the hub based on which attachment has already indicated which attachment is to be attached to the robotic surgical interface 6010. In at least one case, color-coded lights may be used on the surgical instrument attachments to indicate various things. For example, the attachments 6020 may communicate their status to each other such that the attachments 6020 can identify and indicate which attachment 6020 is to be attached to the robotic surgical interface 6010 for a given surgical procedure.

[0659] In various situations, attachments 6020 can communicate with each other to convey their proximity. In such situations, the first attachment 6020 can convey its proximity to the second attachment 6020, such that if the first attachment 6020 detects interference with one or more of its sensors, the second attachment 6020 can identify the source of the interference. In at least one of these situations, the second attachment 6020 can communicate with the first attachment 6020 and request the first attachment 6020 to power off and / or otherwise modify its system to reduce or eliminate the magnetic field generated by the first attachment 6020. Furthermore, the second attachment 6020 can communicate with the robotic surgical system and / or the user to move the first attachment 6020.

[0660] In various situations, surgical instrument assemblies are manipulated by a user and / or a surgical robot, such that the surgical instrument assembly is positioned in multiple orientations that can affect its operation. For example, access to certain areas of a target site within a patient's body may be difficult to achieve, which could cause the surgeon to rotate the entire surgical instrument assembly into an inverted configuration. In such cases, certain operating systems of the surgical instrument assembly may be affected by this orientation reversal. With this in mind, various surgical instrument assemblies are configured to take such effects into account. In at least one case, the surgical instrument assembly may include an orientation detection system configured to detect the orientation of the surgical instrument assembly and control circuitry configured to adjust the operating control program of the surgical instrument assembly based on the detected orientation.

[0661] Figure 55 and Figure 56A handheld surgical instrument assembly 5000 and a user 5010 holding the handheld surgical instrument assembly 5000 in two different orientations are depicted. The surgical instrument assembly 5000 includes a handle housing 5020 and a shaft assembly 5040 extending distally from the handle housing 5020. The handle housing includes a gripping portion 5030 configured to be held by the user 5010 during use. The shaft assembly 5040 includes an end effector configured to treat a patient's tissue. Any suitable end effector (e.g., a surgical suture end effector and / or an energy-based surgical end effector) can be used. The handle housing 5020 also includes a trigger 5031 configured to actuate the function of the end effector of the shaft assembly 5040.

[0662] The surgical instrument assembly 5000 also includes an orientation detection system configured to detect the orientation of the surgical instrument assembly 5000. For example, such an orientation detection system may include a gyroscope sensor. In at least one example, such an orientation detection system utilizes camera and / or radar technology to determine the orientation of the surgical instrument assembly. Figure 57 The surgical instrument assembly 5000 is depicted in an upright orientation, and the user 5010 holds the handle housing 5020 in a standard configuration, wherein the user's index finger is configured to pull a trigger 5031. An orientation detection system is configured to detect that the surgical instrument assembly 5000 is in an upright orientation and transmit this information to the control circuitry. Various embodiments for detecting the orientation of the handle 5020 relative to gravity are contemplated. In such cases, when the handle 5030 extends vertically downward or substantially vertically downward, the control system can determine that the handle 5020 is in a normal orientation, while when the handle 5030 extends vertically upward or substantially vertically upward, the handle 5020 is in an inverted orientation. That is, the axis of the surgical instrument assembly 5000 can rotate relative to the handle 5020 in various cases, and the orientation detection system can be configured to determine the relative rotation between the axis and the handle 5020. In such cases, when the control system determines that the handle 5020 has rotated inverted or substantially inverted relative to the axis, the control system can be configured to modify the control program in some way.

[0663] The control circuitry is configured to adjust the operating control program of the surgical instrument assembly 5000 based on the detected upright orientation. In at least one case, the trigger 5031 includes an adjustable component configured to change the force required to compress the trigger 5031 to activate the end effector. In at least one case, a standard force 5050 is required to compress the trigger 5031 to activate the end effector when the surgical instrument assembly 5000 is detected to be in an upright orientation. Now turning to... Figure 57The surgical instrument assembly 5000 is in a reverse orientation. In this reverse orientation, the user 5010 may hold the gripping portion 5030 in an inconvenient configuration, which may make it more difficult to apply sufficient force 5060 to squeeze the trigger 5031 to activate the end effector. In this case, the control circuit is configured to reduce the force required to squeeze the trigger 5031 to activate the end effector. The control circuit is configured to adjust the operation control program of the surgical instrument assembly 5000 based on the ergonomics of the surgical instrument assembly 5000 during operation and / or based on the varying finger and / or wrist strength during use of the surgical instrument assembly 5000. In at least one case, the reverse orientation may reduce the operational capability of the drive system due to, for example, the weight of the drive system. In this case, the motor control program can be adjusted to restore the reduced operational capability of the drive system to full operational capability based on the reverse orientation. In various cases, for example, when the control system determines that the handle is in a reverse orientation, the control system may reduce the speed of the actuated drive member, reduce the acceleration, reduce the maximum force, and / or reduce the maximum current that can be drawn by the electric motor driving the drive member. In certain situations, when a specific orientation is detected, the control system may modify the time between operating steps or pause between operating steps. In at least one case, for example, the control system may add a pause between the clamping end actuator and the firing stroke of the actuating pin.

[0664] In at least one case, the control circuitry is configured to control the force threshold required to activate and deactivate the trigger of the surgical instrument assembly. For example, this could allow a user to activate and / or deactivate the trigger with a non-dominant finger and / or when the user's hand is in a non-dominant configuration.

[0665] In various situations, in addition to the above, the orientation of the surgical suture end effector can be detected, and the control circuit can adjust the operation control program of the surgical suture end effector based on the detected orientation. Figure 56 and Figure 56 An end effector assembly 5100 is depicted, including a shaft 5110 and an end effector 5120 extending distally from the shaft 5110. The end effector 5120 includes a jaw 5130 and an anvil jaw 5140 movable relative to the jaw 5130. While the anvil jaw 5140 is movable in this embodiment, embodiments in which the jaw 5130 is movable, in addition to or in place of the anvil jaw 5140, are also contemplated. The end effector assembly 5100 also includes an orientation detection system comprising, for example, a gyroscope configured to detect the orientation of the end effector assembly 5100 relative to gravity.

[0666] In at least one case, the position of the anvil jaws 5140 is detectable and can be used to determine the orientation of the end effector assembly 5100. For example, backlash can be intentionally incorporated into the anvil closure drive to ensure that the anvil jaws 5140 descend to the upright, unclamped position. Figure 57 ), and descend to a reverse unclamped position different from the upright unclamped position ( Figures 58-61 In this case, the distance between the anvil jaws 5140 and the bin jaws 5130 will be different in the two orientations; however, both the anvil jaws 5140 and the bin jaws 5130 will be in a fully unclamped configuration. The position of the anvil jaws 5140 can then be detected to determine the orientation of the end effector assembly 5100.

[0667] In at least one case, a motor is used to rotate the end effector assembly 5100 about the end effector axis, thereby causing the end effector assembly 5100 to reverse. In this case, an encoder can be used on the motor to determine the orientation of the end effector assembly 5100.

[0668] In at least one case, compared to the force required to open the anvil jaws 5140 when the end effector assembly 5100 is in the reverse orientation ( Figure 59 When the end effector assembly 5100 is in an upright orientation ( Figure 60 When the end effector assembly 5100 is in an upright orientation, greater force may be required to open the anvil jaws 5140. This may be because when the end effector assembly 5100 is in a reverse orientation, gravity tends to pull the anvil jaws 5140 away from the jaws 5130. When the end effector assembly 5100 is in an upright orientation, gravity will tend to close the anvil jaws 5140 relative to the jaws 5130. In either case, the control circuitry is configured to detect the orientation of the end effector assembly 5100 and adjust the operating control program based on the force required to open and / or close the anvil jaws 5140 and / or other parameters disclosed herein.

[0669] In at least one case, the control circuitry is configured to automatically adjust the position of the anvil jaws 5140 as the end effector assembly 5100 moves between various orientations to compensate for any gravity-based positional deviations of the anvil jaws 5140. For example, if the anvil jaws 5140 comprise different positions relative to the jaws 5130 when the end effector assembly 5100 is in different orientations, the control circuitry is configured to move the anvil jaws 5140 to a predefined unclamped position that matches the unclamped position, regardless of the end effector orientation. In this case, the control circuitry is configured to eliminate the difference in the unclamped configuration of the anvil jaws 5140 due to the orientation of the end effector assembly 5100. In at least one case, when the end effector assembly 5100 is in an upright orientation, the control circuitry is configured to increase the force applied to the anvil jaws 5140, at least because the anvil jaws 5140 may require more force to open due to gravity resisting the opening of the anvil jaws 5140. In at least one case, when the end effector assembly 5100 is in the reverse orientation, the control circuit is configured to reduce the force applied to the anvil jaws 5140, at least because the anvil jaws 5140 may require less force to open due to gravity-assisted opening of the anvil jaws 5140.

[0670] Figure 60 A surgical instrument assembly 5200 is depicted, including an attachment interface 5210, a shaft assembly 5240 attachable to and detachable from the attachment interface 5210 via a shaft attachment adapter 5220, and a sensing system 5230 configured to detect the orientation of the shaft assembly 5240 relative to the attachment interface 5210. The attachment interface 5210 may include any suitable attachment interface, such as a surgical robot and / or a handheld surgical housing. The attachment interface 5210 includes electrical contacts 5211 configured to electrically couple contacts 5221 of the shaft attachment adapter 5220 to the attachment interface 5210.

[0671] Shaft assembly 5240 includes a shaft 5250 and an electrical attachment mechanism 5260 positioned on a proximal end of shaft assembly 5240. Electrical attachment mechanism 5260 includes an electrical contact 5261 and an electrical lead 5263 extending distally from the electrical contact 5261. Shaft assembly 5240 includes at least one electrical system downstream of electrical attachment mechanism 5260, with electrical contact 5261 coupled to electrical attachment mechanism 5260. Shaft assembly 5240 is configured to be physically and electrically coupled to shaft attachment adapter 5220 via electrical attachment mechanism 5260, and sensing system 5230 includes a slip ring assembly that positions shaft assembly 5240 in communication with attachment adapter 5220.

[0672] Sensing system 5230 is configured to determine the orientation of shaft assembly 5240 relative to attachment interface 5210. Sensing system 5230 includes an outer slip ring 5231, an intermediate slip ring 5233, and an inner slip ring 5235. Contact 5261 is configured to be electrically coupled to attachment interface 5210 via slip rings 5231, 5233, and 5235. Each slip ring 5231, 5233, and 5235 includes a discontinuity therein. Outer slip ring 5231 includes an outer discontinuity 5232, intermediate slip ring 5233 includes an intermediate discontinuity 5234, and inner slip ring 5235 includes an inner discontinuity 5236. Discontinuities 5232, 5234, and 5236 are used to determine the orientation of end shaft assembly 5240 as shaft assembly 5240 rotates relative to shaft attachment adapter 5220. When the shaft assembly 5240 rotates, the contact 5261 passes through the discontinuities 5232, 5234, and 5236.

[0673] In at least one case, discontinuities 5232, 5234, and 5236 include detectable high-resistance regions within the circuit. High resistance can be detected when contact 5261 passes through discontinuities 5232, 5234, and 5236. When shaft assembly 5240 rotates relative to shaft attachment adapter 5230, control circuitry is configured to track the number and sequence of times contact 5261 passes through the high-resistance regions. Control circuitry is configured to determine the orientation of shaft assembly 5140 relative to shaft attachment adapter 5220 based on the number of times contact 5261 passes through discontinuities 5232, 5234, and 5236.

[0674] Figure 59 The shaft assembly 5240 is depicted in an upright orientation. When the shaft assembly 5240 rotates counterclockwise... Figures 62-64 In the indicated orientation, the control circuit can determine the passage of contact 5261 through external discontinuity 5232 based on, for example, high resistance detection within a circuit including external slip ring 5231. Because it passes through external discontinuity 5232 first, opposite to the other discontinuities 5234 and 5236, the control circuit can determine the direction of rotation of shaft assembly 5240. As in Figure 62 As can be seen, shaft assembly 5240 has rotated counterclockwise to the position where it is aligned with the axis. Figure 65 The orientation shown is the reverse orientation. Rotating to this position will result in passing through the intermediate discontinuity 5234. Therefore, the control circuit can determine that the shaft assembly 5240 is reversed based on the fact that the external discontinuity 5232 is detected first and then the intermediate discontinuity 5234 is detected.

[0675] In at least one embodiment, the slip ring of the surgical instrument assembly includes a high conductivity region and a low conductivity region. In this embodiment, the control circuitry is configured to determine when the shaft assembly rotates into and settles into the low conductivity region. This can be disadvantageous when attempting to maintain electrical communication between the attachment interface and any electrical system within the shaft assembly. In this embodiment, the control circuitry is configured to adjust an operating control program that controls the rotation of the shaft assembly relative to the attachment interface to which the shaft assembly is attached. In at least one embodiment, the operating control program is adjusted such that the shaft assembly rotates out of the low conductivity region and immediately enters the nearest high conductivity region. In at least one embodiment, the user is alerted to the low conductivity relationship between the shaft assembly and the attachment interface. In this embodiment, the user can manually adjust the shaft assembly and / or ignore the alert regarding the detected low conductivity relationship.

[0676] In at least one case, the control circuitry is configured to record conductivity issues of different components and the areas where conductivity issues exist. In at least one case, the component can be locked after a certain threshold has been detected where a low conductivity area has been identified. In this case, if the component has been reattached within the surgical instrument system, the control circuitry can alert the user and / or lock the component from use.

[0677] In at least one case, this orientation detection system can be used with an energy-based surgical device. In this case, the control circuitry is configured to limit the generator power delivered through the component when a low conductivity relationship exists. In at least one case, the circuitry is used in a sensing system. In such cases, the control circuitry is configured to ignore signals emitted when a low conductivity relationship exists.

[0678] In various cases, control circuitry is provided to adjust the operation control program of surgical instrument components and / or robots, for example, based on detected patient orientation. Figure 66 A surgical instrument system 5300 is depicted, comprising a patient 5310 and an operating table 5320, on which the patient 5310 is positioned for surgery. The surgical instrument system 5300 also includes an orientation detection system, such as a gyroscope sensor, configured to detect the patient's orientation. Control circuitry is provided to adjust operational control parameters of the surgical instrument components and system used during surgery based on the detected patient orientation. In at least one case, adjustments are made such that position constraints are placed on the position where the robotic arm can move relative to the patient based on the detected orientation. For example, if the patient is in… Example Set 1 The orientation described herein allows the control circuitry to restrict the movement of the robotic arm so that it does not move below the patient, where the robotic arm may not be useful and / or may harm the patient.

[0679] Surgical hubs are used within surgical environments in various scenarios. A surgical hub is configured to communicate with one or more modules within the surgical environment. For example, modules may include shaft assemblies, end effectors, surgical instrument handles, surgical robots, operating tables, and / or robot control interfaces. Surgical hubs may connect to cloud-based systems. Surgical hubs are configured to communicate with modules to determine various characteristics of the modules. Surgical hubs are also configured to control the operational capabilities of each module.

[0680] Example Set 2 Flowchart 7000 depicts surgical instrument control circuitry for an environment with modular surgical instrument components and / or surgical hubs. The control circuitry is configured to receive multiple hardware inputs 7010, including information about the modular surgical instrument components and / or surgical hubs. For example, the inputs may include capability information for each module. The control circuitry is also configured to identify various parameters 7020 of the surgical environment. These parameters 7020 include identifying possible combinations of component components, identifying patient data corresponding to the anticipated surgery, such as procedural parameters and operational parameters. In at least one case, the control circuitry is further configured to consider which surgeon is performing the surgery, which operating room is conducting the surgery, and / or which hospital the surgery is being performed in. All such inputs and parameters can influence how the modules and surgical hubs operate.

[0681] The control circuit is further configured to determine a proposed solution 7030 based on all inputs received by the control circuit. The proposed solution 7030 may include an optimal operating control program for motors within various modules and / or a sensing control program configured to optimize the sensing capabilities of the sensing system within the module. In at least one case, the control circuit is configured to provide an optional solution 7040 to the user. The optional solution 7040 includes a first solution that includes a control program utilizing the module's multi-axis articulation system. The optional solution 7040 also includes a second solution that includes a control program that restricts the module's multi-axis articulation system to a single axis. In at least one case, the user is configured to select a desired solution 7050. In at least one case, a manual locking device 7060 is provided. In at least one case, if the user selects the optional solution 7040 using single-axis articulation, the control circuit is configured to lock the module's multi-axis articulation.

[0682] In various cases, the control circuitry is configured to identify all subsystems and / or components within the surgical hub environment. In at least one case, each module configured for use within the surgical hub environment includes means for wireless communication with the surgical hub. In at least one case, the control circuitry is configured to identify each module within the surgical hub environment. In at least one case, the control circuitry is configured to define an operational control program for each module identified within the surgical hub environment.

[0683] In various scenarios, the control circuitry is configured to identify all subsystems within the surgical hub environment and automatically evaluate each identified subsystem. Evaluation may include running an initialization procedure to operate through all drive systems and / or sensing systems on each subsystem. In at least one scenario, the control circuitry is configured to wirelessly connect each subsystem to each other, enabling the subsystems to communicate with each other. In at least one scenario, the control circuitry is configured to connect each subsystem to the surgical hub.

[0684] In at least one case, the control circuit is configured to actuate each drive system of the combination of connected subsystems. This actuation can be used to determine the capability of the combination of connected subsystems. In at least one case, the control circuit is configured to adjust the operation control program based on feedback received during the initial actuation of the combination of connected subsystems. In at least one case, the control circuit is configured to compare the received feedback with information collected during previous use of each subsystem. In this case, the control circuit can determine the portion of any operational deviation caused by the combination of connected subsystems or by each subsystem itself. For example, shaft assemblies and end effector assemblies can be attached to each other to form a modular instrument assembly. The modular instrument assembly can then be attached to a handheld motorized attachment interface. The handheld motorized attachment interface can then automatically run through an initial actuation phase to determine the available functionality of the modular instrument assembly.

[0685] In various scenarios, the control circuitry is configured to identify each module within the surgical hub environment and determine all possible combinations and / or sub-combinations of the identified modules based on one or more identified modules. This can be determined through a set of permitted predetermined combinations. In at least one scenario, various options for combinations available among all identified modules can be displayed to the user. In at least one scenario, the control circuitry is configured to recommend one or more module combinations based on the permitted predetermined combinations and / or based on other inputs, such as patient data and / or the surgeon's level of expertise.

[0686] In various cases, the surgical instrument system includes a remote server configured to aggregate different combinations of parts, tolerances, component modifications, and / or performance statistics from field modules. In at least one case, control circuitry is configured to determine operational control parameters for any specific combination of modules. In at least one case, control circuitry is configured to transmit the determined operational control parameters to all other modules. In at least one case, control circuitry is configured to transmit the determined operational control parameters to other similar combinations of field modules. In at least one case, the aggregation includes an evolving algorithm, and the control circuitry can continuously iterate over possible combinations as more data and / or information is collected to further define the possible combinations.

[0687] In at least one instance, the iterative process may include providing a possible solution to a first module system and a second possible solution to a second module system with similar bias, and then using the results from the first and second module systems to further improve the control parameters of a general group of modules. If a problem is identified with a specific combination, the control circuitry may notify the user of the problem. In at least one instance, the control circuitry is configured to lock a specific combination of modules when a problem with that combination is detected. In at least one instance, the user can override the locked combination, and the control circuitry may unlock the module combination device upon understanding the identified problem. In this case, the control circuitry is configured to monitor usage data more closely than the usage data monitored during normal use, to allow for post-use diagnostics.

[0688] In at least one case, for example, calibration parameters are stored within each module on local memory. In at least one case, additional adjustment factors can be uploaded to the module itself, such that the other modules and / or surgical hub can recognize changes in the module's calibration parameters the next time the module is connected to another module and / or surgical hub. In various cases, the surgical hub is configured to utilize identification data received from each module, such as a serial number, to locate, for example, feasible control algorithms and / or operating parameters for a particular module. In at least one embodiment, adjustment factors from two or more attached components are uploaded to the module and / or surgical hub. In such embodiments, the system's performance can be cooperatively altered by two or more sets of adjustment parameters.

[0689] In at least one case, the control circuit is configured to adjust various control parameters, such as pause times between actuations of the various systems of the module, waiting times before measurement using the module's onboard sensing system, minimum and maximum threshold limits related to motor speed and / or energy delivery, such as the stroke length of the module's actuation system, the actuation speed of the module's actuation system, the module's initial actuation force, the rate of change trigger threshold, and / or the magnitude of the rate of change adjustment. In at least one case, the control parameters are adjusted based on the presence or absence of a compartment with pre-installed accessories on the compartment. In at least one case, the control parameters are adjusted based on the size of the pins stored within the installed compartment module.

[0690] Example Set 3 This is a schematic diagram of a surgical instrument system 8000 including a surgical hub 8010, a data cloud 8020, a handheld actuation module 8030, and a shaft assembly module 8040. Each module 8030, 8040 includes an RFID communication device configured to allow interoperability between the modules 8030, 8040 and the surgical hub 8010. The data cloud 8020 is configured to store software program data, situational awareness data, and / or any suitable hub data thereon. The surgical hub 8010 is configured to access the data cloud 8020 to determine whether the various modules in use require simplified functionality for any given dataset in the data cloud 8020. In at least one case, the shaft assembly module 8040 includes a smart battery and / or a smart display.

[0691] In at least one instance, the module's operational capabilities include, for example, the end-actuator joint range of motion of the end-actuator assembly, the energy output level of the energy-based surgical device, and / or the pin firing speed of the surgical suture shaft assembly. For example, the end-actuator joint range of motion can be reduced from the full range of motion of the end-actuator assembly to a range of 45 degrees to the left and 45 degrees to the right, which could be, for example, 90 degrees to the left and 90 degrees to the right. For example, the energy output level can be reduced to a power level lower than that to which the energy-based surgical device can deliver power to the patient. For example, the pin firing speed of the surgical suture shaft assembly can be reduced to half its original speed.

[0692] In various scenarios, the surgical hub is configured to identify modules within a surgical environment. In at least one scenario, the surgical hub is configured to determine the module's capabilities by interpreting signals received from the module, which may contain data corresponding to the module's capabilities. The surgical hub is configured to limit the module's capabilities based on a predefined control procedure. The predefined control procedure may be defined by the software package level purchased for the module. For example, there may be three different software levels. Levels may include, for example, basic, intermediate, and / or advanced. If basic-level software is purchased, the module's capabilities can be reduced to a basic configuration. For example, this configuration may include slowing the firing rate and / or reducing the range of motion of the joints. If intermediate-level software is purchased, the module's capabilities can be increased from the basic configuration to the intermediate configuration, where the module cannot operate at its full capability configuration but operates at an intermediate configuration. This configuration may include providing the full range of motion of the joints but maintaining a reduced firing rate. If advanced-level software is purchased, the module's capabilities can be at the maximum capability configuration, where every feature is unlocked and usable and / or the module is able to operate at its full capability configuration.

[0693] This software-level upgrade can be implemented in a training environment where it may be safer to restrict certain surgeons to a more basic software level. The surgical hub can track surgeons while they are using the basic level of the software and determine when they are ready to move to the next level. The surgical hub can alert surgeons to available software level upgrades and / or automatically upgrade modules for that particular surgeon. Different surgeons can be differentiated using login information within the surgical hub, such that when a more senior surgeon logs in, that senior surgeon may be able to use modules at a higher software level, while when another junior surgeon logs in, that junior surgeon may be restricted to using the same modules at a more basic software level.

[0694] In at least one instance, the surgical hub is configured to enable the module’s features and / or all capabilities on demand. For example, a supercontrol feature may be provided, allowing the surgeon to supercontrol the system that limits the surgeon to certain capabilities.

[0695] In at least one scenario, the surgical hub is configured to determine an appropriate level of axis capability based on patient data accessible from a cloud-based system. For example, a patient may not require a high energy level based on the tissue type of the intended surgery. In this case, the surgical hub is configured to limit the energy delivery level of the energy-based surgical instrument module used for the patient's surgery. In at least one scenario, the available functionality of the energy-based surgical instrument module is limited and / or restricted based on the available power within the surgical suite. For example, a prior generator may be the sole power source for the energy-based surgical instrument module, which may not be able to deliver sufficient power to maximize the potential of the energy-based surgical instrument module. In this case, the energy-based surgical instrument module is limited to a low-power configuration. In at least one scenario, the available power within the surgical suite can be limited, and the surgical instrument generator itself can be placed in a low-power operating mode based on the availability of power within the surgical suite.

[0696] In at least one instance, the capabilities of a module configured to enable and / or limit certain functions may include a sensing system. For example, if a surgeon is unfamiliar with how a more advanced and / or precise sensing system works within a particular module, that sensing system may be completely disabled for that surgeon. In at least one instance, the sensing system is placed in a training mode, which allows the surgeon to learn how the sensing system works before operating it at its full capability level. In at least one instance, the sensing system is operated in a simplified state to simplify the surgeon's understanding of the module.

[0697] In at least one instance, the surgical hub is configured to send a test or initialization signal to each module to determine the capability range and limitations of each module. This could also be referred to as a module interrogation phase. In at least one instance, the surgical hub is also configured to identify, for example, any irregularities and / or wear systems within each module during the testing procedure. In at least one instance, an initialization signal is sent to each module to be used during surgery before the start of the procedure. In at least one instance, the initialization signal is sent to each module just before its use during surgery. In at least one instance, for example, the surgical hub is configured to alert the user whether any module needs to be replaced based on detected irregularities. Irregularities can be detected via the onboard sensing system of each module. During the initialization phase, for example, an onboard motor is configured to be actuated by all systems and to test all actuation and / or sensing systems on the module. In modules without motors, such initialization can occur once the module is attached to the motor actuation system. In this case, the module can be locked and unusable during the initialization phase.

[0698] In at least one case, a motor actuator module, such as a handheld attachment interface, which can attach various shaft assemblies and / or end actuators, is used to limit the capabilities of the various shaft assemblies and / or end actuators attached to the motor actuator module. For example, the shaft assembly to be attached to the motor actuator module may not include a communication device for communicating with a hub. In this case, the control program of the motor actuator module is limited to restricting and / or limiting the available functions of the shaft assembly.

[0699] In at least one instance, module functionality can be defined based on the number of times the module has been used. Such data can be maintained locally within the module itself. In at least one instance, the surgical hub is configured to track the number of times a particular module has been used. In at least one instance, module functionality can be defined by the module's lifespan. In at least one instance, module functionality can be defined by the lifespan of the power supply. In at least one instance, module functionality can be defined by events recorded during previous use of the module. In at least one instance, recorded events may include, for example, problematic use where one or more systems within the module malfunction during use. For example, during initial use, the joint motion drive system of the surgical suture end effector module may be damaged. The surgical hub is configured to record this event. The surgeon can reattach the surgical suture end effector module upon learning that the joint motion system has been damaged. The surgical hub can restrict and / or lock the use of the joint motion drive system and allow the surgeon to use only clamping, suturing, and / or cutting functions.

[0700] In various cases, modules and surgical hubs may include, for example, interoperability levels controllable based on cost and / or requirements. In at least one case, the various modules include a communication-enabled array system configured to communicate with the surgical hub and / or other modules having a communication-enabled array system. In at least one case, the interoperability level between modules and / or the surgical hub may be reduced based on purchased software. To unlock full interoperability, advanced communication software may have to be purchased.

[0701] The first interoperability level provides basic communication between each module and the hub. For example, using the first interoperability level, each module can transmit information to the surgical hub; however, at the first interoperability level, modules may not be able to communicate with each other, and the surgical hub cannot send, for example, upgrade signals to modules. In addition to the capabilities of the first interoperability level, the second interoperability level also provides the surgical hub with the ability to send update signals to updatable modules. For example, the third interoperability level provides full interoperability between all supported modules and the surgical hub, thereby unlocking full access to software updates, module interoperability, and / or recording device usage statistics.

[0702] In at least one scenario, upgrading the system software for various modules can be advantageous because the control program is used multiple times after the initial rollout of the local module. For example, a surgical hub can be configured to update the operating algorithm of the local module based on its usage in multiple different hospitals. All usage statistics for the module in multiple different hospitals can be recorded and used to update the module's operating algorithm. Regularly updating the software of the local module can update its operating algorithm, thereby providing a safer and / or more efficient operating algorithm for the local module.

[0703] In at least one case, multiple different software programs exist within the surgical hub. For example, a first software program is configured to contain all the information corresponding to the full functionality of a module, such as an axis assembly. A second software program (e.g., an add-on) may be available, containing advanced modes such as power-limiting mode, sleep mode, or increased core processing mode, which can allow the module to, for example, perform more precise measurements, increase the number of measurements, react faster, and / or operate faster and / or more efficiently. In at least one case, the different software programs can be selected by the user. In at least one case, the cost paid for the module corresponds to the software programs available for that module. In at least one case, the software programs are easily updatable for the module. In at least one case, the surgical hub is configured to recommend software programs based on situational awareness data within the hub.

[0704] Many of the surgical instrument systems described herein are actuated by electric motors; however, they can be actuated in any suitable manner. In various instances, for example, the surgical instrument systems described herein may be actuated by manually operated triggers. In some instances, the motors disclosed herein may comprise one or more parts of a robotic control system. Any system disclosed herein can be used with handheld surgical instruments. Furthermore, any system disclosed herein can be used with robotic surgical instrument systems. For example, U.S. Patent Application Serial No. 13 / 118,241 (now U.S. Patent 9,072,535), entitled “SURGICAL STAPLING INSTRUMENTS WITHROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,” discloses several examples of robotic surgical instrument systems in more detail and is incorporated herein by reference in its entirety.

[0705] The surgical instrument system described herein has been described in conjunction with the deployment and variations of the staples; however, the embodiments described herein are not limited thereto. For example, various embodiments are contemplated for deploying fasteners other than staples, such as clamps or pins. Furthermore, various embodiments utilizing any suitable means for sealing tissue are contemplated. For example, the end effector according to various embodiments may include electrodes configured to heat and seal tissue. Additionally, for example, the end effector according to some embodiments may apply vibrational energy to seal tissue.

[0706] Various embodiments described herein are described in the context of linear end effectors and / or linear fastener bins. Such embodiments and their teachings can be applied to nonlinear end effectors and / or nonlinear fastener bins, such as, for example, circular and / or wavy end effectors. For example, various end effectors including nonlinear end effectors are disclosed in U.S. Patent Application Serial No. 13 / 036,647 entitled “SURGICAL STAPLINGINSTRUMENT”, filed February 28, 2011 (now U.S. Patent Application Publication 2011 / 0226837, now U.S. Patent 8,561,870), which is incorporated herein by reference in its entirety. Additionally, U.S. Patent Application Serial No. 12 / 893,461 entitled “STAPLE CARTRIDGE”, filed September 29, 2012 (now U.S. Patent Application Publication 2012 / 0074198), which is incorporated herein by reference in its entirety. U.S. Patent Application Serial No. 12 / 031,873 (now U.S. Patent 7,980,443), filed February 15, 2008, entitled “END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT,” is hereby incorporated in its entirety by reference. U.S. Patent 8,393,514, published March 12, 2013, entitled “SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE,” is also hereby incorporated in its entirety by reference.

[0707] The following patent disclosures are incorporated herein by reference in their entirety:

[0708] - U.S. Patent 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", published on April 4, 1995;

[0709] - U.S. Patent 7,000,818, published on February 21, 2006, entitled "SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS";

[0710] - U.S. Patent 7,422,139, published on September 9, 2008, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK";

[0711] - U.S. Patent 7,464,849, published on December 16, 2008, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS";

[0712] - U.S. Patent 7,670,334, entitled "SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR", published on March 2, 2010;

[0713] - U.S. Patent 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS", published on July 13, 2010;

[0714] - U.S. Patent 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", published on March 12, 2013;

[0715] - The U.S. patent application serial number 11 / 343,803 entitled “SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES” is now U.S. Patent 7,845,537;

[0716] - U.S. Patent Application Serial No. 12 / 031,573, filed on February 14, 2008, entitled “SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES”;

[0717] - U.S. Patent Application Serial No. 12 / 031,873 (now U.S. Patent No. 7,980,443), filed on February 15, 2008, entitled “END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT”.

[0718] - The U.S. patent application serial number 12 / 235,782 entitled “MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT” is now U.S. Patent 8,210,411;

[0719] - The U.S. patent application serial number 12 / 235972 entitled “MOTORIZED SURGICAL INSTRUMENT” is now U.S. Patent 9050083.

[0720] - U.S. Patent Application Serial No. 12 / 249,117 entitled “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM” is now U.S. Patent No. 8,608,045;

[0721] - U.S. Patent Application Serial No. 12 / 647,100, filed on December 24, 2009, entitled “MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY”, is now U.S. Patent No. 8,220,688.

[0722] - U.S. Patent Application Serial No. 12 / 893,461, entitled “STAPLE CARTRIDGE”, filed on September 29, 2012, is now U.S. Patent No. 8,733,613;

[0723] - U.S. Patent Application Serial No. 13 / 036,647, entitled “SURGICAL STAPLING INSTRUMENT”, filed on February 28, 2011, is now U.S. Patent No. 8,561,870;

[0724] - U.S. Patent Application Serial No. 13 / 118,241 entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS”, now U.S. Patent 9,072,535;

[0725] - U.S. Patent Application Serial No. 13 / 524,049, entitled “ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE”, filed on June 15, 2012, is now U.S. Patent 9,101,358;

[0726] - U.S. Patent Application Serial No. 13 / 800,025, entitled “STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”, filed on March 13, 2013, is now U.S. Patent 9,345,481;

[0727] - U.S. Patent Application Serial No. 13 / 800,067, entitled “STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”, filed on March 13, 2013, is now published as U.S. Patent Application 2014 / 0263552.

[0728] - U.S. Patent Application No. 2007 / 0175955, filed January 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM"; and

[0729] - U.S. Patent Application No. 2010 / 0264194, filed on April 22, 2010, entitled “SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR”, is now U.S. Patent No. 8,308,040.

[0730] While various apparatuses have been described herein in conjunction with certain embodiments, numerous modifications and variations of these embodiments are also possible. In one or more embodiments, specific features, structures, or characteristics can be combined in any suitable manner. Therefore, without limitation, specific features, structures, or characteristics shown or described in conjunction with one embodiment may be combined wholly or partially with features, structures, or characteristics of one or more other embodiments. Additionally, where materials for certain components are disclosed, other materials may also be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component to perform a given one or more functions. The above detailed description and the following claims are intended to cover all such modifications and variations.

[0731] The device disclosed herein may be designed for single-use disposal or for multiple-use applications. However, in either case, the device can be refurbished and reused after at least one use. Refurbishment may include any combination of the following steps, including but not limited to disassembling the device, subsequently cleaning or replacing specific components of the device, and subsequently reassembling the device. Specifically, refurbishment facilities and / or surgical teams may disassemble the device and, after cleaning and / or replacing specific components, reassemble the device for subsequent use. Those skilled in the art will understand that various techniques can be used for disassembly, cleaning / replacement, and reassembly of the device. The use of such techniques and the resulting refurbished device are within the scope of this application.

[0732] The device disclosed herein can be processed prior to surgery. First, new or used instruments are obtained and cleaned as needed. Then, the instruments can be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container (such as a plastic or TYVEK bag). The container and instruments can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays, and / or high-energy electrons. The radiation kills bacteria on the instruments and in the container. The sterilized instruments can then be stored in a sterile container. Sealing the container keeps the instruments sterile until it is opened in a medical facility. The device can also be sterilized using any other techniques known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and / or vapor.

[0733] Although several forms have been illustrated and described, the applicant does not intend to limit or restrict the scope of the appended claims to such details. Many modifications, variations, alterations, substitutions, combinations, and equivalents of these forms can be made without departing from the scope of this disclosure, and those skilled in the art will recognize such modifications, variations, alterations, substitutions, combinations, and equivalents. Furthermore, alternatively, the structure of each element associated with a described form can be described as a device for providing the function performed by said element. Additionally, where materials for certain components are disclosed, other materials may also be used. Therefore, it should be understood that the foregoing detailed descriptions and the appended claims are intended to cover all such modifications, combinations, and variations falling within the scope of the forms disclosed in this invention. The appended claims are intended to cover all such modifications, variations, alterations, substitutions, modifications, and equivalents.

[0734] The specific embodiments described above have illustrated various forms of apparatus and / or methods using block diagrams, flowcharts, and / or examples. Wherever such block diagrams, flowcharts, and / or examples contain one or more functions and / or operations, those skilled in the art will understand that each function and / or operation in such block diagrams, flowcharts, and / or examples can be implemented individually and / or collectively by various hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein can be equivalently implemented in an integrated circuit, wholly or partially, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as any combination thereof, and that designing circuit systems and / or writing software and / or hardware code according to this disclosure will be within the skill of those skilled in the art. Furthermore, those skilled in the art will recognize that the mechanisms of the subject matter described herein can be distributed as one or more program products in various forms, and that the exemplary forms of the subject matter described herein apply regardless of the specific type of signal-bearing medium used for actual distribution.

[0735] Instructions used for programming logic to execute various disclosed aspects may be stored in the system's memory, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. Furthermore, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any means for storing or transmitting information in a machine-readable (e.g., computer-readable) form, but are not limited to floppy disks, optical disks, optical disc read-only memory (CD-ROM), and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage devices used for transmitting information over the Internet via electrical signals, optical signals, acoustic signals, or other forms of propagation signals (e.g., carrier waves, infrared signals, digital signals, etc.). Therefore, non-transitory computer-readable media include any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0736] As used in any aspect of this document, the term "control circuitry" may refer to, for example, hardwired circuitry systems, programmable circuitry systems (e.g., computer processors including one or more individual instruction processing cores, processing units, processors, microcontrollers, microcontroller units, controllers, digital signal processors (DSPs), programmable logic devices (PLDs), programmable logic arrays (PLAs), field-programmable gate arrays (FPGAs)), state machine circuitry systems, firmware storing instructions executed by the programmable circuitry system, and any combination thereof. Control circuitry can be implemented collectively or individually as part of a larger system, such as integrated circuits (ICs), application-specific integrated circuits (ASICs), system-on-a-chip (SoCs), desktop computers, laptop computers, tablet computers, servers, smartphones, etc. Therefore, as used herein, "control circuit" includes, but is not limited to, electronic circuits having at least one discrete circuit, electronic circuits having at least one integrated circuit, electronic circuits having at least one application-specific integrated circuit, electronic circuits forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that at least partially implements the methods and / or devices described herein, or a microprocessor configured by a computer program that at least partially implements the methods and / or devices described herein), electronic circuits forming a memory device (e.g., forming a random access memory), and / or electronic circuits forming a communication device (e.g., a modem, a communication switch, or an optoelectronic device). Those skilled in the art will recognize that the subject matter described herein can be implemented in analog or digital modes, or some combination thereof.

[0737] As used in any aspect of this document, the term "logic" can refer to an application, software, firmware, and / or circuit system configured to perform any of the foregoing operations. Software can be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware can be embodied as hard-coded (e.g., non-volatile) code, instructions, or instruction sets and / or data in a memory device.

[0738] As used in any part of this document, the terms “component,” “system,” “module,” etc., can refer to computer-related entities, hardware, combinations of hardware and software, software, or software in execution.

[0739] As used in any aspect of this document, "algorithm" refers to a systematic sequence of steps that leads to a desired result, where "step" refers to the manipulation of physical quantities and / or logical states, which may (but not necessarily) take the form of electrical or magnetic signals that can be stored, transferred, combined, compared, and otherwise manipulated. These signals are commonly referred to as bits, values, elements, symbols, characters, terms, numbers, etc. These and similar terms may be associated with appropriate physical quantities and are merely convenient labels applied to these quantities and / or states.

[0740] The network may include a packet-switched network. Communication devices may be able to communicate with each other using a selected packet-switched network communication protocol. An exemplary communication protocol may include an Ethernet communication protocol that may allow communication using Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol may conform to or be compatible with the Ethernet standard entitled "IEEE 802.3 Standard" published by the Institute of Electrical and Electronics Engineers (IEEE) in December 2008 and / or a higher version of this standard. Alternatively or additionally, communication devices may be able to communicate with each other using the X.25 communication protocol. The X.25 communication protocol may conform to or be compatible with standards published by the International Telecommunication Union Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, communication devices may be able to communicate with each other using the Frame Relay communication protocol. The Frame Relay communication protocol may conform to or be compatible with standards published by the International Telegraph and Telephone Consultative Committee (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, transceivers may be able to communicate with each other using the Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may conform to or be compatible with the ATM standard entitled "ATM-MPLS Network Interworking 2.0" and / or a higher version of that standard, published by the ATM Forum in August 2001. Of course, this document also envisions different and / or subsequently developed connectivity-oriented network communication protocols.

[0741] Unless otherwise expressly stated in the foregoing disclosure, it is understood that in the foregoing disclosure, discussions using terms such as “processing,” “estimating,” “calculating,” “determining,” and “displaying” refer to the actions and processes of a computer system or similar electronic computing device that manipulate data represented as physical (electronic) quantities in the registers and memories of the computer system and convert them into other data similarly represented as physical quantities in the memory or registers of the computer system or other such information storage, transmission, or display devices.

[0742] One or more components may be referred to herein as “configured to be,” “configurable to be,” “operable / operationally,” “suitable / adaptable,” “capable,” “adaptable / fittable,” etc. Those skilled in the art will recognize that, unless the context otherwise requires, “configured to be” generally encompasses components in an active state and / or in an inactive state and / or in a standby state.

[0743] Furthermore, even when a specific number of claims is explicitly stated, those skilled in the art should recognize that such a statement should generally be interpreted as referring to at least the number stated (e.g., in the absence of other modifiers, a bare statement of "two statements" generally means at least two statements, or two or more statements). Moreover, in cases where conventions such as "at least one of A, B, and C" are used, such constructions are generally intended to have a meaning that those skilled in the art will understand (e.g., "a system having at least one of A, B, and C" will include, but is not limited to, systems having only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). In cases where conventions such as "at least one of A, B, or C" are used, such constructions are generally intended to have a meaning that those skilled in the art will understand (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). Those skilled in the art should also understand that, generally, unless the context otherwise indicates, any transitional words and / or phrases presenting two or more alternative terms in the detailed description, claims, or drawings should be understood to cover the possibility of including one of the terms, any one of the terms, or both of the terms. For example, the phrase "A or B" will generally be understood to include the possibility of "A" or "B" or "A and B".

[0744] With respect to the appended claims, those skilled in the art will understand that the operations described herein can generally be performed in any order. Furthermore, although various operation flowcharts are shown in one or more sequences, it should be understood that the various operations may be performed in other orders than those shown, or may be performed simultaneously. Unless the context otherwise requires, examples of such alternative orderings may include overlapping, interleaving, interruption, reordering, incremental, preparatory, supplementary, simultaneous, reverse, or other altered orderings. Moreover, unless the context otherwise requires, terms such as “in response to,” “related,” or other past tense adjectives are generally not intended to exclude such variations.

[0745] It is worth noting that any reference to "one aspect," "one aspect," "one example," or "one example" means that the specific feature, structure, or characteristic described in connection with said aspect is included in at least one aspect. Therefore, the phrases "in one aspect," "in one aspect," "in one example," and "in one example" appearing in various places throughout the specification do not necessarily refer to the same aspect. Furthermore, specific features, structures, or characteristics may be combined in one or more aspects in any suitable manner.

[0746] As described above, the surgical instruments disclosed herein may include a control system. Each of the control systems may include a circuit board having one or more processors and / or storage devices. Furthermore, 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 suture instrument. More specifically, when a staple cartridge is attached to a suture instrument, the type of staple cartridge can be identified by sensors, and the sensor data can be stored in the control system. The control system can obtain this information to assess whether the staple cartridge is suitable for use.

[0747] 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 some instances, the motors disclosed herein may include one or more parts of a robot control system. For example, U.S. Patent Application Serial No. 13 / 118,241 (now U.S. Patent 9,072,535), entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS,” discloses several examples of robotic surgical instrument systems in more detail, the entire disclosure of which is incorporated herein by reference. International patent publication WO2017 / 083125, entitled "STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE", published on May 18, 2017; International patent publication WO 2017 / 083126, entitled "STAPLE PUSHER WITH LOSTMOTION BETWEEN RAMPS", published on May 18, 2017; International patent publication 2015 / 153642, entitled "SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION", published on October 8, 2015; U.S. patent application 2017 / 0265954, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPINGELEMENT AND DUAL DISTAL PULLEYS", filed on March 17, 2017; and U.S. patent application WO2017 / 083126, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE", filed on February 15, 2017. The full text of the publications of U.S. Patent Application Publication 2017 / 0265865, entitled “CLAMPING ELEMENT ANDDISTAL PULLEY”, and U.S. Patent Application Publication 2017 / 0290586, entitled “STAPLING CARTRIDGE”, filed on March 29, 2017, are incorporated herein by reference.

[0748] Example Set 4

[0749] Example 1 - A surgical instrument system includes a surgical instrument assembly comprising a shaft, an end effector attached to the shaft, and at least one drive component positioned co-located with the shaft. The surgical instrument system further includes surgical control circuitry comprising a motor control program configured to operate a motor capable of driving the at least one drive component positioned within the shaft. The surgical control circuitry is configured to receive a first measurement of a parameter of the motor and a second measurement of a parameter of the at least one drive component, wherein the second measurement is locally sensed within the shaft. The surgical control circuitry is further configured to compare the first measurement and the second measurement, determine an actual relationship between the first and second measurements based on the comparison, compare the actual relationship with an expected relationship, and adjust the motor control program based on the comparison to align the actual relationship with the expected relationship.

[0750] Example 2 - A surgical instrument system according to Example 1, wherein the parameter of the motor includes the parameter attached to the output shaft of the motor.

[0751] Example 3 - A surgical instrument system according to Example 1 or 2, wherein the expected relationship is learned by the surgical control circuit through the surgical instrument assembly.

[0752] Example 4 - A surgical instrument system according to Example 1, 2 or 3, wherein the second measurement is provided by a linear motion detection sensor.

[0753] Example 5 - A surgical instrument system according to Example 1, 2, 3 or 4, wherein the first measurement is provided by a rotational motion detection sensor.

[0754] Example 6 - A surgical instrument system according to Examples 1, 2, 3, 4 or 5, wherein the parameter of the motor includes dynamic braking of the motor during the middle phase of the firing stroke.

[0755] Example 7 - A surgical instrument system according to Examples 1, 2, 3, 4, 5 or 6, wherein the parameter of the motor includes dynamic acceleration of the motor during the initial phase of the firing stroke.

[0756] Example 8 - A surgical instrument system according to Examples 1, 2, 3, 4, 5, 6 or 7, wherein the adjustment of the motor control program includes recalibrating the motor control program based on the actual relationship.

[0757] Example 9 - A surgical instrument system includes a surgical instrument assembly comprising a shaft; an end effector attached to the shaft, wherein the end effector includes a first jaw movable relative to a second jaw; and a closing member configured to move the first jaw relative to the second jaw. The surgical instrument system further includes surgical control circuitry including a motor control program configured to operate a motor capable of actuating the closing member. The surgical control circuitry is configured to use a motor encoder to determine when the motor rotates by a first amount corresponding to a first expected displacement of the closing member, use a sensor positioned within the shaft to determine the actual displacement of the closing member, compare the actual displacement of the closing member with the first expected displacement of the closing member, determine an additional target displacement corresponding to a second expected displacement of the closing member, and recalibrate the motor control program to rotate the motor sufficiently to drive the second expected displacement of the closing member.

[0758] Example 10 - A surgical instrument assembly includes a shaft; an end effector attached to the shaft; a firing member configured to move through the end effector during a firing stroke; and a stretchable optical waveguide attached to the shaft and the firing member, wherein the stretchable optical waveguide is configured to stretch as the firing member moves through the firing stroke. The surgical instrument assembly also includes a light sensor configured to sense changes in the presence of light within the stretchable optical waveguide during the firing stroke; and control circuitry configured to monitor signals received from the light sensor to determine at least one parameter of the firing member during the firing stroke.

[0759] Example 11 - The surgical instrument assembly according to Example 10 further includes an articulation joint that attaches the end effector to the shaft, wherein the stretchable optical waveguide is attached to the shaft proximal to the articulation joint.

[0760] Example 12 - A surgical instrument assembly according to Example 10 or 11, wherein the stretchable optical waveguide includes one or more vertical cavity surface-emitting lasers and one or more photodiodes.

[0761] Example 13 - A surgical instrument assembly according to Example 12, wherein the photodiode is configured to measure the loss of light in the stretchable optical waveguide when the waveguide is stretched during the firing stroke.

[0762] Example 14 - A surgical instrument assembly includes a shaft; an end effector attached to the shaft; and a firing member configured to move through the end effector during a firing stroke, wherein the firing member includes a plurality of windows defined therein. The surgical instrument assembly also includes a light source and a light sensor configured to detect the light source, wherein the plurality of windows are configured to pass between the light source and the light sensor as the firing member moves through the firing stroke. The surgical instrument assembly also includes control circuitry configured to monitor a signal received from the light sensor to determine at least one parameter of the firing member during the firing stroke.

[0763] Example 15 - A surgical instrument assembly according to Example 14, wherein the plurality of windows includes a pattern corresponding to a linear distance traveled by the firing member.

[0764] Example 16 - A surgical instrument assembly includes a shaft; an end effector attached to the shaft; a firing member configured to move through the end effector during a firing stroke; and sensing circuitry including a stretchable resistance cable attached to the shaft and the firing member, wherein the stretchable resistance cable is configured to stretch as the firing member moves through the firing stroke. The surgical instrument assembly also includes control circuitry configured to monitor the resistance of the sensing circuitry to determine at least one parameter of the firing member during the firing stroke.

[0765] Example 17 - A surgical instrument system includes a surgical instrument assembly comprising a shaft; an end effector attached to the shaft; and a firing member configured to move through the end effector during a firing stroke, wherein the firing member includes a magnet. The surgical instrument system also includes a first Hall effect sensor positioned at the beginning of the firing stroke and a second Hall effect sensor positioned at the end of the firing stroke. The surgical instrument system further includes surgical control circuitry comprising a motor and control circuitry comprising a motor control program. The control circuitry is configured to monitor the rotation of the motor, compare the rotation of the motor with signals received from the first and second Hall effect sensors, determine whether the firing member has moved a predetermined distance based on the comparison of the motor rotation with the signals received from the first and second Hall effect sensors, and recalibrate the motor control program if the firing member has not moved the predetermined distance. The surgical instrument system also includes sensing circuitry comprising a stretchable resistance cable attached to the shaft and the firing member, wherein the stretchable resistance cable is configured to stretch as the firing member moves through the firing stroke. The surgical instrument system also includes control circuitry configured to monitor the resistance of the sensing circuitry to determine at least one parameter of the firing member during the firing stroke.

[0766] Example 18 - A surgical instrument includes a shaft; an end effector attached to the shaft; and a firing system including an electric motor and a firing member configured to move through the end effector during a firing stroke. The surgical instrument also includes a stretchable optical waveguide attached to the shaft and the firing member, wherein the stretchable optical waveguide is configured to stretch as the firing member moves through the firing stroke. The surgical instrument further includes a light sensor configured to sense changes in the presence of light within the stretchable optical waveguide during the firing stroke; an encoder configured to evaluate the rotation of the electric motor; and control circuitry. The control circuitry is configured to monitor signals received from the light sensor and the encoder to determine a twist in the firing member that causes the movement of the firing member to deviate from the intended movement.

[0767] Example 19 - The surgical instrument according to Example 18 further includes an articulation joint that attaches the end effector to the shaft, wherein the stretchable optical waveguide is attached to the shaft proximal to the articulation joint, wherein the firing member extends through the articulation joint, and wherein the twist in the firing member is generated by the articulation of the end effector.

[0768] Example 20 - A surgical instrument includes a shaft; an end effector attached to the shaft; a firing member configured to move through the end effector during a firing stroke, wherein the firing member includes a plurality of windows defined therein. The surgical instrument also includes an electric motor configured to drive the firing member; a light source; and a light sensor configured to detect the light source, wherein the plurality of windows are configured to pass between the light source and the light sensor as the firing member moves through the firing stroke. The surgical instrument further includes an encoder configured to evaluate the rotation of the electric motor; and control circuitry configured to monitor signals received from the light sensor and the encoder to determine a twist in the firing member that causes the movement of the firing member to deviate from the intended movement.

[0769] Example 21 - The surgical instrument according to Example 20 further includes an articulation joint that attaches the end effector to the shaft, wherein the firing member extends through the articulation joint, and wherein the twisting in the firing member is generated by the articulation of the end effector.

[0770] Example 22 - A surgical instrument includes a shaft; an end effector attached to the shaft; and a firing member configured to move through the end effector during a firing stroke, wherein the firing member includes a first band and a second band. The surgical instrument also includes sensing circuitry including a first stretchable resistive cable attached to the shaft and the first band, and a second stretchable resistive cable attached to the shaft and the second band, wherein the first and second stretchable resistive cables are configured to stretch as the firing member moves through the firing stroke. The surgical instrument also includes control circuitry configured to monitor the resistance of the sensing circuitry to determine at least one parameter of the firing member during the firing stroke.

[0771] Example 23 - The surgical instrument according to Example 22 further includes an articulated joint that attaches the end effector to the shaft, wherein the firing member extends through the articulated joint, and wherein a twist in the firing member is generated by the articulation of the end effector, the twist being detectable by the control circuit.

[0772] Example Set 5

[0773] Example 1 - A surgical instrument assembly includes a shaft, an articulation joint, and an end effector attached to the shaft via the articulation joint, wherein the end effector is configured to perform articulation about the articulation joint. The surgical instrument assembly also includes flexible circuitry extending through the shaft and connected to the end effector, wherein the flexible circuitry includes an articulation segment aligned with the articulation joint. The articulation segment includes a predefined bending profile configured to predictably stretch across the articulation joint as the end effector performs articulation about the articulation joint.

[0774] Example 2 - A surgical instrument assembly according to Example 1, wherein the joint movement segment includes an elastic connecting member configured to bias the joint movement segment to the predefined bending profile.

[0775] Example 3 - A surgical instrument assembly includes a shaft, an articulated joint, an end effector attached to the shaft via the articulated joint, and flexible circuitry extending through the shaft. The flexible circuitry includes a non-flexible region and a flexible region extending across the articulated joint.

[0776] Example 4 - The surgical instrument assembly according to Example 3, wherein the flexible circuit further includes conductive flexible ink and conductive metal traces.

[0777] Example 5 - A surgical instrument assembly includes a shaft, an articulated joint, an end effector attached to the shaft via the articulated joint, and flexible circuitry extending through the shaft. The flexible circuitry includes a flexible segment configured to be stretched in a predetermined direction. The flexible segment includes a relaxed state, a stretched state, and a plurality of resilient connecting members attached to the flexible circuitry within the flexible segment. The plurality of resilient connecting members are configured to bias the flexible segment into the relaxed state and allow stretching of the flexible segment in the predetermined direction.

[0778] Example 6 - A surgical instrument assembly according to Example 5, wherein the resilient connecting member is oriented along the predetermined direction.

[0779] Example 7 - A surgical instrument assembly includes a shaft, an end effector attached to the shaft, and a flexible circuit extending through the shaft. The flexible circuit includes a flexible circuit profile plane and a pre-bent section in which the flexible circuit is bent such that the flexible circuit profile plane is aligned in a single plane throughout the pre-bent section.

[0780] Example 8 - The surgical instrument assembly according to Example 7 further includes an articular joint, wherein the pre-bent section extends across the articular joint, and wherein the pre-bent section is offset from the center relative to the central axis defined by the shaft.

[0781] Example 9 - A surgical instrument assembly includes a shaft, an end effector attached to the shaft, and a flexible circuit extending through the shaft. The flexible circuit includes a flexible circuit profile plane and a pre-bent section in which the flexible circuit is bent such that the flexible circuit profile plane is not aligned in a single plane throughout the pre-bent section.

[0782] Example 10 - The surgical instrument assembly according to Example 9 further includes an articular joint, wherein the pre-bent section extends across the articular joint, and wherein the pre-bent section is offset from the center relative to the central axis defined by the shaft.

[0783] Example 11 - A surgical instrument assembly includes a shaft, an end effector, and a wire harness extending through the shaft. The wire harness includes at least one first region comprising a non-stretchable portion; and a second region comprising a stretchable portion interconnecting the at least one first region.

[0784] Example 12 - A surgical instrument assembly according to Example 11, wherein the first region includes a bendable portion.

[0785] Example 13 - A surgical instrument assembly according to Example 11 or 12, wherein the stretchable portion includes conductive ink.

[0786] Example 14 - A surgical instrument assembly according to Example 11, 12 or 13, wherein the stretchable region includes metal traces.

[0787] Example 15 - A surgical instrument assembly according to Examples 11, 12, 13 or 14 further includes a drive component positioned within the shaft, wherein the wiring harness is attached to the at least one drive component at at least one location of the at least one drive component in the drive component.

[0788] Example 16 - A surgical instrument assembly according to Example 15, wherein the at least one location includes an index location, and wherein the index location defines a reference for at least one sensor of the harness.

[0789] Example 17 - A surgical instrument assembly according to Example 16, wherein the at least one sensor is configured to monitor parameters of the at least one drive component in the drive component.

[0790] Example 18 - A surgical instrument includes a shaft defining a longitudinal axis, an end effector, and an articulation joint, wherein the end effector is rotatably attached to the shaft about the articulation joint. The surgical instrument also includes an articulation actuator mounted to the end effector, wherein the articulation actuator is longitudinally translatable to rotate the end effector about the articulation joint. The surgical instrument also includes a wiring harness. The wiring harness includes a shaft portion extending within the shaft, an end effector portion extending within the end effector, and an anchoring portion mounted to the articulation actuator. The wiring harness also includes a first flexible bend extending between the shaft portion and the anchoring portion, and a second flexible bend extending between the anchoring portion and the end effector portion.

[0791] Example 19 - A surgical instrument according to Example 18, wherein the wire harness includes a first biasing member configured to return the first flexible bend to an unbent state.

[0792] Example 20 - A surgical instrument according to Example 19, wherein the wire harness includes a second biasing member configured to return the second flexible bend to an unbent state.

[0793] Example 21 - A surgical instrument according to Example 18, 19 or 20, wherein the wire harness includes a flexible circuit made of a polyimide layer.

[0794] Example 22 - The surgical instrument according to Example 21, wherein the wire harness further includes metallic electrical traces located on the polyimide layer.

[0795] Example 23 - A surgical instrument according to Example 22, wherein the metallic trace is made of metallic ink.

[0796] Example 24 - A surgical instrument according to Examples 18, 19, 20, 21, 22 or 23, wherein the wire harness further includes a silicone region configured to allow the wire harness to be stretched.

[0797] Example 25 - A surgical instrument according to Example 24, wherein the metal trace extends over the silicone region.

[0798] Example 26 - A surgical instrument according to Example 25, wherein the metal trace follows an arcuate path across the silicone region.

[0799] Example 27 - Surgical instrument according to Examples ...

Claims

1. A surgical instrument system, comprising: Housing interface, the housing interface including: Motor; and Shaft attachment adapter; A shaft assembly, attachable to a shaft attachment adapter of the housing interface, wherein the shaft assembly is rotatable relative to the shaft attachment adapter, wherein the shaft assembly includes: axis; An end effector, the end effector being attached to the shaft; An actuating member, the actuating member being positioned within the shaft; and An electrical attachment mechanism is positioned on the proximal end of the shaft assembly, the electrical attachment mechanism including a plurality of electrical contacts and a plurality of electrical leads extending distally from the electrical contacts; An orientation detection system, the orientation detection system comprising: A slip ring assembly configured to enable electrical communication between the shaft assembly and the electrical attachment mechanism, the slip ring assembly including a plurality of slip rings, each slip ring including an electrical discontinuity, the plurality of slip rings being configured to be electrically connected to the electrical contacts; The orientation detection system is configured to determine the orientation of the shaft assembly relative to the housing interface using the electrical discontinuity; and A control circuit, comprising a motor control program configured to operate the motor, wherein the control circuit is configured to adjust the motor control program based on a determined orientation of the shaft relative to the housing interface.

2. The surgical instrument system according to claim 1, wherein, The control circuit is configured to adjust the actuation rate of the actuating member.

3. The surgical instrument system according to claim 1, wherein, The control circuit is configured to adjust the stroke length of the actuating member.

Images