Surgical instrument including an indicator to indicate that an articulation drive is actuatable

Abstract

A surgical instrument includes an end effector and an articulation drive system operable to articulate the end effector about an articulation joint. The articulation drive system includes an actuator that indicates whether the articulation drive system is in an operable state.

Description

Background Technology

[0001] 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

[0002] The various features and advantages of the implementation scheme described herein can be understood in conjunction with the following figures and the following description:

[0003] Figure 1 It is a perspective view of a surgical instrument according to at least one embodiment;

[0004] Figure 1B yes Figure 1 A left-side front view of a surgical instrument;

[0005] Figure 1C yes Figure 1 A right-side front view of a surgical instrument;

[0006] Figure 1D yes Figure 1 A frontal view of a surgical instrument;

[0007] Figure 1E yes Figure 1 A rear front view of a surgical instrument;

[0008] Figure 1F yes Figure 1 A plan view of the surgical instruments;

[0009] Figure 1G yes Figure 1 Bottom view of the surgical instruments;

[0010] Figure 2 yes Figure 1 A partial perspective view of the surgical instruments;

[0011] Figure 3 yes Figure 1 A partial perspective view of the axis of a surgical instrument;

[0012] Figure 4 yes Figure 3 A perspective view of the nozzle of the shaft;

[0013] Figure 5 yes Figure 1 A front view of the orientation switch of a surgical instrument;

[0014] Figure 6 It is a partial perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle having an orientation sensor and a shaft having a magnetic element that can be detected by the orientation sensor;

[0015] Figure 7 It is a partial front view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle and an articulation actuator on the opposite side of the handle;

[0016] Figure 8 yes Figure 7 A partial plan view of the surgical instruments;

[0017] Figure 9 It is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle and a rotatable shaft, the rotatable shaft including joint motion actuators on opposite sides of the shaft;

[0018] Figure 10 yes Figure 9 End view of the axis;

[0019] Figure 11 It is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle and a rotatable shaft, the rotatable shaft including two articular motion actuators on opposite sides of the shaft;

[0020] Figure 12 yes Figure 11 End view of the axis;

[0021] Figure 13 It is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a slidable joint motion actuator including two positions and a stop located between the two positions;

[0022] Figure 14 A capacitive switch is shown, which includes a first side and a second side, a first lamp on the first side that illuminates when the first side is contacted, and a second lamp on the second side that illuminates when the second side is contacted.

[0023] Figure 15 A two-stage rocker switch for articulating an end effector of a surgical instrument, according to at least one embodiment, is shown.

[0024] Figure 16 This is a partial top view of a surgical instrument according to at least one embodiment, the surgical instrument including an end effector and lights positioned on opposite sides of the end effector, the lights being illuminated to indicate the direction of joint movement being performed by the end effector;

[0025] Figure 17 yes Figure 16 A partial frontal view of surgical instruments;

[0026] Figure 18It is a partial front view of a surgical instrument according to at least one embodiment, the surgical instrument including a direction indicator that is illuminated to indicate the direction in which the end effector is performing joint movement;

[0027] Figure 19 It is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a slidable joint motion switch having three positions—a left joint motion position, a right joint motion position, and a center position or original position;

[0028] Figure 20 It is a front view of a surgical instrument according to at least one embodiment, the surgical instrument including an articulated lever capable of being actuated along a longitudinal axis;

[0029] Figure 21 This is a front view of a surgical instrument according to at least one embodiment, the surgical instrument including an end effector and an articulation lever capable of being actuated to cause the end effector to articulate about more than one axis;

[0030] Figure 22A It is a frontal view of a surgical instrument comprising multiple joint motion controls according to at least one embodiment;

[0031] Figure 22B yes Figure 22A A partial side front view of a surgical instrument;

[0032] Figure 23 It is a front view of a surgical instrument including a 4-way tactile joint motion control element according to at least one embodiment;

[0033] Figure 24 It is a partial front view of a surgical instrument including a 4-way tactile joint motion control element according to at least one embodiment, the 4-way tactile joint motion control element including a central actuator or a return actuator.

[0034] Figure 25 It is a front view of a surgical instrument including a four-directional capacitive surface according to at least one embodiment;

[0035] Figure 26A A surgical instrument according to at least one embodiment is shown, the surgical instrument including an end effector and lights positioned on opposite sides of the end effector, the lights being illuminated to indicate the direction of joint movement being performed by the end effector;

[0036] Figure 26B yes Figure 26A A perspective view of surgical instruments;

[0037] Figure 27A surgical instrument according to at least one embodiment is shown, the surgical instrument including an articulation joint, an end effector capable of joint movement about the articulation joint, and a translational articulation actuator configured to rotate the end effector about the articulation joint.

[0038] Figure 28 It is a partial perspective view of an articulated end effector, an articulated actuator configured to rotate the end effector about an articulated joint, and a dividing line on the articulated actuator indicating the direction in which the end effector is performing articulation and / or is performing articulation.

[0039] Figure 29 It is a perspective view of a surgical instrument according to at least one embodiment, the surgical instrument including a handle, a rotatable shaft extending from the handle, and a rotatable actuator located on the handle, the rotatable actuator being configured to rotate the shaft about a longitudinal axis.

[0040] Figure 30 yes Figure 29 A perspective view of a surgical instrument, showing the axis in a rotating position;

[0041] Figure 31 yes Figure 29 A perspective view of a surgical instrument, showing a portion of the handle housing removed;

[0042] Figure 32 yes Figure 1 A detailed view of the joint joint of a surgical instrument, showing that some parts have been removed;

[0043] Figure 33 It is compatible with at least one alternative implementation scheme. Figure 1 A detailed view of a joint motion joint used with surgical instruments.

[0044] Figure 34 From Figure 33 A partial perspective view of the joint motion drive pin of the end effector frame extension in the implementation scheme;

[0045] Figure 35 yes Figure 33 A partial detailed view of the implementation scheme shows the end effector in a jointed position;

[0046] Figure 36 yes Figure 33 A partial detailed view of the implementation scheme shows the end effector in another joint movement position;

[0047] Figure 37 yes Figure 33A partial detailed view of the implementation scheme shows the end effector in another joint movement position;

[0048] Figure 38 yes Figure 1 A cross-sectional view of the end effector of a surgical instrument, shown in an open configuration;

[0049] Figure 39 yes Figure 1 A partial cross-sectional view of the end effector of a surgical instrument, showing the tissue stop of the end effector;

[0050] Figure 40 yes Figure 1 A partial sectional view of the end effector of a surgical instrument, showing the pivot joint between the cartridge jaws and the anvil jaws of the end effector;

[0051] Figure 41 yes Figure 40 A partial plan view of the staple cartridge jaws, where the staple cartridge is not positioned within the staple cartridge jaws;

[0052] Figure 42 yes Figure 40 A partial perspective view of the anvil jaws;

[0053] Figure 43 yes Figure 40 A partial top view of the pivot joint;

[0054] Figure 44 It is a partial cross-sectional view of the pin cartridge jaws of an end effector according to at least one embodiment, showing that there is no pin cartridge in the pin cartridge jaws;

[0055] Figure 45A It is in an open configuration. Figure 44 A partial sectional view of the end effector;

[0056] Figure 45B It is in a closed configuration Figure 44 A partial sectional view of the end effector;

[0057] Figure 46 yes Figure 1 A partial cross-sectional view of the end effector of a surgical instrument, showing the firing member in the non-firing position;

[0058] Figure 47 yes Figure 1 A partial cross-sectional view of the end effector of a surgical instrument shows a cartridge stop on the anvil jaws, which is configured to prevent the cartridge from being inserted proximally into the cartridge jaws;

[0059] Figure 48 yes Figure 1A partial perspective view of the anvil jaws of a surgical instrument, showing a configuration capable of clamping the end effector in an open configuration. Figure 46 The position of the firing element is controlled on its non-firing surface;

[0060] Figure 49 yes Figure 1 A partial frontal view of surgical instruments;

[0061] Figure 50 yes Figure 1 A partial perspective view of the surgical instruments;

[0062] Figure 51 It is a partial front view of a surgical instrument according to at least one embodiment;

[0063] Figure 52 yes Figure 51 A partial perspective view of the surgical instruments;

[0064] Figure 53 It is a partial front view of a surgical instrument according to at least one embodiment;

[0065] Figure 54 yes Figure 53 A partial perspective view of the surgical instruments;

[0066] Figure 55 yes Figure 1 A perspective view of surgical instruments;

[0067] Figure 56 It is a partial perspective view of a surgical instrument according to at least one embodiment;

[0068] Figure 57 yes Figure 56 A partial perspective view of the axis of a surgical instrument;

[0069] Figure 58 It is by Figure 56 Control algorithms implemented for surgical instruments;

[0070] Figure 59 It is a partial perspective view of the axis of a surgical instrument according to at least one embodiment;

[0071] Figure 60 It is a partial perspective view of the axis of a surgical instrument according to at least one embodiment;

[0072] Figure 61 It is a partial perspective view of the axis of a surgical instrument according to at least one embodiment;

[0073] Figure 62 It is a partial perspective view of the axis of a surgical instrument according to at least one embodiment;

[0074] Figure 63 It is a perspective view of a slip ring assembly of a surgical instrument according to at least one embodiment;

[0075] Figure 64 yes Figure 63 Another perspective view of the slip ring assembly;

[0076] Figure 65 yes Figure 63 A perspective view of the axial components of a surgical instrument;

[0077] Figure 66 yes Figure 63 A partial perspective view of the surgical instruments;

[0078] Figure 67 It is a diagram depicting an axial orientation sensor array according to at least one embodiment;

[0079] Figure 68 It is a partial front view of an end effector including an anvil jaw and a bin jaw, wherein the anvil jaw includes a distal portion that is rotatable between a first operating orientation and a second operating orientation different from the first operating orientation, and wherein the distal portion of the anvil jaw is shown in the first operating orientation.

[0080] Figure 69 yes Figure 68 A partial perspective view of the anvil jaws, wherein the distal portion of the anvil jaws is shown in a partially rotational orientation;

[0081] Figure 69A Depicting keeping the distal portion Figure 68 Connector for the anvil jaws;

[0082] Figure 70 yes Figure 68 A partial front view of the end effector, wherein the distal portion of the anvil jaws is shown in the second operating orientation;

[0083] Figure 71 yes Figure 68 A partial perspective view of the end effector, wherein the distal portion of the anvil jaws is shown in the second operating orientation;

[0084] Figure 72 It is a perspective view of the distal end of the proximal joint movement rod according to at least one embodiment;

[0085] Figure 73 It is a perspective view of the joint between the proximal joint movement rod and the distal joint movement rod of a joint motion drive device according to at least one embodiment;

[0086] Figure 73A yes Figure 73Detailed diagram of the joint between the proximal joint movement rod and the joint movement lock;

[0087] Figure 74 yes Figure 72 Proximal joint movement rod and Figure 73 A perspective view of the joint between the distal joint movement rods;

[0088] Figure 74A yes Figure 72 Proximal joint movement rod and Figure 73A Detailed diagram of the joint between the joint movement locks;

[0089] Figure 75 yes Figure 73A A perspective view of the joint motion lock;

[0090] Figure 76 yes Figure 73A Another perspective view of the joint motion lock;

[0091] Figure 77 It shows Figure 73 The range of motion of the distal joint movement rod;

[0092] Figure 78 It is an algorithm used by control systems to evaluate and obtain the position of joint motion systems;

[0093] Figure 79 Depicting Figure 1 The speed graph algorithm of the end effector of the surgical instrument and the nail firing system during the nail firing stroke;

[0094] Figure 80 Depicting according to at least one implementation scheme Figure 1 The speed graph algorithm for the end effector of surgical instruments and the nail firing system;

[0095] Figure 81 Depicting Figure 1 The speed graph algorithm of the end effector of the surgical instrument and the nail firing system during the nail firing stroke;

[0096] Figure 82A Depicting Figure 1 A graph showing the duty cycle and firing force experienced by the nail firing system of a surgical instrument during the three nail firing strokes;

[0097] Figure 82B Depicting in comparison Figure 82A During the firing stroke of the three pins at a higher firing speed, Figure 1 A graph showing the duty cycle and firing force experienced by the nail firing system of a surgical instrument.

[0098] Figure 83ADepicting Figure 1 A graph showing the duty cycle, firing force, and firing speed experienced by the staple firing system of a surgical instrument during the staple firing stroke through 1.35 mm thick jejunal tissue;

[0099] Figure 83B Depicting Figure 1 A graph showing the duty cycle, firing force, and firing speed experienced by the nail firing system of a surgical instrument during the nail firing stroke through 4 mm thick gastric tissue.

[0100] Figure 84A and Figure 84B A graph comparing the firing force through tissue with the firing force of tissue analogues was plotted.

[0101] Figure 85A and Figure 85B Depicting the display Figure 1 A graph showing the duty cycle and firing speed experienced by the nail firing system of a surgical instrument during several nail firing strokes.

[0102] Figure 86A Depicting Figure 1 A graph showing the duty cycle of the nail firing system of a surgical instrument during the nail firing stroke through thin jejunal tissue;

[0103] Figure 86B Depicting Figure 1 A graph showing the duty cycle of the nail firing system of a surgical instrument during the nail firing stroke through thick jejunal tissue;

[0104] Figure 86C Depicting Figure 1 A graph showing the duty cycle of the nail firing system of a surgical instrument during the nail firing stroke through the gastric tissue;

[0105] Figure 87 Depicting Figure 1 A graph showing the duty cycle of the nail firing system of a surgical instrument during the nail firing stroke, where the control system increases the speed of the nail firing stroke;

[0106] Figure 88 Depicting Figure 1 A graph of the duty cycle of the nail firing system of a surgical instrument during the nail firing stroke, wherein the control system maintains essentially the same speed throughout the nail firing stroke;

[0107] Figure 89 Depicting Figure 1 A graph of the duty cycle of the nail firing system of a surgical instrument during the nail firing stroke, wherein the control system reduces the speed of the nail firing stroke;

[0108] Figure 90It is a front view of a surgical instrument including a handle and a shaft according to at least one embodiment;

[0109] Figure 91 It is shown that some parts have been removed. Figure 90 A partial frontal view of surgical instruments;

[0110] Figure 92 It is connected to Figure 90 The frame of the axis Figure 90 A perspective view of the frame of the handle;

[0111] Figure 93 yes Figure 92 Exploded view of the handle frame and shaft frame;

[0112] Figure 94 yes Figure 90 A perspective view of the handle;

[0113] Figure 95 It is shown that some parts have been removed. Figure 90 A partial perspective view of the handle;

[0114] Figure 96 yes Figure 90 A partial cross-sectional view of the switch handle;

[0115] Figure 97 It is a partial perspective view of the handle and shaft of a surgical instrument according to at least one embodiment;

[0116] Figure 98 It is shown as being in the first rotational position. Figure 97 A partial sectional view of the axis;

[0117] Figure 99 It is shown as being in the second rotational position. Figure 97 A partial sectional view of the axis;

[0118] Figure 100 Depicting Figure 97 The control system for surgical instruments;

[0119] Figure 101 It is shown that some parts have been removed. Figure 90 A front view of the handle, showing the closing actuator of the handle in a partially closed position;

[0120] Figure 102 It is shown as being in a partially closed configuration. Figure 90 A detailed view of the closure system of the handle;

[0121] Figure 103 It is shown as being in a completely closed configuration. Figure 90 A detailed view of the closure system of the handle;

[0122] Figure 104 It is a partial front view of a surgical instrument including a handle and a shaft according to at least one embodiment;

[0123] Figure 105 It is shown as being in a partially closed configuration. Figure 104 A partial frontal view of surgical instruments;

[0124] Figure 106 It is shown as being in a completely closed configuration. Figure 104 A partial frontal view of surgical instruments;

[0125] Figure 107 It is a partial front view of a surgical instrument including a handle and a shaft according to at least one embodiment;

[0126] Figure 108 It describes an actuable closing lock. Figure 107 A partial frontal view of surgical instruments;

[0127] Figure 109 It is shown that some parts have been removed. Figure 90 A partial perspective view of the handle of a surgical instrument;

[0128] Figure 110 yes Figure 90 A partial perspective view of the closure system of a surgical instrument;

[0129] Figure 111 It is a partial perspective view of a closed system according to at least one embodiment;

[0130] Figure 112A Depicting Figure 110 A spring in a closed system;

[0131] Figure 112B A spring of a closed system according to at least one embodiment is described;

[0132] Figure 112C Depicting Figure 111 A closed-loop spring system;

[0133] Figure 113 It is a description of Figure 112C A graph showing the force generated by the spring system;

[0134] Figure 114 This refers to the illuminated joint motion control element when the closed system is in a fully closed configuration. Figure 90 A partial frontal view of surgical instruments;

[0135] Figure 115 The illuminated joint motion control element is shown when the closed system is in the open configuration. Figure 90 A partial frontal view of surgical instruments;

[0136] Figure 116 Depicting Figure 90 The control system for surgical instruments;

[0137] Figure 117 Depicting Figure 90 The control system for surgical instruments;

[0138] Figure 118 It is shown that some parts have been removed. Figure 90 A partial perspective view of the shaft and end effector of a surgical instrument;

[0139] Figure 119 yes Figure 90 A perspective view of the joint movement lock component of a surgical instrument;

[0140] Figure 120 yes Figure 119 A partial perspective view of the joint motion locking component;

[0141] Figure 121 It is a plan view of a joint motion lock according to at least one embodiment;

[0142] Figure 122 yes Figure 121 A plan view of the locking plate of the joint movement lock;

[0143] Figure 123 It is a partial perspective view of the shaft and end effector of a surgical instrument according to at least one embodiment, showing some parts removed;

[0144] Figure 124 It shows the configuration in unlocked mode. Figure 123 Joint movement locks of surgical instruments;

[0145] Figure 125 It shows the configuration in unlocked mode. Figure 124 Joint movement lock;

[0146] Figure 126 yes Figure 124 A perspective view of some components of the joint motion lock;

[0147] Figure 127 It is shown as being in a fully clamped configuration. Figure 90 A partial front view of the end effector of a surgical instrument;

[0148] Figure 128 It is shown as being in an open configuration. Figure 90 A partial front view of the end effector;

[0149] Figure 129It is shown as being in a partially closed configuration. Figure 90 A cross-sectional view of the end effector;

[0150] Figure 130 yes Figure 127 A partial sectional view of the channel of the end effector;

[0151] Figure 131 It is shown that some parts have been removed. Figure 90 A partial sectional view of the axis of a surgical instrument;

[0152] Figure 132 It is shown that the additional parts have been removed. Figure 90 A partial sectional view of the axis;

[0153] Figure 133 yes Figure 90 A partial perspective view of the inner frame of the axis;

[0154] Figure 134 yes Figure 90 A partial sectional view of the axis;

[0155] Figure 135 It is a partial plan view of the shaft and end effector of a surgical instrument according to at least one embodiment, in which some components are removed;

[0156] Figure 136 It is shown that the additional parts have been removed. Figure 135 Partial plan view of the shaft and end effector;

[0157] Figure 137 It is shown that the additional parts have been removed. Figure 135 Partial plan view of the shaft and end effector;

[0158] Figure 138 yes Figure 135 A partial perspective view of the frame of the axis;

[0159] Figure 139 yes Figure 135 A partial perspective view of the components of the frame of the axis;

[0160] Figure 140 yes Figure 135 A partial perspective view of the components of the frame of the axis;

[0161] Figure 141 yes Figure 135 A partial sectional view of the frame of the axis;

[0162] Figure 142 It is shown as a component being removed. Figure 135 A partial sectional view of the shaft and end effector;

[0163] Figure 143 yes Figure 135 A plan view of the joint motion joint components of a surgical instrument;

[0164] Figure 144 It is shown as being in a non-joint movement position. Figure 135 A plan view of the end effector of a surgical instrument;

[0165] Figure 145 The joint movement in the first direction is shown. Figure 144 End effector;

[0166] Figure 146 This shows the joint movement in the second direction. Figure 144 End effector;

[0167] Figure 147 It includes the nail-fired locking mechanism. Figure 90 A partial plan view of the jaws of the end effector of a surgical instrument;

[0168] Figure 148 yes Figure 147 A partial front view of the nail firing system and the nail firing locking element;

[0169] Figure 149 Depicting Figure 90 Part of the power regulation circuit of surgical instruments;

[0170] Figure 149A Depicting Figure 90 Another part of the power regulation circuit;

[0171] Figure 150 yes Figure 90 A partial perspective view of the handle;

[0172] Figure 151 yes Figure 90 The cover of the handle;

[0173] Figure 152 Is Figure 90 Surgical instruments used during the manufacture of cover-like materials; and

[0174] Figure 153 yes Figure 90 The control circuit of the handle.

[0175] In several views, corresponding reference symbols indicate corresponding parts. The examples described herein illustrate various 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

[0176] The applicant of this application also 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:

[0177] - A U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING A RELEASABLE CLOSURE DRIVELOCK"; Agent's file number END9268USNP1 / 200107;

[0178] - A U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING A STOWED CLOSURE ACTUATORSTOP"; Agent's file number END9269USNP1 / 200108;

[0179] - A U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION INDICATOR"; Agent's file number END9271USNP1 / 200110;

[0180] - A U.S. patent application entitled "METHOD FOR OPERATING A SURGICAL INSTRUMENT"; Agent's file number END9272USNP1 / 200111M;

[0181] - A U.S. patent application entitled “SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK”; Agent’s file number END9273USNP1 / 200112;

[0182] - A U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING A JAW ALIGNMENT SYSTEM"; Agent's file number END9274USNP1 / 200113;

[0183] - A U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING SEALABLE INTERFACE"; Agent's file number END9275USNP1 / 200114;

[0184] - A U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING A LIMITED TRAVEL SWITCH"; Agent's file number END9276USNP1 / 200115;

[0185] - A U.S. design patent application entitled "SURGICAL STAPLING ASSEMBLY"; Agent's file number END9277USDP1 / 200116D;

[0186] - A U.S. design patent application entitled "SURGICAL STAPLING ASSEMBLY"; Agent's file number END9278USDP1 / 200117D;

[0187] - A U.S. patent application entitled “SURGICAL INSTRUMENT COMPRISING A STAGED VOLTAGE REGULATION START-UP SYSTEM”; Agent’s File No. END9279USNP1 / 200118; and

[0188] - U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR CONFIGURED TO SENSEWHETHER AN ARTICULATION DRIVE OF THE SURGICAL INSTRUMENT IS ACTUATABLE"; Agent's file number END9280USNP1 / 200119.

[0189] The applicant of this application also owns the following U.S. patent applications filed on April 11, 2020, each of which is incorporated herein by reference in its entirety:

[0190] - U.S. Patent Application Serial No. 16 / 846,303 entitled “METHODS FOR STAPLING TISSUE USING A SURGICAL INSTRUMENT”;

[0191] - U.S. patent application serial number 16 / 846,304 entitled “ARTICULATION ACTUATORS FOR A SURGICAL INSTRUMENT”;

[0192] - U.S. patent application serial number 16 / 846,305 entitled “ARTICULATION DIRECTIONAL LIGHTS ON A SURGICAL INSTRUMENT”;

[0193] - U.S. patent application serial number 16 / 846,307 entitled “SHAFT ROTATION ACTUATOR ON A SURGICAL INSTRUMENT”;

[0194] - U.S. patent application serial number 16 / 846,308 entitled “ARTICULATION CONTROL MAPPING FOR A SURGICAL INSTRUMENT”;

[0195] - U.S. patent application serial number 16 / 846,309 entitled "INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT";

[0196] - U.S. patent application serial number 16 / 846,310 entitled "INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT";

[0197] - U.S. patent application serial number 16 / 846,311 entitled “ROTATABLE JAW TIP FOR A SURGICAL INSTRUMENT”;

[0198] - U.S. Patent Application Serial No. 16 / 846,312 entitled "TISSUE STOP FOR A SURGICAL INSTRUMENT"; and

[0199] - U.S. Patent Application Serial No. 16 / 846,313 entitled “ARTICULATION PIN FOR A SURGICAL INSTRUMENT”.

[0200] The entire disclosure of U.S. Provisional Patent Application Serial No. 62 / 840,715, entitled “SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM”, filed on April 30, 2019, is hereby incorporated by reference.

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

[0202] - U.S. Patent Application Serial No. 16 / 281,658 entitled “METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HASSEPARATE ROTARY CLOSURE AND FIRING SYSTEMS”;

[0203] - U.S. Patent Application Serial No. 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 "STAPLING INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT";

[0209] - U.S. patent application serial number 16 / 281,741 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 / 281,666 entitled "SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS";

[0212] - U.S. Patent Application Serial No. 16 / 281,672 entitled “SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES”;

[0213] - U.S. Patent Application Serial No. 16 / 281,678 entitled "ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND CHANNELENGAGEMENT FEATURES"; and

[0214] - 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".

[0215] The applicant of this application owns the following U.S. provisional patent applications filed on February 19, 2019, each of which is incorporated herein by reference in its entirety:

[0216] - U.S. Provisional Patent Application Serial No. 62 / 807,310 entitled “METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HASSEPARATE ROTARY CLOSURE AND FIRING SYSTEMS”;

[0217] - U.S. Provisional Patent Application Serial No. 62 / 807,319 entitled "SURGICAL STAPLING DEVICES WITH IMPROVED LOCKOUT SYSTEMS"; and

[0218] - U.S. Provisional Patent Application Serial No. 62 / 807,309 entitled "SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS".

[0219] 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:

[0220] - U.S. Provisional Patent Application Serial No. 62 / 649,302 entitled “INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES”;

[0221] - U.S. Provisional Patent Application Serial No. 62 / 649,294 entitled “DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD”;

[0222] - U.S. Provisional Patent Application Serial No. 62 / 649,300 entitled “SURGICAL HUB SITUATIONAL AWARENESS”;

[0223] - U.S. Provisional Patent Application Serial No. 62 / 649,309 entitled “SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES INOPERATING THEATER”;

[0224] - U.S. Provisional Patent Application Serial No. 62 / 649,310 entitled “COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS”;

[0225] - 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”;

[0226] - U.S. Provisional Patent Application Serial No. 62 / 649,296 entitled “ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES”;

[0227] - U.S. Provisional Patent Application Serial No. 62 / 649,333 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION ANDRECOMMENDATIONS TO A USER”;

[0228] - U.S. Provisional Patent Application Serial No. 62 / 649,327 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES”;

[0229] - U.S. Provisional Patent Application Serial No. 62 / 649,315 entitled “DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICSNETWORK”;

[0230] - U.S. Provisional Patent Application Serial No. 62 / 649,313 entitled “CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES”;

[0231] - U.S. Provisional Patent Application Serial No. 62 / 649,320 entitled “DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”;

[0232] - U.S. Provisional Patent Application Serial No. 62 / 649,307 entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICALPLATFORMS"; and

[0233] - U.S. Provisional Patent Application Serial No. 62 / 649,323 entitled “SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”.

[0234] 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:

[0235] - U.S. Provisional Patent Application Serial No. 62 / 650,887 entitled "SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES".

[0236] 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:

[0237] - 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”.

[0238] 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:

[0239] - U.S. patent application serial number 16 / 105,101 entitled “METHOD FOR FABRICATING SURGICAL STAPLER ANVILS”;

[0240] - U.S. patent application serial number 16 / 105,183 entitled “REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL”;

[0241] - U.S. Patent Application Serial No. 16 / 105,150 entitled "SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS ANDTISSUE STABILITY FEATURES";

[0242] - U.S. patent application serial number 16 / 105,098 entitled "FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS";

[0243] - U.S. Patent Application Serial No. 16 / 105,140 entitled "SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH";

[0244] - U.S. patent application serial number 16 / 105,081 entitled “METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICALINSTRUMENT”;

[0245] - U.S. Patent Application Serial No. 16 / 105,094 entitled “SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS”;

[0246] - 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”;

[0247] - 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”;

[0248] - U.S. Patent Application Serial No. 16 / 105,119 entitled “ARTICULATION MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS”;

[0249] - U.S. Patent Application Serial No. 16 / 105,160 entitled "SWITCHING ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL INSTRUMENTS"; and

[0250] - U.S. design patent application serial number 29 / 660,252 entitled “SURGICAL STAPLER ANVILS”.

[0251] The applicant of this application owns the following U.S. patent applications and U.S. patents, each of which is incorporated herein by reference in its entirety:

[0252] - The U.S. patent application serial number 15 / 386,185 entitled “SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIESTHEREOF” is now published as U.S. Patent Application Publication 2018 / 0168642;

[0253] - The U.S. patent application serial number 15 / 386,230 entitled “ARTICULATABLE SURGICAL STAPLING INSTRUMENTS” is now published as U.S. Patent Application Publication 2018 / 0168649;

[0254] - The U.S. patent application serial number 15 / 386,221 entitled “LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS” is now published as U.S. Patent Application Publication 2018 / 0168646;

[0255] - The U.S. patent application serial number 15 / 386,209 entitled “SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF” is now published as U.S. Patent Application Publication 2018 / 0168645;

[0256] - The U.S. Patent Application Serial No. 15 / 386,198 entitled “LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES” is now published as U.S. Patent Application Publication No. 2018 / 0168644;

[0257] - The U.S. patent application serial number 15 / 386,240 entitled “SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR” is now published as U.S. Patent Application Publication 2018 / 0168651;

[0258] - The U.S. patent application serial number 15 / 385,939 entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN” is now published as U.S. Patent Application Publication 2018 / 0168629;

[0259] - The 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” is now published as U.S. Patent Application Publication No. 2018 / 0168630;

[0260] - The U.S. patent application serial number 15 / 385,943 entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS” is now published as U.S. Patent Application Publication 2018 / 0168631;

[0261] - The U.S. patent application serial number 15 / 385,950 entitled “SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTIONFEATURES” is now published as U.S. Patent Application Publication 2018 / 0168635;

[0262] - The U.S. patent application serial number 15 / 385,945 entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN” is now published as U.S. Patent Application Publication 2018 / 0168632;

[0263] - The U.S. patent application serial number 15 / 385,946 entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS” is now published as U.S. Patent Application Publication 2018 / 0168633;

[0264] - The U.S. patent application serial number 15 / 385,951 entitled “SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASINGA JAW OPENING DISTANCE” is now published as U.S. Patent Application Publication 2018 / 0168636;

[0265] - The U.S. patent application serial number 15 / 385,953 entitled “METHODS OF STAPLING TISSUE” is now published as U.S. Patent Application Publication 2018 / 0168637;

[0266] - The U.S. patent application serial number 15 / 385,954 entitled “FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FORSURGICAL END EFFECTORS” is now published as U.S. Patent Application Publication 2018 / 0168638;

[0267] - The U.S. patent application serial number 15 / 385,955 entitled “SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOPARRANGEMENTS” is now published as U.S. Patent Application Publication 2018 / 0168639;

[0268] - The U.S. patent application serial number 15 / 385,948 entitled “SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS” is now published as U.S. Patent Application Publication 2018 / 0168584;

[0269] - The U.S. patent application serial number 15 / 385,956 entitled “SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES” is now published as U.S. Patent Application Publication 2018 / 0168640;

[0270] - The 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” is now published as U.S. Patent Application Publication No. 2018 / 0168641.

[0271] - The U.S. patent application serial number 15 / 385,947 entitled “STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN” is now published as U.S. Patent Application Publication 2018 / 0168634;

[0272] - The U.S. patent application serial number 15 / 385,896 entitled “METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT” is now published as U.S. Patent Application Publication 2018 / 0168597;

[0273] - The U.S. patent application serial number 15 / 385,898 entitled “STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENTTYPES OF STAPLES” is now published as U.S. Patent Application Publication 2018 / 0168599;

[0274] - The U.S. patent application serial number 15 / 385,899 entitled “SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL” is now published as U.S. Patent Application Publication 2018 / 0168600;

[0275] - The U.S. patent application serial number 15 / 385,901 entitled “STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISINGWINDOWS DEFINED THEREIN” is now published as U.S. patent application 2018 / 0168602;

[0276] - The U.S. patent application serial number 15 / 385,902 entitled “SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER” is now published as U.S. Patent Application Publication 2018 / 0168603;

[0277] - The U.S. patent application serial number 15 / 385,904 entitled “STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / ORSPENT CARTRIDGE LOCKOUT” is now published as U.S. Patent Application Publication 2018 / 0168605;

[0278] - The U.S. patent application serial number 15 / 385,905 entitled “FIRING ASSEMBLY COMPRISING A LOCKOUT” is now published as U.S. Patent Application Publication 2018 / 0168606;

[0279] - The U.S. patent application serial number 15 / 385,907 entitled “SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT” is now published as U.S. Patent Application Publication 2018 / 0168608;

[0280] - An American patent titled "FIRING ASSEMBLY COMPRISING A FUSE"

[0281] U.S. Patent Application Serial No. 15 / 385,908, now published as U.S. Patent Application Publication 2018 / 0168609; U.S. Patent Application Serial No. 15 / 385,909 entitled “FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE”, now published as U.S. Patent Application Publication 2018 / 0168610;

[0282] - The U.S. patent application serial number 15 / 385,920 entitled “STAPLE-FORMING POCKET ARRANGEMENTS” is now published as U.S. Patent Application Publication 2018 / 0168620;

[0283] - The U.S. patent application serial number 15 / 385,913 entitled “ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS” is now published as U.S. Patent Application Publication 2018 / 0168614;

[0284] - The U.S. patent application serial number 15 / 385,914 entitled “METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT” is now published as U.S. Patent Application Publication 2018 / 0168615;

[0285] - The U.S. patent application serial number 15 / 385,893 entitled “BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS” is now published as U.S. Patent Application Publication 2018 / 0168594;

[0286] - The U.S. patent application serial number 15 / 385,929 entitled “CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICALINSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168626;

[0287] - The U.S. patent application serial number 15 / 385,911 entitled “SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168612;

[0288] - The U.S. patent application serial number 15 / 385,927 entitled “SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES” is now published as U.S. Patent Application Publication 2018 / 0168625;

[0289] - The U.S. patent application serial number 15 / 385,917 entitled “STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPINGBREADTHS” is now published as U.S. Patent Application Publication 2018 / 0168617;

[0290] - The U.S. patent application serial number 15 / 385,900 entitled “STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARYSIDEWALLS AND POCKET SIDEWALLS” is now published as U.S. Patent Application Publication 2018 / 0168601;

[0291] - The U.S. patent application serial number 15 / 385,931 entitled “NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FORSURGICAL STAPLERS” is now published as U.S. Patent Application Publication 2018 / 0168627.

[0292] - The U.S. patent application serial number 15 / 385,915 entitled “FIRING MEMBER PIN ANGLE” is now published as U.S. Patent Application Publication 2018 / 0168616;

[0293] - The U.S. patent application serial number 15 / 385,897 entitled “STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMINGSURFACE GROOVES” is now published as U.S. Patent Application Publication 2018 / 0168598;

[0294] - The U.S. patent application serial number 15 / 385,922 entitled “SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES” is now published as U.S. Patent Application Publication 2018 / 0168622;

[0295] - The U.S. patent application serial number 15 / 385,924 entitled “SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS” is now published as U.S. Patent Application Publication 2018 / 0168624;

[0296] - The U.S. patent application serial number 15 / 385,910 entitled “ANVIL HAVING A KNIFE SLOT WIDTH” is now published as U.S. Patent Application Publication 2018 / 0168611;

[0297] - The U.S. patent application serial number 15 / 385,903 entitled “CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication 2018 / 0168604;

[0298] - The U.S. patent application serial number 15 / 385,906 entitled “FIRING MEMBER PIN CONFIGURATIONS” is now published as U.S. Patent Application Publication 2018 / 0168607;

[0299] - The U.S. patent application serial number 15 / 386,188 entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES" is now published as U.S. Patent Application Publication 2018 / 0168585;

[0300] - The U.S. patent application serial number 15 / 386,192 entitled “STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAPSETTING FEATURES” is now published as U.S. Patent Application Publication 2018 / 0168643;

[0301] - The U.S. patent application serial number 15 / 386,206 entitled “STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES” is now published as U.S. Patent Application Publication 2018 / 0168586;

[0302] - The U.S. Patent Application Serial No. 15 / 386,226 entitled “DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS” is now published as U.S. Patent Application Publication No. 2018 / 0168648.

[0303] - U.S. Patent Application Serial No. 15 / 386,222 entitled “SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITHPOSITIVE OPENING FEATURES”, now published as U.S. Patent Application Publication No. 2018 / 0168647; - U.S. Patent Application Serial No. 15 / 386,236 entitled “CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS”, now published as U.S. Patent Application Publication No. 2018 / 0168650;

[0304] - The U.S. patent application serial number 15 / 385,887 entitled “METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICALINSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT” is now published as U.S. Patent Application Publication 2018 / 0168589.

[0305] - The U.S. patent application serial number 15 / 385,889 entitled “SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTIONSYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM” is now published as U.S. Patent Application Publication 2018 / 0168590;

[0306] - The U.S. patent application serial number 15 / 385,890 entitled “SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE ANDRETRACTABLE SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168591;

[0307] - The U.S. patent application serial number 15 / 385,891 entitled “SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THEOUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168592.

[0308] - The U.S. patent application serial number 15 / 385,892 entitled “SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO ANARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM” is now published as U.S. Patent Application Publication 2018 / 0168593.

[0309] - The U.S. patent application serial number 15 / 385,894 entitled “SHAFT ASSEMBLY COMPRISING A LOCKOUT” is now published as U.S. Patent Application Publication 2018 / 0168595;

[0310] - The U.S. patent application serial number 15 / 385,895 entitled “SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATIONLOCKOUTS” is now published as U.S. Patent Application Publication 2018 / 0168596;

[0311] - The U.S. patent application serial number 15 / 385,916 entitled “SURGICAL STAPLING SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168575;

[0312] - The U.S. patent application serial number 15 / 385,918 entitled “SURGICAL STAPLING SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168618;

[0313] - The U.S. patent application serial number 15 / 385,919 entitled “SURGICAL STAPLING SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168619;

[0314] - The U.S. patent application serial number 15 / 385,921 entitled “SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBERCONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES” is now published as U.S. Patent Application Publication 2018 / 0168621;

[0315] - The U.S. patent application serial number 15 / 385,923 entitled “SURGICAL STAPLING SYSTEMS” is now published as U.S. Patent Application Publication 2018 / 0168623;

[0316] - U.S. Patent Application Serial No. 15 / 385,925 entitled “JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE ISINSTALLED IN THE END EFFECTOR” is now published as U.S. Patent Application Publication No. 2018 / 0168576;

[0317] - The U.S. Patent Application Serial No. 15 / 385,926 entitled “AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication No. 2018 / 0168577;

[0318] - The U.S. patent application serial number 15 / 385,928 entitled “PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN AMOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT” is now published as U.S. Patent Application Publication 2018 / 0168578;

[0319] - The U.S. patent application serial number 15 / 385,930 entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENINGFEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS" is now published as U.S. Patent Application Publication 2018 / 0168579;

[0320] - The U.S. patent application serial number 15 / 385,932 entitled “ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFTARRANGEMENT” is now published as U.S. Patent Application Publication 2018 / 0168628;

[0321] - U.S. Patent Application Serial No. 15 / 385,933 entitled “ARTICULATION LOCK”, now published as U.S. Patent Application Publication 2018 / 0168580;

[0322] - The U.S. patent application serial number 15 / 385,934 entitled “ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR INAN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM” is now published as U.S. Patent Application Publication 2018 / 0168581;

[0323] - The U.S. patent application serial number 15 / 385,935 entitled “LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FORLOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION” is now published as U.S. Patent Application Publication 2018 / 0168582;

[0324] - The U.S. patent application serial number 15 / 385,936 entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKEAMPLIFICATION FEATURES” is now published as U.S. Patent Application Publication 2018 / 0168583;

[0325] - The U.S. patent application serial number 14 / 318,996 entitled “FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS” is now published as U.S. Patent Application Publication 2015 / 0297228.

[0326] - U.S. Patent Application Serial No. 14 / 319,006 entitled “FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDINGFASTENER CONTROL FEATURES” is now U.S. Patent No. 10,010,324.

[0327] - The U.S. patent application serial number 14 / 318,991 entitled “SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS” is now U.S. Patent 9,833,241;

[0328] - The U.S. patent application serial number 14 / 319,004 entitled “SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS” is now U.S. Patent 9,844,369;

[0329] - The U.S. patent application serial number 14 / 319,008 entitled “FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS” is now published as U.S. Patent Application Publication 2015 / 0297232;

[0330] - The U.S. patent application serial number 14 / 318,997 entitled “FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGINGMEMBERS” is now published as U.S. Patent Application Publication 2015 / 0297229;

[0331] - U.S. Patent Application Serial No. 14 / 319,002 entitled “FASTENER CARTRIDGE COMPRISING TISSUE CONTROL FEATURES”, now U.S. Patent 9,877,721;

[0332] - U.S. Patent Application Serial No. 14 / 319,013 entitled “FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVERARRANGEMENTS”, now published as U.S. Patent Application 2015 / 0297233; and

[0333] - The U.S. patent application serial number 14 / 319,016 entitled “FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO” is now published as U.S. Patent Application Publication 2015 / 0297235.

[0334] 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:

[0335] - The U.S. patent application serial number 15 / 191,775 entitled “STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES” is now published as U.S. Patent Application Publication 2017 / 0367695;

[0336] - The U.S. patent application serial number 15 / 191,807 entitled “STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPEDSTAPLES” is now published as U.S. Patent Application Publication 2017 / 0367696;

[0337] - The U.S. patent application serial number 15 / 191,834 entitled “STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME” is now published as U.S. Patent Application Publication 2017 / 0367699;

[0338] - U.S. Patent Application Serial No. 15 / 191,788 entitled “STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES”, now published as U.S. Patent Application 2017 / 0367698; and

[0339] - The U.S. Patent Application Serial No. 15 / 191,818 entitled “STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS” is now published as U.S. Patent Application Publication No. 2017 / 0367697.

[0340] 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:

[0341] - The U.S. design patent application serial number 29 / 569,218 entitled “SURGICAL FASTENER” is now U.S. design patent D826,405;

[0342] - The U.S. design patent application serial number 29 / 569,227 entitled “SURGICAL FASTENER” is now U.S. design patent D822,206;

[0343] - U.S. design patent application serial number 29 / 569,259 entitled "SURGICAL FASTENER CARTRIDGE"; and

[0344] - U.S. design patent application serial number 29 / 569,264 entitled “SURGICAL FASTENER CARTRIDGE”.

[0345] 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:

[0346] - The U.S. patent application serial number 15 / 089,325 entitled “METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM” is now published as U.S. Patent Application Publication 2017 / 0281171;

[0347] - The U.S. patent application serial number 15 / 089,321 entitled “MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY” is now U.S. Patent 10,271,851;

[0348] - The U.S. patent application serial number 15 / 089,326 entitled “SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD” is now published as U.S. Patent Application Publication 2017 / 0281172;

[0349] - The U.S. patent application serial number 15 / 089,263 entitled “SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIPPORTION” is now published as U.S. Patent Application Publication 2017 / 0281165;

[0350] - The U.S. patent application serial number 15 / 089,262 entitled “ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM” is now published as U.S. Patent Application Publication 2017 / 0281161;

[0351] - The U.S. patent application serial number 15 / 089,277 entitled “SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVILCONCENTRIC DRIVE MEMBER” is now published as U.S. Patent Application Publication 2017 / 0281166;

[0352] - The U.S. patent application serial number 15 / 089,296 entitled “Interchangelable Surgical Tool Assembled with a Surgical Endeffertor That Is Selectively ROTATABLE About a Shaft Axis” is now published as U.S. Patent Application Publication 2017 / 0281168;

[0353] - The U.S. patent application serial number 15 / 089,258 entitled “SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION” is now published as U.S. Patent Application Publication 2017 / 0281178;

[0354] - The U.S. patent application serial number 15 / 089,278 entitled “SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVECUTTING OF TISSUE” is now published as U.S. Patent Application Publication 2017 / 0281162;

[0355] - The U.S. patent application serial number 15 / 089,284 entitled “SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT” is now published as U.S. Patent Application Publication 2017 / 0281186;

[0356] - The U.S. patent application serial number 15 / 089,295 entitled “SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSIONLOCKOUT” is now published as U.S. Patent Application Publication 2017 / 0281187;

[0357] - The U.S. patent application serial number 15 / 089,300 entitled “SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT” is now published as U.S. Patent Application Publication 2017 / 0281179;

[0358] - The U.S. patent application serial number 15 / 089,196 entitled “SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT” is now published as U.S. Patent Application Publication 2017 / 0281183;

[0359] - The U.S. patent application serial number 15 / 089,203 entitled “SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT” is now published as U.S. Patent Application Publication 2017 / 0281184;

[0360] - The U.S. patent application serial number 15 / 089,210 entitled “SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGELOCKOUT” is now published as U.S. Patent Application Publication 2017 / 0281185;

[0361] - The U.S. patent application serial number 15 / 089,324 entitled “SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM” is now published as U.S. Patent Application Publication 2017 / 0281170;

[0362] - The U.S. patent application serial number 15 / 089,335 entitled “SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS” is now published as U.S. Patent Application Publication 2017 / 0281155;

[0363] - The U.S. patent application serial number 15 / 089,339 entitled “SURGICAL STAPLING INSTRUMENT” is now published as U.S. Patent Application Publication 2017 / 0281173;

[0364] - The U.S. patent application serial number 15 / 089,253 entitled “SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OFSTAPLES HAVING DIFFERENT HEIGHTS” is now published as U.S. Patent Application Publication 2017 / 0281177.

[0365] - The U.S. patent application serial number 15 / 089,304 entitled “SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET” is now published as U.S. Patent Application Publication 2017 / 0281188;

[0366] - The U.S. patent application serial number 15 / 089,331 entitled “ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS” is now published as U.S. Patent Application Publication 2017 / 0281180;

[0367] - The U.S. Patent Application Serial No. 15 / 089,336 entitled “STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES” is now published as U.S. Patent Application 2017 / 0281164;

[0368] - The U.S. patent application serial number 15 / 089,312 entitled “CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUESUPPORT” is now published as U.S. Patent Application Publication 2017 / 0281189;

[0369] - U.S. Patent Application Serial No. 15 / 089,309 entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM", now published as U.S. Patent Application Publication 2017 / 0281169; and

[0370] - The U.S. patent application serial number 15 / 089,349 entitled “CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL” is now published as U.S. Patent Application Publication 2017 / 0281174.

[0371] The applicant of this application also owns U.S. patent applications filed on December 30, 2015, each of which is incorporated herein by reference in its entirety:

[0372] - The U.S. patent application serial number 14 / 984,488 entitled “MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE INPOWERED SURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication 2017 / 0189018;

[0373] - U.S. Patent Application Serial No. 14 / 984,525, entitled “Mechanisms for Compensating for Drive Train Failure in Powered Surgical Instruments,” now published as U.S. Patent Application 2017 / 0189019; and

[0374] - U.S. Patent Application Serial No. 14 / 984,552 entitled “SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROLCIRCUITS” is now U.S. Patent No. 10,265,068.

[0375] 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:

[0376] - The U.S. patent application serial number 15 / 019,220 entitled “SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLYTRANSLATABLE END EFFECTOR” is now U.S. Patent 10,245,029;

[0377] - The U.S. patent application serial number 15 / 019,228 entitled “SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATIONARRANGEMENTS” is now published as U.S. Patent Application Publication 2017 / 0224342;

[0378] - The U.S. patent application serial number 15 / 019,196 entitled “SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT” is now published as U.S. Patent Application Publication 2017 / 0224330;

[0379] - The 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” is now published as U.S. Patent Application 2017 / 0224331;

[0380] - The U.S. patent application serial number 15 / 019,215 entitled “SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATIONARRANGEMENTS” is now published as U.S. Patent Application Publication 2017 / 0224332;

[0381] - The U.S. patent application serial number 15 / 019,227 entitled “ARTICULATIONLINK ARRANGEMENTS WITH SINGLE ARTICULATIONLINK ARRANGEMENTS” is now published as U.S. Patent Application Publication 2017 / 0224334;

[0382] - U.S. Patent Application Serial No. 15 / 019,235 entitled “SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLEDRIVEN ARTICULATION SYSTEMS” is now U.S. Patent No. 10,245,030;

[0383] - U.S. Patent Application Serial No. 15 / 019,230, entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAMARRANGEMENTS,” now published as U.S. Patent Application 2017 / 0224335; and

[0384] - The U.S. Patent Application Serial No. 15 / 019,245 entitled “SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS” is now published as U.S. Patent Application 2017 / 0224343.

[0385] 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:

[0386] - U.S. Patent Application Serial No. 15 / 043,254 entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS” is now U.S. Patent No. 10,258,331;

[0387] - The U.S. patent application serial number 15 / 043,259 entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication 2017 / 0231626;

[0388] - U.S. Patent Application Serial No. 15 / 043,275, entitled “Mechanisms for Compensating for Drive Train Failure in Powered Surgical Instruments,” now published as U.S. Patent Application 2017 / 0231627; and

[0389] - The U.S. Patent Application Serial No. 15 / 043,289 entitled “MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS” is now published as U.S. Patent Application 2017 / 0231628.

[0390] 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:

[0391] - 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;

[0392] - 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;

[0393] - U.S. Patent Application Serial No. 14 / 742,933 entitled “SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREEVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING” is now U.S. Patent No. 10,154,841.

[0394] - The U.S. patent application serial number 14 / 742,914 entitled “MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLESURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication 2016 / 0367255;

[0395] - The U.S. patent application serial number 14 / 742,900 entitled “ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAMSTRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT” is now published as U.S. Patent Application Publication 2016 / 0367254;

[0396] - U.S. Patent Application Serial No. 14 / 742,885, entitled “DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS,” now published as U.S. Patent Application Publication 2016 / 0367246; and

[0397] - 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.

[0398] 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:

[0399] - The U.S. patent application serial number 14 / 640,746 entitled “POWERED SURGICAL INSTRUMENT” is now U.S. Patent 9,808,246;

[0400] - The U.S. patent application serial number 14 / 640,795 entitled “MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWEREDSURGICAL INSTRUMENTS” is now published as U.S. Patent Application Publication 2016 / 02561185;

[0401] - 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.

[0402] - 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;

[0403] - 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. 9,895,148;

[0404] - 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;

[0405] - 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;

[0406] - 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.

[0407] - 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;

[0408] - The U.S. patent application serial number 14 / 640,765 entitled “SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGEINTO A SURGICAL STAPLER” is now published as U.S. Patent Application Publication 2016 / 0256160;

[0409] - 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

[0410] - 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.

[0411] 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:

[0412] - 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;

[0413] - 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.

[0414] - 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;

[0415] - 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.

[0416] - The U.S. patent application serial number 14 / 633,555 entitled “SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TOBE SERVICED” is now published as U.S. Patent Application Publication 2016 / 0249916;

[0417] - 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;

[0418] - U.S. Patent Application Serial No. 14 / 633,548 entitled “POWER ADAPTER FOR A SURGICAL INSTRUMENT”, now U.S. Patent No. 10,245,028;

[0419] - The U.S. patent application serial number 14 / 633,526 entitled “ADAPTABLE SURGICAL INSTRUMENT HANDLE” is now U.S. Patent 9,993,258;

[0420] - U.S. Patent Application Serial No. 14 / 633,541 entitled "MODULAR STAPLING ASSEMBLY", now U.S. Patent 10,226,250; and

[0421] - 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.

[0422] 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:

[0423] - 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.

[0424] - 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;

[0425] - 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;

[0426] - 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.

[0427] - 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.

[0428] - U.S. Patent Application Serial No. 14 / 575,143 entitled “SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS”, now U.S. Patent No. 10,004,501;

[0429] - 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;

[0430] - 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;

[0431] - U.S. Patent Application Serial No. 14 / 574,493, entitled “SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLEARTICULATION SYSTEM,” now U.S. Patent 9,987,000; and

[0432] - 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.

[0433] 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:

[0434] - 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;

[0435] - U.S. Patent Application Serial No. 13 / 782,323 entitled “ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS”, now U.S. Patent No. 9,782,169;

[0436] - 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;

[0437] - U.S. Patent Application Serial No. 13 / 782,499 entitled “ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAYARRANGEMENT”, now U.S. Patent No. 9,358,003;

[0438] - The U.S. patent application serial number 13 / 782,460 entitled “MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICALINSTRUMENTS” is now U.S. Patent 9,554,794;

[0439] - 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;

[0440] - 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.

[0441] - The U.S. Patent Application Serial No. 13 / 782,518 entitled “CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLEIMPLEMENT PORTIONS” is now published as U.S. Patent Application 2014 / 0246475;

[0442] - 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

[0443] - The U.S. patent application serial number 13 / 782,536 entitled “SURGICAL INSTRUMENT SOFT STOP” is now U.S. Patent 9,307,986.

[0444] 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:

[0445] - 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;

[0446] - 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;

[0447] - 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;

[0448] - 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;

[0449] - 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;

[0450] - The U.S. patent application serial number 13 / 803,148 entitled “MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT” is now published as U.S. Patent Application Publication 2014 / 0263554;

[0451] - 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;

[0452] - 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.

[0453] - U.S. Patent Application Serial No. 13 / 803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS", now U.S. Patent 9,351,727; and

[0454] - 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.

[0455] 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:

[0456] - The U.S. patent application serial number 14 / 200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS" is now U.S. Patent 9,629,629.

[0457] 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:

[0458] - 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;

[0459] - The U.S. patent application serial number 14 / 226,099 entitled “STERILIZATION VERIFICATION CIRCUIT” is now U.S. Patent 9,826,977;

[0460] - 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;

[0461] - 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;

[0462] - 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;

[0463] - 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.

[0464] - 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;

[0465] - 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;

[0466] - The U.S. patent application serial number 14 / 226,097 entitled “SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS” is now U.S. Patent 9,820,738;

[0467] - 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;

[0468] - 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;

[0469] - 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;

[0470] - 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;

[0471] - U.S. Patent Application Serial No. 14 / 226,111 entitled "SURGICAL STAPLING INSTRUMENT SYSTEM", now U.S. Patent 9,750,499; and

[0472] - 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.

[0473] 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:

[0474] - 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;

[0475] - 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;

[0476] - 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;

[0477] - 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;

[0478] - U.S. Patent Application Serial No. 14 / 479,110 entitled “POLARITY OF HALL MAGNET TO IDENTIFY CARTRIDGE TYPE” is now U.S. Patent No. 10,016,199;

[0479] - 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;

[0480] - 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

[0481] - 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.

[0482] 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:

[0483] - 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;

[0484] - 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;

[0485] - The U.S. patent application serial number 14 / 248,595 entitled “SURGICAL SYSTEM COMPRISING FIRST AND SECOND DRIVE SYSTEMS” is now U.S. Patent 9,844,368;

[0486] - The U.S. patent application serial number 14 / 248,588 entitled “POWERED LINEAR SURGICAL STAPLER” is now published as U.S. Patent Application Publication 2014 / 0309666;

[0487] - The U.S. patent application serial number 14 / 248,591 entitled “SURGICAL INSTRUMENT COMPRISING A GAP SETTING SYSTEM” is now U.S. Patent 10,149,680;

[0488] - 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;

[0489] - The U.S. patent application serial number 14 / 248,587 entitled “POWERED SURGICAL STAPLER” is now U.S. Patent 9,867,612;

[0490] - 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

[0491] - 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.

[0492] 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:

[0493] - U.S. Provisional Patent Application Serial No. 61 / 812,365 entitled “SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”;

[0494] - U.S. Provisional Patent Application Serial No. 61 / 812,376 entitled “LINEAR CUTTER WITH POWER”;

[0495] - U.S. Provisional Patent Application Serial No. 61 / 812,382 entitled “LINEAR CUTTER WITH MOTOR AND PISTOL GRIP”;

[0496] - U.S. Provisional Patent Application Serial No. 61 / 812,385 entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL"; and

[0497] - U.S. Provisional Patent Application Serial No. 61 / 812,372 entitled “SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”.

[0498] The applicant of this patent application owns the following U.S. provisional patent applications filed on December 28, 2017, the disclosure of each of which is incorporated herein by reference in its entirety:

[0499] - U.S. Provisional Patent Application Serial No. 62 / 611,341 entitled “INTERACTIVE SURGICAL PLATFORM”;

[0500] - U.S. Provisional Patent Application Serial No. 62 / 611,340 entitled "CLOUD-BASED MEDICAL ANALYTICS"; and

[0501] - U.S. Provisional Patent Application Serial No. 62 / 611,339 entitled “ROBOT ASSISTED SURGICAL PLATFORM”.

[0502] 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:

[0503] - U.S. Provisional Patent Application Serial No. 62 / 649,302 entitled “INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES”;

[0504] - U.S. Provisional Patent Application Serial No. 62 / 649,294 entitled “DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD”;

[0505] - U.S. Provisional Patent Application Serial No. 62 / 649,300 entitled “SURGICAL HUB SITUATIONAL AWARENESS”;

[0506] - U.S. Provisional Patent Application Serial No. 62 / 649,309 entitled “SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES INOPERATING THEATER”;

[0507] - U.S. Provisional Patent Application Serial No. 62 / 649,310 entitled “COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS”;

[0508] - 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”;

[0509] - U.S. Provisional Patent Application Serial No. 62 / 649,296 entitled “ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES”;

[0510] - U.S. Provisional Patent Application Serial No. 62 / 649,333 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION ANDRECOMMENDATIONS TO A USER”;

[0511] - U.S. Provisional Patent Application Serial No. 62 / 649,327 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES”;

[0512] - U.S. Provisional Patent Application Serial No. 62 / 649,315 entitled “DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICSNETWORK”;

[0513] - U.S. Provisional Patent Application Serial No. 62 / 649,313 entitled “CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES”;

[0514] - U.S. Provisional Patent Application Serial No. 62 / 649,320 entitled “DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”;

[0515] -Named "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-"

[0516] U.S. Provisional Patent Application Serial No. 62 / 649,307 for “Assisted Surgical Platters”; and

[0517] - U.S. Provisional Patent Application Serial No. 62 / 649,323 entitled “SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”.

[0518] The applicant of this application owns the following U.S. patent applications filed on March 29, 2018, each of which is incorporated herein by reference in its entirety:

[0519] - U.S. Patent Application Serial No. 15 / 940,641 entitled “INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES”;

[0520] - U.S. Patent Application Serial No. 15 / 940,648 entitled "INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES";

[0521] - U.S. Patent Application Serial No. 15 / 940,656 entitled “SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES”;

[0522] - U.S. patent application serial number 15 / 940,666 entitled “SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS”;

[0523] - U.S. patent application serial number 15 / 940,670 entitled "COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS";

[0524] - U.S. patent application serial number 15 / 940,677 entitled “SURGICAL HUB CONTROL ARRANGEMENTS”;

[0525] - U.S. patent application serial number 15 / 940,632 entitled “DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD”;

[0526] - U.S. Patent Application Serial No. 15 / 940,640 entitled "COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS";

[0527] - U.S. patent application serial number 15 / 940,645 entitled “SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT”;

[0528] - U.S. patent application serial number 15 / 940,649 entitled "DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITHAN OUTCOME";

[0529] - U.S. patent application serial number 15 / 940,654 entitled “SURGICAL HUB SITUATIONAL AWARENESS”;

[0530] - U.S. patent application serial number 15 / 940,663 entitled “SURGICAL SYSTEM DISTRIBUTED PROCESSING”;

[0531] - U.S. patent application serial number 15 / 940,668 entitled "AGGREGATION AND REPORTING OF SURGICAL HUB DATA";

[0532] - U.S. patent application serial number 15 / 940,671 entitled “SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES INOPERATING THEATER”;

[0533] - U.S. patent application serial number 15 / 940,686 entitled “DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEARSTAPLE LINE”;

[0534] - U.S. patent application serial number 15 / 940,700 entitled "STERILE FIELD INTERACTIVE CONTROL DISPLAYS";

[0535] - U.S. patent application serial number 15 / 940,629 entitled “COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS”;

[0536] - U.S. Patent Application Serial No. 15 / 940,704 entitled “USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINEPROPERTIES OF BACK SCATTERED LIGHT”;

[0537] - U.S. Patent Application Serial No. 15 / 940,722 entitled “Characterization of Tissue Irregularities Through the Use of Mono-Chromatic Light Refraction”; and

[0538] - U.S. Patent Application Serial No. 15 / 940,742 entitled “DUAL CMOS ARRAY IMAGING”.

[0539] The applicant of this application owns the following U.S. patent applications filed on March 29, 2018, each of which is incorporated herein by reference in its entirety:

[0540] - U.S. Patent Application Serial No. 15 / 940,636 entitled “ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES”;

[0541] - U.S. patent application serial number 15 / 940,653 entitled “ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS”;

[0542] - U.S. patent application serial number 15 / 940,660 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION ANDRECOMMENDATIONS TO A USER”;

[0543] - U.S. Patent Application Serial No. 15 / 940,679 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGETRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET”;

[0544] - U.S. Patent Application Serial No. 15 / 940,694 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION”;

[0545] - U.S. Patent Application Serial No. 15 / 940,634 entitled “CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES”;

[0546] - U.S. patent application serial number 15 / 940,706 entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICSNETWORK"; and

[0547] - U.S. Patent Application Serial No. 15 / 940,675 entitled “CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES”.

[0548] The applicant of this application owns the following U.S. patent applications filed on March 29, 2018, each of which is incorporated herein by reference in its entirety:

[0549] - U.S. patent application serial number 15 / 940,627 entitled “DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”;

[0550] - U.S. patent application serial number 15 / 940,637 entitled “COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICALPLATFORMS”;

[0551] - U.S. Patent Application Serial No. 15 / 940,642 entitled “CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”;

[0552] - U.S. Patent Application Serial No. 15 / 940,676 entitled “AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICALPLATFORMS”;

[0553] - U.S. patent application serial number 15 / 940,680 entitled "CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";

[0554] - U.S. Patent Application Serial No. 15 / 940,683 entitled “COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICALPLATFORMS”;

[0555] - U.S. Patent Application Serial No. 15 / 940,690 entitled "DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; and

[0556] - U.S. Patent Application Serial No. 15 / 940,711 entitled “SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS”.

[0557] 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.

[0558] 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.

[0559] 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.

[0560] 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.

[0561] 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.

[0562] 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.

[0563] 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.

[0564] 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.

[0565] Surgical instruments 10000 shown Figure 1 Surgical instrument 10000 includes a handle 10100, a shaft 10200 extending from the handle 10100, and an end effector 10400. The end effector 10400 includes a first jaw 10410 configured to receive a staple cartridge and a second jaw 10420 movable relative to the first jaw 10410. The second jaw 10420 includes an anvil with a staple-forming recess defined therein. Surgical instrument 10000 also includes a closure actuator 10140 configured to actuate a closure system of the surgical instrument 10000 and move the second jaw 10420 between an unclamped position and a clamped position. (Reference) Figure 3 The closing actuator 10140 is operatively coupled to the closing tube 10240, which is advanced distally when the closing actuator 10140 closes. In this configuration, the closing tube 10240 contacts the second jaw and, driven by a cam, / or pushes the second jaw 10420 downward into its clamping position. The second jaw 10420 is pivotally coupled to the first jaw about a pivot axis. That is, in an alternative embodiment, the second jaw is translatable and rotatable as it moves into its clamping position. Furthermore, in various alternative embodiments, the surgical instrument includes a staple cartridge jaw capable of moving relative to the anvil jaw between an unclamped and clamped positions. In any case, the handle 10100 includes a lock configured to releasably retain the closing actuator 10140 in its clamped position. The handle 10100 also includes release actuators 10180a and 10180b, which, when either release actuator is actuated, unlock the closing actuator 10140, allowing the end effector to be reopened. In various alternative embodiments, the handle 10100 includes an electric motor configured to move the closing tube 10240 proximally and / or distally when actuated by a clinician.

[0566] An end effector 10400 is attached to a shaft 10200 about a joint joint 10500 and is rotatable in a plane about a joint axis. Shaft 10200 defines a longitudinal axis, and the end effector 10400 is articulated between a position where the end effector 10400 is aligned with the longitudinal axis and a position where the end effector 10400 extends at a lateral angle relative to the longitudinal axis. A handle 10100 includes an electric motor and a control system configured to control the operation of the electric motor. The electric motor includes a brushless DC motor; however, the electric motor may include any suitable motor, such as a brushed DC motor. The full disclosure of U.S. Patent 10,149,683, entitled “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,” published December 11, 2018, is incorporated herein by reference. The entire disclosure of U.S. Patent Application Publication 2018 / 0125481, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT," published on May 10, 2018, is incorporated herein by reference. The handle 10100 also includes a replaceable and / or rechargeable battery 10300, which is attachable to the handle housing and powers the surgical instrument 10000. The entire disclosure of U.S. Patent 8,632,525, entitled "POWER CONTROLARRANGEMENTS FOR SURGICAL INSTRUMENTS AND BATTERIES," published on January 21, 2014, is incorporated herein by reference. An electric motor is operatively coupled to the firing drive 10250 of the surgical instrument 10000 and is configured to drive the firing member of the firing drive 10250 through a pin firing stroke. The electric motor includes a rotatable output element comprising a gear that engages with a translational rack of the firing drive 10250. The electric motor operates in a first direction to drive the firing member through a nail firing stroke, and operates in a second direction or the opposite direction to retract the firing member and / or reset the firing drive 10250. The surgical instrument 10000 also includes an actuator 10150 in communication with the motor control system, which, when actuated or rotated, signals the motor control system to operate the electric motor in the first direction and initiate the nail firing stroke. If the actuator 10150 is released, the motor control system stops the electric motor. When the actuator 10150 is re-actuated, the motor control system again operates the electric motor in the first direction to continue the nail firing stroke. When the firing member reaches the end of the nail firing stroke, the control system stops the electric motor, awaiting input from the clinician.When the clinician releases actuator 10150 at this time, the control system reverses the operation of the electric motor to retract the firing member back to its non-firing position. The handle 10100 also includes a retraction actuator in communication with the motor control system, which, when actuated by the clinician, reverses the direction of the electric motor to retract the firing drive. When the retraction actuator is depressed, the firing stroke terminates regardless of whether the firing member has reached the end of the firing stroke.

[0567] The electric motor of the surgical instrument 10000 is also used to selectively drive the articulation drive system to cause the end effector 10400 to articulate. More specifically, the articulation drive system includes an articulation actuator capable of selectively engaging with a firing drive, and when the articulation actuator is engaged with the firing drive, the articulation actuator can be moved proximally and distally by the operation of the electric motor to cause the end effector 10400 to articulate. When the electric motor operates in its first direction, in this case, the end effector 10400 articulates in the first direction to push the articulation actuator distally. Similarly, when the electric motor operates in its second direction, the end effector 10400 articulates in the second direction to pull the articulation actuator proximally. When the articulation actuator is not engaged with the firing drive, the operation of the electric motor does not cause the end effector 10400 to articulate. Instead, in this case, the electric motor only moves the firing drive. In other words, it should be understood that the articulation of the end effector 10400 by the firing drive does not result in the firing stroke of the nail. The range of motion required to articulate the end effector 10400 is smaller than the range of motion required for the nail firing stroke, and occurs near the beginning of the firing stroke, such that the nail is not ejected and tissue is not cut during the articulation of the end effector 10400. The surgical instrument 10000 also includes an articulation lock that unlocks when the articulation actuator is longitudinally moved by the firing drive and then locks the end effector 10400 in place when the articulation actuator is not driven by the firing drive. The entire disclosure of U.S. Patent 9,629,629, entitled “CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS”, published April 25, 2017, is incorporated herein by reference. As described above, in addition to the firing motor for driving the articulation drive system, the surgical instrument may also include a separate articulation motor.

[0568] In addition to the above, see reference Figure 2The handle 10100 includes a frame 10110, a housing 10120, and a joint motion actuator 10160. The joint motion actuator 10160 includes, for example, a rocker switch, which is vertically oriented on the housing 10120 and communicates with a motor control system. The rocker switch is rotatable up and down about an axis to cause the end effector 10400 to perform joint motion. A clinician pushes the upper portion of the joint motion actuator 10160 to cause the end effector 10400 to perform joint motion to the left, and pushes the lower portion of the joint motion actuator 10160 to cause the end effector 10400 to perform joint motion to the right. This arrangement provides a visually intuitive engagement for the clinician; however, any other suitable arrangement may be used. The handle 10100 also includes a return actuator 10170 communicated with the motor control system. When the return actuator 10170 is actuated by a clinician, the motor control system operates the electric motor to recenter the end effector 10400 along the longitudinal axis of the shaft 10200 of the surgical instrument 10000. For this purpose, the control system is configured to track the position of the end effector so that when the return actuator 10170 is actuated, the control system operates the electric motor in the correct direction so that the end effector 10400 performs joint movement in the correct direction and with the correct amount. In various cases, the surgical instrument 10000 includes a linear encoder, which is configured, for example, to track the position of the joint motion actuator, so that when the return actuator 10170 is actuated, the control system can appropriately center the end effector 10400.

[0569] In addition to the above, the shaft 10200 is rotatable relative to the handle 10100. The shaft 10200 includes a frame 10210 attached to a frame 10110 of the handle 10100. In an embodiment where the shaft 10200 can be easily removed from the handle 10100, the shaft frame 10210 is separable from the handle frame 10110. In an embodiment where the shaft 10200 cannot be removed from the handle 10100, the shaft frame 10210 and the handle frame 10110 may be integrally formed. In any case, the shaft 10200 includes a nozzle or grip 10220 fixedly mounted to a closed tube 10240. The grip 10220 includes finger grooves 10222 defined therein and ridges 10224 extending between the finger grooves 10222, the ridges providing walls against which clinicians can push their fingers and assist clinicians in rotating axis 10200 about its longitudinal axis.

[0570] It is worth noting that, in addition to the above, the end effector 10400 rotates with the shaft 10200 as the shaft 10200 rotates about its longitudinal axis. Therefore, the end effector 10400 rotates clockwise when the shaft 10200 is rotated clockwise by the clinician, and counterclockwise when the shaft 10200 is rotated counterclockwise by the clinician. In various alternative embodiments, the surgical instrument 10000 includes an electric motor configured to rotate the shaft 10200 about its longitudinal axis. In any case, the shaft 10200 is rotatable from a top dead center (TDC) position to any other suitable position within a full 360-degree range, in which the anvil 10420 is positioned directly above the staple cartridge jaws 10410. For example, shaft 10200 can be rotated to a 90-degree right position or a 90-degree left position. In the 90-degree right position, anvil 10420 faces the right side of handle 10100, and in the 90-degree left position, anvil 10420 faces the left side of handle 10100. Shaft 10200 can also be rotated to a bottom dead center (BDC) position, in which the staple cartridge jaws 10410 are positioned directly above anvil 10420.

[0571] As described above, the end effector 10400 is capable of both articulation about the articulation joint 10500 and rotation with the axis 10200. As described above, when the end effector 10400 is in its TDC position, the articulation control 10160 is intuitive to the user as the end effector 10400 rotates in the plane—pushing up to articulate to the left and pushing down to articulate to the right. This arrangement remains intuitive even after the axis 10200 and the end effector 10400 have rotated 90 degrees to the right or left. However, when the axis 10200 and the end effector 10400 have rotated 90 degrees in either direction, the articulation control 10160 can become counter-intuitive to the clinician. In fact, the articulation control 10160 can appear rearward. Accordingly, the control system of the surgical instrument 10000 is configured to switch the surgical instrument's response to the joint motion control 10160 when the shaft 10200 and the end effector 10400 have rotated 90 degrees in either direction. In this case, the control becomes: pushing upward to perform joint movement to the right, and pushing downward to perform joint movement to the left. For this purpose, as described in more detail below, the surgical instrument 10000 is configured to detect the orientation of the shaft 10200 relative to the handle 10100, i.e., the surgical instrument is configured to detect whether the end effector 10400 is at least partially inverted relative to the handle 10100, and then enter an alternative operating control mode in which the responsiveness of the surgical instrument 10000 to the joint motion control 10160 has been reversed. This arrangement makes the surgical instrument 10000 easier to use in various situations.

[0572] refer to Figures 2 to 5 The surgical instrument 10000 includes a switch 10130 mounted to a handle 10100 and communicating with a control system configured to detect rotation of a shaft 10200 relative to the handle 10100. The switch 10130 includes a switch body 10132 fixedly mounted to a handle frame 10110 and three electrical contacts 10133, which are part of a switching circuit communicating with the control system. The switch 10000 also includes a switch arm 10134 rotatably connected to the switch body 10132 and electrical contacts 10136 positioned on the switch body 10132. The switch arm 10134 is made of a conductive material (such as brass), and when the switch arm 10134 contacts the electrical contacts 10136, the switch arm closes the switching circuit. When the shaft 10200 rotates through a 90-degree position to the left or right, the switch arm 10134 is in the open position. Figure 5The switch arm 10134 rotates between a closed position and a closed position. More specifically, the grip or nozzle 10220 includes a cam 10230 defined thereon, which pushes the switch arm 10134 into its closed position when the shaft 10200 and the end actuator 10400 are at least partially inverted. When the shaft 10200 rotates upward through a 90-degree position, the cam 10230 allows the switch arm 10134 to resiliently move back to its open position and disconnect the switching circuit. The switch arm 10134 includes a roller 10135 mounted thereon to facilitate relative rotation between the switch arm 10134 and the grip 10220.

[0573] Surgical Instrument 11000 is shown Figure 6 Surgical instrument 11000 is similar to surgical instrument 10000 in many respects. Surgical instrument 11000 includes a handle 11100 and a shaft 11200 extending from the handle 11100. The handle 11100 includes a frame 11110, and the shaft 11200 includes a frame 11210 attached to the handle frame 11110. The shaft 11200 includes a grip or nozzle 11220, a first magnetic element 11230s positioned on one side of the grip 11220, and a second magnetic element 11230n positioned on the opposite side of the grip 11220. In other words, the first magnetic element 11230s and the second magnetic element 11230n are mounted 180 degrees apart. The handle 11100 also includes a control system comprising at least one sensor 11130, such as a Hall effect sensor, mounted to the handle frame 11110. This sensor is configured to sense the positions of magnetic elements 11230s and 11230n and use this information to determine the orientation of the shaft 11200 relative to the handle 11100. Notably, the first magnetic element 11230s comprises a permanent magnet having a south pole facing the handle 11100 and a north pole facing away from the handle 11100, and the second magnetic element 11230n comprises a permanent magnet having a north pole facing the handle 11100 and a south pole facing away from the handle 11100. Magnetic elements 11230s and 11230n interfere with the magnetic field emitted by the Hall effect sensor, and when the shaft 11200 is at least partially inverted, the interference associated with this orientation of the shaft 11200 is detected by the control system of the surgical instrument 11000 via a sensing circuit including sensor 11130. In such cases, similar to the above, the control system enters its second operating mode, which responsively switches the surgical instrument 11000 to the joint motion control element 10160 as described above.

[0574] Surgical Instruments 12000 are shown Figure 7 and Figure 8Surgical instrument 12000 is similar to surgical instrument 10000 in many respects. Surgical instrument 12000 includes a handle 12100 and a shaft 12200 extending from the handle 12100. The handle 12100 includes a housing, a first articulation control 12160a positioned on a first side of the handle housing, and a second articulation control 12160b positioned on a second side or opposite side of the handle housing. The first articulation control 12160a is communicated with the control system of surgical instrument 12000 via a first control circuit, and the second articulation control 12160b is communicated with the control system via a second control circuit. The control system is configured to operate the electric motor of the pin-firing drive in a first direction when the first joint motion control member 12160a is actuated, causing the end effector of shaft 12200 to articulate in the first direction, and to operate the electric motor of the pin-firing drive in a second direction or the opposite direction when the second joint motion control member 12160b is actuated, causing the end effector to articulate in the second direction or the opposite direction. The handle 12100 also includes a centering actuator or return actuator 10170a positioned on a first side of the handle 12100 and a second centering actuator or second return actuator 10170b positioned on a second side of the handle 12100. Similarly, actuators 10170a and 10170b are in communication with a control system configured such that actuation of either centering actuator 10170a or 10170b causes the control system to operate the electric motor to recenter the end effector.

[0575] Surgical Instruments 13000 are shown Figure 9 and Figure 10Surgical instrument 13000 is similar to surgical instrument 10000 in many respects. Surgical instrument 13000 includes a handle 13100 and a shaft 13200 extending from the handle 13100. Shaft 13200 includes a housing, a first articulation control 13260a positioned on a first side of the shaft housing, and a second articulation control 13260b positioned on a second side or opposite side of the shaft housing. The first articulation control 13260a is communicated with the control system of surgical instrument 13000 via a first control circuit, and the second articulation control 13260b is communicated with the control system via a second control circuit. The control system is configured to operate the electric motor of the pin-firing drive device in a first direction when the first joint motion control member 13260a is actuated, causing the end effector 10400 of the shaft 13200 to perform joint movement in the first direction, and to operate the electric motor of the pin-firing drive device in a second direction or the opposite direction when the second joint motion control member 13260b is actuated, causing the end effector 10400 to perform joint movement in the second direction or the opposite direction. In other words, the end effector 10400 performs joint movement in the direction of the actuated joint motion control member. The first joint motion control member 13260a is positioned on a first finger ridge defined on the grip or nozzle 13220 of the shaft 13200, and the second joint motion control member 13260b is positioned on a second finger ridge defined on the grip 13220. Notably, the joint motion control members 13260a and 13260b are positioned 180 degrees apart. Alternatively, the joint movement controls 13260a and 13260b may be positioned in finger grooves defined in the grip 13220, but any suitable arrangement may be used. This arrangement provides the advantage of placing the joint movement controls in a position easily accessible to the clinician's hand during use, and therefore, they can be used in an intuitive manner, as the relative arrangement and direction of joint movement of the joint movement controls 13260a and 13260b are fixed.

[0576] Surgical instruments 14000 are shown Figure 11 and Figure 12Surgical instrument 14000 is similar in many respects to surgical instrument 13000. Surgical instrument 14000 includes a handle 13100 and a shaft 14200 extending from the handle 13100. Shaft 14200 includes a housing, a first articulation control 14260a positioned on a first side of the shaft housing, and a second articulation control 14260b positioned on a second side of the shaft housing. The first articulation control 14260a is communicated with the control system of surgical instrument 14000 via a first control circuit, and the second articulation control 14260b is communicated with the control system via a second control circuit. The control system is configured to operate the electric motor of the pin-firing drive in a first direction when the first joint motion control member 14260a is actuated, causing the end effector 10400 of the shaft 14200 to articulate in the first direction, and to operate the electric motor of the pin-firing drive in a second direction or the opposite direction when the second joint motion control member 14260b is actuated, causing the end effector 10400 to articulate in the second direction or the opposite direction. The first joint motion control member 14260a is positioned in a first finger groove defined in the grip or nozzle 14220 of the shaft 14200, and the second joint motion control member 14260b is positioned in a second finger groove defined in the grip 14220, but any suitable arrangement may be used.

[0577] In addition to the above, shaft 14200 also includes a third joint motion control member 14260c positioned on a second side of the shaft housing and a fourth joint motion control member 14260d positioned on a first side of the shaft housing. The third joint motion control member 14260c is connected to the control system of the surgical instrument 14000 via a third control circuit, and the fourth joint motion control member 14260b is connected to the control system via a fourth control circuit. The control system is configured to operate the electric motor of the pin-firing drive device in a second direction when the third joint motion control member 14260c is actuated, causing the end effector of shaft 14200 to perform joint movement in the second direction, and to operate the electric motor of the pin-firing drive device in a first direction when the fourth joint motion control member 14260d is actuated, causing the end effector to perform joint movement in the first direction. The third joint motion control 14260c is positioned in the third finger groove of the grip 14220 defined in the shaft 14200, and the fourth joint motion control 14260d is positioned in the fourth finger groove defined in the grip 14220, but any suitable arrangement may be used.

[0578] Surgical instruments 15000 are shown Figure 13Surgical instrument 15000 is similar in many respects to surgical instrument 10000. Surgical instrument 15000 includes a handle 15100 and a shaft 10200 extending from the handle 15100. The handle 15100 includes a joint motion actuator 15160 in communication with the control system of surgical instrument 15000. Unlike the vertically arranged joint motion actuator 10160, the joint motion actuator 15160 is arranged horizontally. The joint motion actuator 15160 includes a rotatable element capable of rotating in a plane parallel to or at least substantially parallel to the longitudinal axis of shaft 10200. The rotatable element is capable of rotating distally to move end effector 10400 articulated to the right side of handle 15100 and proximally to move end effector 10400 articulated to the left side of handle 15100. This is true regardless of whether the end effector 10400 rotates upwards or downwards, because the control responsiveness jumps when the end effector 10400 rotates 90 degrees from its TDC position in either direction. That is, the control element of the articulation actuator 15160 can be reversed as described above. The articulation actuator 15160 includes a distal contact as part of a first articulation control circuit and a proximal contact as part of a second articulation control circuit. When the rotatable element is in its distal position, the rotatable element engages the distal contact and closes the first articulation control circuit. When the rotatable element is in its distal position, the rotatable element does not contact the proximal contact, and therefore the second articulation control circuit is open. Similarly, when the rotatable element is in its proximal position, the rotatable element engages the proximal contact and closes the second articulation control circuit. Correspondingly, when the rotatable element is in its proximal position, the rotatable element does not contact the distal contact, and therefore the first articulation control circuit is open.

[0579] In addition to the above, the joint actuator 15160 includes a stop located in the middle of the range of motion of the rotatable element. The stop is configured to resist the movement of the rotatable element as it moves from one side of the joint actuator 15160 to the other. This resistance to the movement of the rotatable element signals to the clinician that once the clinician moves the rotatable element past that point, they will cause the end effector 10400 to perform joint movement in the opposite direction. Furthermore, such a stop provides a position to stop the rotatable element so that the end effector 10400 does not perform joint movement in either direction. The rotatable element includes a ridge that can be aligned with its central or stopping position, which the clinician can push and pull to move the rotatable element. Such a ridge provides the clinician with a tactile sense of the direction of rotation of the rotatable element, and thus provides a tactile sense of the direction of joint movement by the end effector 10400.

[0580] As described above, various embodiments are envisioned in which the jump in the control responsiveness of the surgical instrument can be prevented. In at least one case, the handle of the surgical instrument includes an actuator in communication with a control system, which, when actuated, prevents the control system from entering its second operating mode or jump operating mode. In at least one such case, the handle also includes an indicator, such as a light-emitting diode (LED), which is illuminated to indicate the state of the surgical instrument, i.e., whether the articulation control will jump when the end effector rotates 90 degrees from its TDC position. In some cases, the surgical instrument includes an input screen in communication with a microprocessor of the control system, which can receive input to prevent the control system from entering its second operating mode or jump operating mode. In addition to or instead of the above, the jump point for the surgical instrument to enter its second operating mode can be adjusted. In at least one such embodiment, the clinician can, for example, modify the jump point to 85 degrees from either direction of the TDC position of the end effector. Any suitable number (such as 80 degrees, 95 degrees, or 100 degrees) can be used to suit the clinician's preference. In at least one embodiment, the surgical instrument includes an input screen connected to a microprocessor of the control system, the input screen being configured to receive input from a clinician to adjust the joint movement control jump point.

[0581] During use, it is desirable that the joint motion control device does not accidentally jump while the clinician is using it. When the clinician begins to move the end effector into the joint, the control system maintains the joint motion control mode until the clinician releases the joint motion control device, even if the end effector and shaft have rotated past the jump point during the joint motion. Once the joint motion has stopped, the control system can redirect the joint motion control device, or switch to the jump joint motion control mode if the end effector and shaft are still in the inverted position. In some embodiments, the control system does not immediately jump the joint motion control device. Instead, the control system includes timer circuitry and / or the microprocessor of the control system is programmed to wait a certain amount of time before jumping the control device. In at least one case, the control system waits, for example, 5 seconds from the last time the joint motion control device was used, before jumping the joint motion control device. Alternatively, the control system may wait, for example, 2 seconds or 10 seconds. Such an arrangement can help prevent confusion with the user of the surgical instrument. In various embodiments, the surgical instrument includes a tactile feedback generator in communication with the control system, which is activated by the control system when the joint motion control device is jumped. Feedback can be provided, for example, from motor noise, light, sound, and / or vibration. In some embodiments, the shaft and / or shank include a mechanical switch that audibly clicks as the shaft rotates through its pivot point in either direction.

[0582] Figure 56 and Figure 57A surgical instrument 32000 is shown, comprising a handle 32100 and a shaft 32200. The handle 32100 includes a joint motion control element 32160 and a joint motion jump switch 32130, which are communicated with the control system of the surgical instrument 32000. The joint motion jump switch 32130 is mounted to a control board, such as a printed circuit board (PCB), which includes hardware and software for the control system of the surgical instrument 32000. When the shaft 32200 rotates through its 90-degree left or right position, the shaft 32200 contacts the joint motion jump switch 32130, which is detected by the control system. At this time, the control system follows an algorithm to determine when or whether to jump the joint motion control element. Algorithm 32900 in... Figure 58 As shown, this can be controlled, but any suitable algorithm can be used. Similar to the above, shaft 32200 includes a cam 32230 configured to engage the articulated toggle switch 32130. For the reasons described above, the articulated toggle switch 32130 is disengaged or “off” when shaft 32200 rotates 180 degrees, and closed or “on” when shaft 32200 rotates another 180 degrees. Cam 32230 is molded into a housing of shaft 32200, but can include any suitable arrangement. As mentioned above, the travel of cam 32230 is designed such that any lateral float or eccentricity during rotation of shaft 32200 or cam 32230 will not accidentally close or open the articulated toggle switch 32130. For this purpose, shaft 32200 includes a fixed bearing for controlling the rotation of shaft 32200 and cam 32230. Notably, the articulated toggle switch 32130 is sealed to prevent fluid ingress.

[0583] In various cases, the surgical instrument includes an input element configured to allow a clinician to select whether the joint motion control element operates in its normal joint motion control mode or its skipped joint motion control mode. In at least one case, the handle of the surgical instrument includes an input switch in communication with the instrument's control system. For example, when the input switch is open, an algorithm controls the orientation of the joint motion control element according to a predefined set of criteria. When the input switch is closed by the clinician, the algorithm does not use the predefined set of criteria to control the orientation of the joint motion control element. Instead, the algorithm uses the orientation of the joint motion control element selected by the clinician. In at least one case, the handle includes three input switches in communication with the control system: a first switch indicating that the control system uses an "anvil up" joint motion control element; a second switch indicating that the control system uses an "anvil down" joint motion control element; and a third switch indicating that the control system uses an automatic control element. In some embodiments, the surgical instrument does not have the automatic skipped control element described herein and may include only the first and second switch input elements. Such an arrangement can significantly reduce the cost and / or complexity of the surgical instrument.

[0584] In various cases, in addition to those described above, the jump point can be a specific point during the rotation of axis 10200. In some cases, refer to... Figure 55A gray zone may exist around the jump point. For example, the gray zone may include, for instance, a 20-degree angle with either side of the jump point. When shaft 10200 is in the gray zone, the control system algorithm is configured to avoid jumping the joint motion control, even if shaft 10200 may have rotated past the jump point. This arrangement allows shaft 10200 to rotate back and forth within the gray zone without repeatedly jumping the joint motion control. However, once shaft 10200 rotates out of the gray zone, the control system algorithm jumps the joint motion control, depending on any other criteria required for jumping the joint motion control. In various cases, there is a joint between the "anvil-up" orientation range and the "anvil-down" orientation range. For shafts capable of rotating 360 degrees, there are two such joints spaced 180 degrees apart. Each of these joints is located within the transition range of the orientation, which extends into both the "anvil-up" and "anvil-down" orientation ranges. When shaft 10200 rotates from the "anvil-up" orientation into the transition range, the control system does not trip the joint motion control; however, further rotating shaft 10200 out of the transition range into the "anvil-down" orientation will cause the joint motion control to trip. Similarly, when shaft 10200 rotates from the "anvil-down" orientation into the transition range, the control system does not trip the joint motion control; however, further rotating shaft 10200 out of the transition range into the "anvil-up" orientation will cause the joint motion control to trip. In at least one case, each transition zone includes, for example, a 5-degree orientation from the "anvil-up" range and a 5-degree orientation from the "anvil-down" range. In other embodiments, for example, each transition zone includes, for example, a 10-degree orientation from the "anvil-up" range and a 10-degree orientation from the "anvil-down" range.

[0585] In various embodiments, in addition to those described above, the upward and downward orientation of shaft 10200 are measured relative to a rotatable support and / or housing. In such cases, the support includes a top and a bottom (regardless of its gravity orientation), and the upward orientation of shaft 10200 is associated with the top of the support, while the downward orientation of shaft 10200 is associated with the bottom of the support. In at least one such embodiment, shaft 10200 includes a gravity sensor, such as an accelerometer and / or gyroscope, and the support includes a gravity sensor. In such embodiments, the shaft gravity sensor and the support gravity sensor are in communication with a control system configured to use data from the gravity sensors to evaluate the relative orientation between the shaft and the support. In other embodiments, the upward and downward orientation of shaft 10200 are measured relative to gravity, regardless of the gravity orientation of the support. In at least one such embodiment, shaft 10200 includes a gravity sensor in communication with a control system, and the upward orientation of shaft 10200 is associated with a vertically upward position, while the downward orientation of shaft 10200 is associated with a vertically downward position.

[0586] Figure 14 The diagram illustrates a joint motion control element 16160. The joint motion control element 16160 includes a first capacitive switch 16162 and a second capacitive switch 16164. The first capacitive switch 16162 and the second capacitive switch 16164 are positioned on opposite sides of axis 16167. The first capacitive switch 16162 is part of a first joint motion control circuit communicated with a control system of a surgical instrument, and the second capacitive switch 16164 is part of a second joint motion control circuit communicated with the control system. When a clinician places their finger on the first capacitive switch 16162, the capacitance of the first capacitive switch 16162 changes, this change is detected by the control system, and in response to this change, the control system causes the end effector of the surgical instrument to perform a rightward joint motion. When a clinician places their finger on the second capacitive switch 16164, the capacitance of the second capacitive switch 16164 changes, this change is detected by the control system, and in response to this change, the control system causes the end effector of the surgical instrument to perform a leftward joint motion. In all cases, axis 16167 includes a dead zone, which, if touched by a clinician, cannot detectably or sufficiently change the capacitance of the first capacitive switch 16162 or the second capacitive switch 16164.

[0587] Figure 15 A two-stage switch 17160 is shown. When switch 17160 is pressed into its first stage, a first joint motion control circuit is closed. The first joint motion control circuit is in communication with the control system of a surgical instrument. When the control system detects that the first joint motion control circuit is closed, the control system operates a joint motion drive motor in a first direction to cause the end effector of the surgical instrument to perform joint motion in the first direction. When switch 17160 is pressed into its second stage, a second joint motion control circuit is closed. In various cases, the first stage includes a first stop, and the second stage includes a second stop. In at least one such case, switch 17160 includes, for example, a double-stop switch pressable to two different depths. In any case, the second joint motion control circuit is in communication with the control system of the surgical instrument. When the control system detects that the second joint motion control circuit is closed, the control system operates a joint motion drive motor in a second direction to cause the end effector of the surgical instrument to perform joint motion in the second direction. In addition to the above, the second joint motion control circuit is open when the first joint motion control circuit is closed, and similarly, the first joint motion control circuit is open when the second joint motion control circuit is closed. As described above, in an alternative embodiment, the joint motion control circuit can be disconnected when it is in the corresponding stage of operating the joint motion motor.

[0588] In addition to the above, many clinicians prefer to look at the patient during open surgery and / or at the endoscopic monitor during laparoscopic surgery. Therefore, clinicians typically do not look at the surgical instruments they hold, but rely on the tactile feel and / or intuitive design of the instruments to manipulate them. In other words, clinicians may not like to look down at the handles of the instruments they hold to verify that they are directionally guiding the instruments for joint movement. That is, referencing Figure 16 and Figure 17 Surgical instruments may include a shaft 18200 that includes indicator lights configured to indicate the direction of joint movement of an end effector (such as end effector 18400). The joint movement indicator lights are visible to the clinician when they are viewing the end effector 18400 of the surgical instrument directly or via an endoscope system monitor. In various cases, the endoscope system includes an elongated flexible shaft that includes a camera, lights, and / or any other suitable optics in communication with a control hub that includes a control system and / or a video monitor configured to display the camera's output. In such cases, the end effector 18400 and the indicator lights are visible on the video monitor.

[0589] In addition to the above, please refer to the following: Figure 16 and Figure 17 Shaft 18200 includes a first indicator light 18260a positioned on the right side of end effector 18400, which is connected to the control system of the surgical instrument via a first circuit. When the control system receives an input to move the end effector 18400 to the right, the control system operates a joint motion drive motor in the direction of the rightward joint movement and illuminates the first indicator light 18260a. When the control system no longer receives the input, it deactivates the joint motion drive motor and the first indicator light 18260a. Similarly, shaft 18200 includes a second indicator light 18260b positioned on the left side of end effector 18400, which is connected to the control system of the surgical instrument via a second circuit. When the control system receives an input to move the end effector 18400 to the left, the control system operates a joint motion drive motor in the direction of the leftward joint movement and illuminates the second indicator light 18260b. When the control system no longer receives this input, the control system deactivates the joint motion drive motor and the second indicator light 18260b.

[0590] As described above, the first indicator light 18260a and the second indicator light 18260b are positioned at a location on the end effector 18400 that is easily visible to the clinician when looking at the end effector 18400. Indicator lights 18260a and 18260b are positioned distally relative to the articulation joint 10500; however, in an alternative embodiment, indicator lights 18260a and 18260b are positioned proximally relative to the articulation joint 10500. In various embodiments, the surgical instrument includes more than one set of indicator lights. In at least one such embodiment, the first set of indicator lights 18260a, 18260b is positioned distally relative to the articulation joint 10500, and the second set of indicator lights 18260a, 18260b is positioned proximally relative to the articulation joint 10500. An alternative embodiment including indicator lights 18260a' and 18260b' on the shaft 18200'... Figure 18 As shown in the diagram. Indicator light 18260a' includes an LED shaped like a right-pointing arrow, while indicator light 18260b' includes an LED shaped like a left-pointing arrow. The right-pointing arrow 18260a' points to the right side of the end effector, but due to the possible rotation of shaft 18200', it may not necessarily point to the right side of the surgical instrument handle and / or the clinician. Similarly, the left-pointing arrow 18260b' points to the left side of the end effector, but due to the possible rotation of shaft 18200', it may not necessarily point to the left side of the surgical instrument handle and / or the clinician. In other words, the arrow, when illuminated, points in the direction in which the end effector is performing joint movement. For example, assuming the arrow is visible on an endoscope monitor using the end effector, when the arrow is illuminated when the joint movement actuator is actuated, the clinician will have a sense of the direction of the end effector's movement. If the clinician observes an illuminated arrow opposite to what they expected when actuating the joint movement actuator, the clinician can react quickly and re-actuate the joint movement actuator in the correct direction. In various alternative embodiments, arrows 18260a' and 18260b' can change color when the articulation actuator is actuated. For example, arrow 18260a' is illuminated red when the end effector is not articulating to the right, and green when the end effector is articulating to the right. Similarly, arrow 18260b' is illuminated red when the end effector is not articulating to the left, and green when the end effector is articulating to the left.

[0591] In various embodiments, in addition to the above, the joint motion indicator light may be embedded in and / or positioned on the housing of the shaft. In some embodiments, the indicator light is positioned inside the shaft, but can be observed from the outside of the shaft, for example, through a window and / or opening defined in the shaft.

[0592] Figure 26A and Figure 26B Surgical instrument 26000 is shown. Surgical instrument 26000 includes a handle 26100 and a shaft 12200 extending from the handle 26100. Shaft 12200 includes an end effector 26400, which includes a staple cartridge jaw 26410 and an anvil jaw 10420. End effector 26400 also includes a first joint movement indicator 26460a positioned on a first side of end effector 26400 and a second joint movement indicator 26460b positioned on a second side of end effector 26400. Similar to the above, when end effector 26400 performs joint movement in a first direction, the control system of surgical instrument 26000 illuminates the first joint movement indicator 26460a. In such cases, the control system does not illuminate the second joint movement indicator 26460b. Correspondingly, when the end effector 26400 performs articulation in the second direction, the control system of the surgical instrument 26000 illuminates the second articulation indicator 26460b. In this case, the control system does not illuminate the first articulation indicator 26460a. Indicator lights 26460a and 26460b are mounted to and / or embedded in the frame of the staple cartridge jaw 26410. That is, indicator lights 26460a and 26460b can be mounted to and / or embedded in the staple cartridge positioned in the staple cartridge jaw 26410. In this case, the staple cartridge jaw 26410 includes circuitry communicating with the control system of the surgical instrument, which is positioned to communicate with the circuitry in the staple cartridge when the staple cartridge is placed in the staple cartridge jaw 26410.

[0593] As described above, the articulation system of a surgical instrument may include an articulation actuator capable of proximal movement to perform articulation of the end effector in a first direction, and capable of distal movement to perform articulation of the end effector in a second direction. (Reference) Figure 27The surgical instrument may include a handle 26100, a shaft 12200 extending from the handle 26100, and an end effector 10400 rotatably connected to the shaft 12200 about a joint motion joint 10500. The shaft 12200 includes a joint motion actuator 10260, which includes a proximal end operatively coupled to a joint motion drive system and a distal end coupled to the end effector 10400. For this purpose, the joint motion actuator 10260 extends distally through the joint motion joint 10500 and, in this embodiment, is partially visible to a clinician holding the surgical instrument. The clinician-visible portion of the joint motion actuator 10260 can also be seen by an endoscopic monitor. In fact, the clinician can observe the movement of the joint motion actuator 10260 through an endoscopic monitor. The visible portion of the joint motion actuator 10260 includes markings thereon, such as markings 24640a' and 24640b', which associate the movement of the joint motion actuator 10260 with the movement of the end effector 10400. In at least one case, the markings may include a first set of markings including a distally pointing arrow 24640a' and a circular arrow indicating the direction in which the end effector 10400 will rotate if the joint motion actuator 10260 moves distally. The markings may also include a second set of markings including a proximal pointing arrow 24640b' and a circular arrow in the opposite direction indicating the direction in which the end effector 10400 will rotate if the joint motion actuator 10260 moves proximally. Alternatively, the joint motion actuator 10260' may be in... Figure 28 As shown, the joint motion actuator includes a lateral extension that is easily visible to the clinician. In such cases, the aforementioned markings are located on the lateral extension.

[0594] Surgical Instruments 19000 are shown Figure 19Surgical instrument 19000 is similar in many respects to surgical instrument 15000. Surgical instrument 19000 includes a handle 19100 and a shaft 10200 extending from the handle 19100. The handle 19100 includes a joint motion actuator 19160 in communication with a control system of surgical instrument 19000. Unlike the vertically arranged joint motion actuator 10160, the joint motion actuator 19160 is arranged horizontally. The joint motion actuator 19160 includes a slidable element 19162 capable of sliding along an axis parallel to or at least substantially parallel to the longitudinal axis of shaft 10200. In at least one case, the axis of the joint motion actuator 19160 is aligned with the longitudinal axis of shaft 10200. The slidable element 19162 is positioned within a slot 19164 on the handle 19100 of surgical instrument 19000. The sliding element 19162 can slide distally to move the end effector 10400 joint to the right side of the handle 19100, and can slide proximally to move the end effector 10400 joint to the left side of the handle 19100. This is true regardless of whether the end effector 10400 rotates upwards or downwards, because the control responsiveness jumps when the end effector 10400 rotates 90 degrees from its TDC position in either direction. That is, the control of the joint motion actuator 19160 can be reversed as described above.

[0595] The joint motion actuator 19160 includes a distal contact as part of a first joint motion control circuit and a proximal contact as part of a second joint motion control circuit. When the slidable element 19162 is in its distal position, it engages the distal contact and closes the first joint motion control circuit. When the slidable element 19162 is in its distal position, it does not contact the proximal contact, and therefore the second joint motion control circuit is disconnected. Similarly, when the slidable element 19162 is in its proximal position, it engages the proximal contact and closes the second joint motion control circuit. Correspondingly, when the slidable element 19162 is in its proximal position, it does not contact the distal contact, and therefore the first joint motion control circuit is disconnected. In any case, the joint motion actuator 19160 includes a stop 19163 located in the middle of the range of motion of the slidable element 19162. The stop 19163 is configured to resist the movement of the sliding element 19162 as it moves from one side of the joint actuator 19160 to the other. This resistance to the movement of the sliding element 19162 signals to the clinician that once the clinician moves the sliding element 19162 past that point, they will cause the end effector 10400 to perform joint movement in the opposite direction. Furthermore, this stop 19163 provides a position to stop the sliding element 19162, preventing the end effector 10400 from performing joint movement in either direction.

[0596] Surgical instruments 20000 shown Figure 20Surgical instrument 20000 is similar in many respects to surgical instrument 10000. Surgical instrument 20000 includes a handle 20100 and a shaft 12200 extending from the handle 20100. The handle 20100 includes a joint motion actuator 20160 in communication with a control system of surgical instrument 20000. The joint motion actuator 20160 includes a two-dimensional joystick movable in a plane aligned with, parallel to, or at least substantially parallel to, the longitudinal axis of shaft 12200. The joystick is movable distally to move end effector 10400 joint to the right side of handle 20100 and proximally to move end effector 10400 joint to the left side of handle 20100. In at least one embodiment, the joystick includes a handle having an inner end positioned in a sensor seat in communication with the control system of surgical instrument 20000. When a clinician manipulates the outer end of the joystick handle, the clinician can pivot the joystick within the sensor mount. This movement of the joystick can be detected by a control system, which responds to input from the sensor mount to operate the joint motion system. The joint motion actuator 20160 includes one or more biasing mechanisms, such as springs, configured to bias the joystick handle to a centered position or at least substantially centered position in the sensor mount, wherein the control system does not cause the end effector 10400 to perform joint motion.

[0597] As described above, the end effector 10400 is capable of articulation in a plane. In an alternative embodiment, the surgical instrument includes a second articulation joint. In such embodiments, the end effector 10400 is capable of rotation in more than one plane. In various embodiments, the surgical instrument includes an articulation joint that allows the end effector 10400 to rotate within a three-dimensional spherical position range. Reference Figure 21The surgical instrument 21000 includes a shaft 21200 that includes an articulation joint 21500 that allows the end effector 10400 to perform such articulation movements. The surgical instrument 21000 also includes a handle 21100 that includes an articulation actuator 21160 in communication with a control system of the surgical instrument 21000. The articulation actuator 21160 includes a three-dimensional joystick capable of proximal, distal, upward, downward, and compound directions. The joystick is capable of distal movement to move the end effector joint to the right side of the handle 20100 and proximal movement to move the end effector joint to the left side of the handle 21100. The joystick is capable, for example, of upward movement to perform upward articulation of the end effector and downward movement to perform downward articulation of the end effector. The joystick is also capable of movement in both upward and distal directions to move the end effector in, for example, both upward and rightward directions. The joystick is also movable in both downward and proximal directions to move the end effector in, for example, downward and leftward directions. In at least one case, the joystick includes a handle with an inner end positioned in a sensor seat communicating with the control system of the surgical instrument 21000. When the clinician manipulates the outer end of the handle, the clinician can move the joystick along a track within the sensor seat. Such movement of the joystick can be detected by the control system, which operates the articulation system in response to input from the sensor seat. The articulation actuator 21160 includes one or more biasing mechanisms, such as springs, configured to bias the joystick handle to a centering position or at least substantially a centering position in the sensor seat, wherein the control system does not cause the end effector 10400 to articulate.

[0598] Surgical Instruments 22000 are shown Figure 22A and Figure 22B Surgical instrument 22000 is similar to surgical instrument 21000 in many respects. Surgical instrument 22000 includes a handle 22100 and a shaft 21200 extending from the handle 22100. The handle 22100 includes articulation actuators 21160 positioned on the side of the handle 22100, and additionally includes an articulation actuator 22160 positioned on the front of the handle 22100. Similar to articulation actuator 21160, articulation actuator 22160 includes a three-dimensional joystick that is connected to the control system of surgical instrument 21000 and enables articulation of the end effector of surgical instrument 21000 in a three-dimensional field. The front articulation actuator 22160 is easily accessible by the index finger of a clinician holding the pistol-like grip of the handle 22100. Alternative implementation schemes are envisioned that include but do not include joint motion actuator 22160.

[0599] refer to Figure 23 The surgical instrument 23000 includes a shaft 21200 that includes an articulation joint 21500 that allows the end effector 10400 to perform three-dimensional articulation. The surgical instrument 23000 also includes a handle 23100 that includes a housing 23120 and additionally includes an articulation actuator 23160 communicating with a control system of the surgical instrument 23000. The articulation actuator 23160 includes a four-way haptic control that is movable proximally, distally, upward, downward, and in a combined direction. The four-way haptic control is movable distally to move the end effector joint to the right side of the handle 23100 and proximally to move the end effector joint to the left side of the handle 23100. The four-way haptic control is movable upward to move the end effector joint upward and downward to move the end effector joint downward. For example, the four-way haptic control can also move in a combined upward and distal direction to move the end effector in both upward and rightward directions. For example, the four-way haptic control can also move in a combined downward and proximal direction to move the end effector in both downward and leftward directions. In at least one case, the four-way haptic control includes four pressable actuators, one pressable actuator for each of the right, left, upward, and downward directions, and each pressable actuator is part of a control circuit communicated with a control system of the surgical instrument 23000. The movement of the four-way haptic control can be detected by a control system that operates the joint motion system in three dimensions in response to input from the joint motion actuator 23160. The joint motion actuator 23160 includes one or more biasing mechanisms, such as springs, configured to bias the four-way haptic control to a centering position or at least substantially a centering position, wherein the control system does not cause the end effector 10400 to perform joint motion.

[0600] Surgical instruments 24000 are shown Figure 24Surgical instrument 24000 is similar in many respects to surgical instrument 23000. Surgical instrument 24000 includes a handle 24100 that includes a joint motion actuator 24160. Similar to joint motion actuator 23160, joint motion actuator 24160 includes a four-way tactile control element. That is, joint motion actuator 24160 includes an integral recentering feature. More specifically, joint motion actuator 24160 includes a pressable actuator positioned in the center of joint motion actuator 24160 in communication with the control system of surgical instrument 24000. When the central actuator is pressed down, the control system operates to realign end effector 10400 with the longitudinal axis of shaft 10200, much like the actuation of actuator 10170 discussed above. For the above reasons, the recentering actuator is positioned in the middle of the four-way actuators, resulting in a compact and intuitive arrangement.

[0601] Surgical instruments 25000 shown Figure 25Surgical instrument 25000 is similar in many respects to surgical instrument 24000. Surgical instrument 25000 includes a handle 25100 that includes an articulation actuator 25160. Similar to articulation actuator 23160, articulation actuator 25160 includes a four-way control element in communication with the control system of surgical instrument 25000. That is, the four-way control element includes a capacitive surface that allows a clinician to tap and / or drag their finger on the surface of articulation actuator 25160 to control the joint movement of the end effector in three dimensions. In at least one embodiment, the articulation actuator includes a touchscreen and a capacitive sensor array positioned below the touchscreen, the capacitive sensor array being configured to, for example, detect the presence and / or movement of the clinician's finger. In use, for example, tapping the top of the capacitive surface causes the end effector 10400 to articulate upwards, tapping the bottom of the capacitive surface causes the end effector 10400 to articulate downwards, tapping the distal end of the capacitive surface causes the end effector 10400 to articulate to the right, and tapping the proximal end of the capacitive surface causes the end effector 10400 to articulate to the left. Tapping the center of the articulation screen recenters the end effector 10400 along the longitudinal axis of shaft 21200. When rotational motion is performed on the surface of the articulation actuator 25160, the control system causes the end effector 10400 to rotate in the direction and / or speed indicated by the rotational motion. In various cases, the control system of the surgical instrument 25000 includes a pulse width modulation (PWM) control circuit for controlling the speed of the electric motor used to drive the articulation system of the surgical instrument 25000. In at least one embodiment, in addition to or in place of a PWM control circuit for controlling the speed of the joint motion motor, the control system includes a frequency modulation (FM) control circuit.

[0602] As described above, the end effector of a surgical instrument can rotate in more than one direction and / or plane. To achieve this, in various embodiments, the surgical instrument includes a first motor drive system for moving the end effector from left to right and a second motor drive system for moving the end effector from top to bottom. Both motor drive systems are in communication with the control system of the surgical instrument and can be driven sequentially and / or simultaneously by the control system to position the end effector in a direction indicated by inputs from one or more joint motion actuators.

[0603] Many of the aforementioned surgical instruments include a gripper configured to be grasped by a clinician to rotate an axis about a longitudinal axis. In various cases, the clinician can hold the gripper with one hand and, for example, extend their index finger from that hand to grasp the gripper and rotate the axis. However, this arrangement requires the clinician to have a relatively large hand. Although such surgical instruments can be operated with one hand, in… Figure 29 and Figure 30 The surgical instrument 27000 shown may be easier to use. The surgical instrument 27000 includes a handle 27100 and a shaft 27200 extending from the handle 27100 and rotatable about a longitudinal axis. The handle 27100 includes a handle frame 27110 and a housing that rotatably supports the shaft 27200. The handle 27100 also includes an actuator 27220 positioned on the front side of the handle housing 27110, which causes the shaft 27200 to rotate about its longitudinal axis L when rotated by a clinician. The actuator 27220 is rotatably mounted to the handle housing 27110 and is rotatable about an axis A that is parallel to or at least substantially parallel to the longitudinal axis of the shaft 27200. Actuator 27220 includes a gear ring extending around its periphery, which is operatively engaged via a drive gear 27225 with a gear ring extending around the periphery of shaft 27200, such that when actuator 27220 rotates about its axis, shaft 27200 rotates about its longitudinal axis. That is, the gear teeth of actuator 27220 do not directly engage with the gear teeth of shaft 27200; instead, an intermediate gear 27225, rotatably mounted in shank 27100, directly engages with the gear teeth of both actuator 27220 and shaft 27200. This arrangement synchronizes the movements of actuator 27220 and shaft 27200, i.e., rotating actuator 27220 to the right rotates shaft 27200 to the right, and rotating actuator 27220 to the left rotates shaft 27200 to the left. Without the introduction of the intermediate gear 27225, shaft 27200 would rotate in the opposite direction, but this arrangement provides a torque balance that promotes instrument stability.

[0604] In addition to the above, embodiments in which the rotation of shaft 27200 is driven by an electric motor are envisioned. In various embodiments, actuator 27220 operates the electric motor to rotate shaft 27200 in a first direction. Similarly, when actuator 27220 rotates in a second direction, the electric motor rotates shaft 27200 in the second direction. In at least one embodiment, the output shaft of the electric motor includes a pinion operably meshing with a gear ring surrounding shaft 27200. Furthermore, in at least one embodiment, actuator 27220 includes one or more sensors configured to detect the direction and degree of rotation of actuator 27220, said one or more sensors being in communication with a control system of the surgical instrument. Using this data, the control system is configured to control the direction and speed of the electric motor. When the actuator 27220 rotates slightly in the first direction, the shaft 27220 rotates slowly in the first direction, while when the actuator 27220 rotates significantly in the first direction, the shaft 27220 rotates rapidly in the first direction.

[0605] In addition to the above, actuator 27220 includes a rod having a first end and a second end. The orientation of the rod is synchronized with the orientation of shaft 27200. When the first end of the rod is directly above the second end, i.e., when the first end is closest to shaft 27200, shaft 27200 is at its top dead center (TDC) position. Correspondingly, when the second end of the rod is directly above the first end, i.e., when the second end is closest to shaft 27200, shaft 27200 is at its bottom dead center (BDC) position. As a result of this arrangement, the user of the surgical instrument has an intuitive sense of the orientation of shaft 27200 based on the orientation of actuator 27220.

[0606] Surgical instruments 30000 shown Figure 51 and Figure 52 Surgical instrument 30000 is similar in many respects to surgical instrument 10000. In contrast to vertical joint motion actuator 10160, the handle of surgical instrument 30000 includes horizontal joint motion actuator 30160. Horizontal joint motion actuator 30160 includes a rocker switch that can be swung distally to rotate the end effector to the right and proximally to rotate the end effector to the left. Surgical instrument 31000 is shown in… Figure 53 and Figure 54The surgical instrument 31000 is similar in many respects to surgical instrument 10000. In contrast to the vertical articulation actuator 10160, the handle of surgical instrument 31000 includes an articulation actuator 31160. The articulation actuator 31160 includes a multi-axis rocker switch that can be swung from proximal to distal to articulate the end effector in one plane and from top to bottom to articulate the end effector in another plane. In various cases, the articulation planes are orthogonal to each other, but can be arranged in any suitable manner.

[0607] As described above, the control system of a surgical instrument may include an algorithm that, in some cases, jumps and / or otherwise redirects the controls of the surgical instrument according to predetermined criteria. In various cases, also as described above, the algorithm may be configured to jump the joint motion controls of the surgical instrument based on the rotation of an axis relative to the handle. Reference Figure 59 The surgical instrument includes a handle and additionally a shaft 33200. The handle includes a Hall effect sensor 33130 and / or any other suitable sensor in communication with the control system of the surgical instrument. The shaft includes an array of magnets 33230 arranged in a circular or annular pattern around a shield or grip 10220 of the shaft 33200. Each magnet 33230 includes a north pole (N) and a south pole (S), and the magnets 33230 are arranged in a circular or annular pattern. Figure 59 The arrangement shown involves some magnets 33230 having their N poles facing the shank, while others have their S poles facing the shank. This arrangement of magnets 33230 allows the control system to track the position of the shaft 33200 and understand its orientation or rotation relative to the shank as the shaft 33200 rotates. Within any three consecutive magnets 33230, for example, the pattern of the magnets 33230 produces a unique identifiable mark for a given direction of rotation. That is, any suitable number and / or arrangement of discrete magnets can be used. Although twelve magnets 33230 are used, fewer than twelve magnets, such as six, can be used. Furthermore, more than twelve magnets can be used.

[0608] refer to Figure 60The surgical instrument includes a handle and additionally a shaft 34200. The handle includes a Hall effect sensor 34130 and / or any other suitable sensor in communication with a control system of the surgical instrument. The shaft includes a continuous annular magnet 34230 attached to a sheath or grip 10220 of the shaft 34200. In various embodiments, the annular magnet 34230 includes a disk or ring with embedded magnetic microstructures detectable by the Hall effect sensor. The annular magnet 34230 includes a continuous but varying magnetic pattern around its periphery, which provides a trackable pattern for the control system to assess the orientation or rotation of the shaft 34200. In other embodiments, the annular magnet 34230 includes an intermittent magnetic pattern around its periphery that can be tracked by the control system.

[0609] refer to Figure 61 The surgical instrument includes a handle and additionally a shaft 35200. The handle includes an RFID reader 35130 in communication with the control system of the surgical instrument. The shaft includes a circular or annular array of RFID chips 35230 surrounding a guard or grip 10220 of the shaft 35200. Each RFID chip includes a unique identifier detectable by the RFID reader 35130, and using this information, the control system can assess the orientation or rotation of the shaft 35200 relative to the handle. Notably, the RFID reader 35130 has a limited range for reading the RFID chips 35230, and therefore can only read the nearest adjacent RFID chips 35230. In some cases, the RFID reader 35130 may have a sufficient range for reading two nearest adjacent RFID chips 35230. The shaft 35200 includes four RFID chips 35230, but may include any suitable number of RFID chips 35230. That is, in various cases, more RFID chips may be utilized to improve the accuracy or resolution of the assessments made by the control system.

[0610] refer to Figure 62The surgical instrument includes a handle and additionally a shaft 36200. The handle includes a Hall effect sensor 36130a and / or any other suitable sensor in communication with a control system of the surgical instrument. The shaft includes an array of magnets 36230a arranged in a circular or annular pattern around a sheath of the shaft 36200. The handle also includes an RFID reader 36130b in communication with the control system of the surgical instrument, and additionally includes a circular or annular array of RFID chips 36230b around a sheath of the shaft 36200. The control system is configured to evaluate the orientation of the shaft 36200 relative to the handle using data from the Hall effect sensor 36130a and the RFID reader 36130b. Notably, the RFID chip 36230b is positioned at the center of the magnets 36230a, which provides the control system with detectable resolution between adjacent magnets 36230a. Similarly, magnet 36230a is positioned in the middle of RFID chip 36230b, which provides the control system with detectable resolution between RFID chips 36230b.

[0611] Surgical Instruments 37000 are shown Figures 63 to 66 The surgical instrument 37000 includes a handle 37100 and a shaft 37200 extending from the handle 37100. The surgical instrument 37000 also includes a sliding joint 37900 located between the handle 37100 and the shaft 37200. The sliding joint 37900 includes an electrical engagement between the handle 37100 and the shaft 37200. The sliding joint 37900 includes an annular ring 37930 mounted in the shaft 37200. Figure 63 and Figure 64 Four annular rings 37930 are depicted, but the sliding joint 37900 may include any suitable number of rings. The sliding joint 37900 also includes electrical contacts 37130 in the shank 37100. For example, the sliding joint 37900 includes a first electrical contact 37130 engaging with a first annular ring 37930 and a second electrical contact 37130 engaging with a second annular ring 37930. That is, the sliding joint 37900 may include any suitable number of electrical contacts to maintain electrical and / or signal communication between the shank and the shaft. Throughout the rotation of the shaft 37200, i.e., throughout a full 360-degree rotation, the electrical contacts 37130 maintain electrical contact with their respective annular rings 37930. In various cases, each electrical contact 37130 includes a spring element configured to bias the electrical contact toward its respective annular ring 37930. Electrical contact 37130 is connected to the control system of surgical instrument 37000 via a separate circuit, allowing the control system to assess the resistance of the circuit and / or any other electrical characteristics of the circuit between the control system and sliding joint 37900. In other words, the electrical contacts and rings of sliding joint 37900 can be part of any suitable circuit arrangement.

[0612] In addition to the above, the sliding joint 37900 can be used as an absolute position sensor of the shaft 37200 relative to the handle 37100. More specifically, the control system can use the intermediate annular ring 37930 (i.e., the annular ring 37930 between the first and second annular rings 37930) to assess the orientation of the shaft 37200. For this purpose, the sliding joint 37900 includes an intermediate electrical contact 37130 electrically connected to the intermediate annular ring 37930 and the control system as part of an intermediate circuit. Compared to the first and second annular rings 37930, the intermediate annular ring 37930 is made of a high-resistivity material and provides, for example, a resistance of 10,000 ohms. The intermediate annular ring 37930 has a first portion electrically connected to the first annular ring 37930, a second annular portion electrically connected to the second annular ring 37930, and a small break between the first and second annular portions. As the shaft 37200 rotates relative to the shank 37100, the intermediate electrical contact 37130 slides along the intermediate annular ring 37930, and the resistance and voltage of the intermediate circuit change in a manner detectable by the control system due to the opening and closing of the break via the intermediate contact 37130. The signal from the intermediate circuit is digitized by an analog-to-digital converter of the control system, and the data from this converter can be used by the control system to assess the orientation of the shaft 37200. In various cases, any suitable number of gaps in the intermediate annular ring 37930 and / or the intermediate contact 37130 can be used to provide a signal with sufficient resolution to determine the orientation or rotation of the shaft 37200 relative to the shank 37100.

[0613] In various implementations, a resistive material is embedded in the shaft of the surgical instrument, and this resistive material is part of a circuit passing through a slip ring. When the shaft rotates, the resistance in the circuit changes, which can be detected by the surgical instrument's control system to assess the angular orientation of the shaft relative to the handle.

[0614] Surgical Instruments 38000 is indicated in Figure 67 The surgical instrument 38000 includes a handle 38100 and a shaft 38200 extending from the handle 38100. The handle 38100 includes a ring array of Hall effect sensors 38130 attached to a frame and / or housing of the handle 38100. The Hall effect sensors 38130 are circumferentially positioned in the handle 38100, such as... Figure 67As shown. Hall effect sensor 38130 is connected to the control system via circuitry. Shaft 38200 includes a magnet 38230 mounted to a shroud of shaft 38200, the magnet being circumferentially aligned or at least substantially aligned with the Hall effect sensor 38130. As shaft 38200 rotates about its longitudinal axis, magnet 38230 moves along the circumference of the sensor. Sensors 38130 are positioned and arranged such that one or more of the sensors 38130 can detect the position of magnet 38230, and thus the control system can determine the orientation of shaft 38200 relative to handle 38100 based on which Hall effect sensor 38130 has detected magnetic field distortion and the intensity of the distortion generated by magnet 38230.

[0615] In various embodiments, the surgical instrument may include one or more optical sensors configured to detect the orientation of the shaft relative to the handle. In at least one embodiment, the handle of the surgical instrument includes a light emitter and a photodetector in communication with a control system of the surgical instrument. The shaft includes a reflective surface that rotates with the shaft. The light emitter emits light onto the reflective surface, and the light is reflected back to the photodetector. The reflective surface includes different portions with different reflectivities, which creates a pattern in the light reflected back to the photodetector. Using this information, the control system can assess the orientation of the shaft relative to the handle. In various cases, the reflective surface includes open and solid regions to produce, for example, binary off-on or low-high reflectivity response signals.

[0616] In various embodiments, the surgical instrument includes an electromechanical transducer, such as a linear variable differential transducer, used in conjunction with a mechanical cam to measure the depth of the cam and correlate that depth with a rotational angle of the shaft. In various embodiments, the handle of the surgical instrument includes a magnetometer in communication with a control system, and the shaft additionally includes a magnet detectable by the magnetometer.

[0617] In various embodiments, the shaft of the surgical instrument includes a gyroscope sensor located within the shaft, which the control system uses to assess the orientation of the shaft relative to the handle. In at least one such embodiment, the handle also includes a gyroscope sensor in communication with the control system, enabling assessment of the relative orientation of the handle and the shaft. In various embodiments, the shaft of the surgical instrument includes a tilt sensor, which the control system uses to assess the orientation of the shaft relative to the handle. In at least one embodiment, the SQ-MIN-200 sensor can be used. The SQ-MIN-200 sensor functions as a normally closed sensor that opens and closes with vibration upon tilting or vibration. That is, any suitable omnidirectional sensor can be used, for example.

[0618] In various embodiments, the detectable element may be positioned on a clamping drive or closing tube of the shaft. As the shaft rotates, the closing tube rotates with the shaft. Thus, one or more sensors on the handle can detect the orientation of the shaft relative to the handle via the detectable element on the shaft. When the closing tube translates to close the end effector, the detectable element moves relative to one or more sensors, as described herein. This translation of the detectable element can also be used to verify the closure of the end effector. In at least one case, a Hall effect sensor can be used to detect the rotation and translation of the detectable element. In various cases, the control system of the surgical instrument is configured to prevent articulation of the end effector when it is closed. This arrangement provides feedback to the control system to determine not only the responsiveness of the articulation control element but also whether the control system should fully respond to inputs from the articulation control element.

[0619] In various implementation schemes, refer again Figure 27 and Figure 28 The distal end of the joint motion actuator 10260 of the surgical instrument 10000 is attached to the end effector 10400, such that proximal and distal translation of the joint motion actuator 10260 causes the end effector 10400 to rotate about the joint motion joint 10500. (Reference) Figure 32 The shaft 10200 of the surgical instrument 1000 includes a shaft frame 10210 that slidably supports the joint motion actuator 10260. Although Figure 32 Not shown, but shaft 10200 also includes a pivot pin 10215 extending from frame 10210. Pivot pin 10215 is tightly received within a pivot orifice 10415 defined in a staple cartridge jaw 10410 of end effector 10400, the pivot orifice defining the articulation axis AA of articulation joint 10500. Articulation actuator 10260 includes a distal end having an orifice 10262 defined therein, and end effector 10400 also includes an articulation pin 10460 extending from a proximal end of staple cartridge jaw 10410 into orifice 10262. When articulation actuator 10260 translates, as described above, the sidewall of orifice 10262 engages articulation pin 10460 and pushes or pulls articulation pin 10460 according to the direction of translation of articulation actuator 10260. The entire disclosure of U.S. Patent 9,101,358, entitled “ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRINGDRIVE”, published on August 11, 2015, is incorporated herein by reference. The entire disclosure of U.S. Patent 5,865,361, entitled “SURGICAL STAPLING APPARATUS”, published on February 2, 2019, is incorporated herein by reference.

[0620] In addition to the above, end effector 10400 defines end effector axis EA and shaft 10200 defines longitudinal axis LSA. When end effector 10400 is in a non-jointed position, end effector axis EA is aligned or at least substantially aligned with longitudinal axis LSA. When end effector 10400 is in a jointed position, such as Figure 32 As shown, the end effector axis EA is transverse to the longitudinal axis LSA. The orifice 10262 is elongated to accommodate relative movement between the articulation pin 10460 and the articulation actuator 10260; however, for large joint movement angles, the articulation actuator 10260 may bend and / or flex, which could cause the articulation actuator 10260 to disengage from the articulation pin 10460 (no further explanation needed). Accordingly, the end effector 10400 also includes a retaining plate 10600 configured to retain the articulation actuator 10260 engaged with the articulation pin 10460. The retaining plate 10600 includes a planar or at least substantially planar portion extending above the distal end of the articulation actuator 10260 and including an orifice 10660 defined therein, the sidewalls of which engage with the articulation pin 10460. Therefore, the joint motion actuator 10260 is captured between the staple cartridge jaws 10410 and the retaining plate 10600, preventing the joint motion actuator 10260 from unintentionally disengaging from the staple cartridge jaws 10410. The retaining plate 10600 is fixedly mounted to the staple cartridge jaws 10410 such that there is minimal (if any) relative movement between the retaining plate 10600 and the staple cartridge jaws 10410. The staple cartridge jaws 10410 include retaining lugs 10430, and the retaining plate 10600 includes an aperture 10630 defined therein, the sidewall of which engages with the retaining lugs 10430 to retain the retaining plate 10600 to the staple cartridge jaws 10410. In various cases, the retaining plate 10600 may include springs and / or biasing members.

[0621] Now for reference Figure 33In addition to or in place of the retaining plate 10600, the surgical instrument 10000' includes an end effector 10400' and an articulation joint 10500' capable of rotatably connecting the end effector to the shaft 10200'. In addition to the above, the articulation joint 10500' includes a pin 10560' extending from the shaft frame 10210' of the shaft 10200', the pin being tightly received within an orifice defined in a staple cartridge jaw 10410', the orifice defining an articulation axis AA of the articulation joint 10500'. The surgical instrument 10000' also includes an articulation actuator 10260', which includes a distal end 10264', the distal end including a slot 10262' defined therein. Similar to the above, the staple cartridge jaw 10410' includes an articulated pin 10460' extending from the staple cartridge jaw 10410', which extends into a slot 10262' at the distal end 10264', and the interaction between the sidewall of the slot 10262' and the articulated pin 10460' drives the end effector 10400' around the articulated joint 10500'. Notably, the pin 10560' of the articulated joint 10500' includes a clearance release portion 10564' defined therein to provide clearance for longitudinal movement of the articulated actuator 10260'. The staple cartridge jaw 10410' also includes a clearance release portion 10414' defined therein to allow clearance for rotation of the staple cartridge jaw 10410' around the articulated joint 10500'. To prevent the articulated actuator 10260' from disengaging from the staple cartridge jaw 10410', refer to Figures 34 to 37 The articulated pin 10460' includes a retaining shoulder 10464' extending from the cylindrical portion 10462'. The retaining shoulder 10464' extends over a portion of the distal end 10264' of the articulated actuator 10260' throughout the entire articulation of the end effector 10400'. Therefore, regardless of whether the end effector 10400' is continuously articulating to the left ( Figure 35 ) or continue moving the joint to the right. Figure 37 Or, to make joint movements in any position between them, holding the shoulder 10464' to prevent or at least limit the possibility of the joint movement actuator 10260' disengaging from the pin cartridge jaws 10410'.

[0622] In various embodiments, in addition to the above, the gap release portion 10414' includes a retaining shoulder or lip that prevents the joint motion actuator 10260' from disengaging from the joint motion pin 10460'. The retaining shoulder 10464' of the joint motion pin 10460' is sized and constructed such that the width of the retaining shoulder 10464' is wider than the width of the slot 10262'. That is, the slot 10262' includes a length greater than its width, which allows the retaining shoulder 10464' to be inserted through the slot 10262' so that the joint motion actuator 10260' can be assembled into the joint motion pin 10460'. The width of the slot 10262' is defined along an axis parallel to the longitudinal axis of the shaft, while the length of the slot 10262' is defined along an axis orthogonal to the longitudinal axis of the shaft. This arrangement allows the end effector to articulate relative to the axis while minimizing the interaction between the end effector and the articulation actuator 10260'. Specifically, the articulation actuator 10260' is constructed of a flexible material that allows it to flex elastically to accommodate the end joint movements of the end effector.

[0623] As described above, the end effector 10400 includes a cartridge jaw 10410 configured to receive a replaceable cartridge (such as cartridge 10430), and an anvil jaw 10420 configured to deform the nails ejected from cartridge 10430. The cartridge jaw 10410 includes a channel comprising a bottom support and two upwardly extending lateral sidewalls configured to receive cartridge 10430. Cartridge 10430 includes a proximal end 10432, a distal end 10434, and a platform 10433 extending between the proximal end 10432 and the distal end 10434. When cartridge 10430 is inserted into cartridge jaw 10410, proximal end 10432 is guided into a position between cartridge jaw 10410 and anvil jaw 10420, and then positioned within cartridge jaw 10410. The anvil jaws 10420 include a proximal end 10422, a distal end 10424, a tissue compression surface 10423 extending between the proximal end 10422 and the distal end 10424, and a pivot 10421 capable of rotatably connecting the anvil jaws 10420 to the staple cartridge jaws 10410. (Reference) Figure 44 The anvil jaws 10420 include a transverse pin extending into an aperture 10411 defined in the staple cartridge jaws 10410. As described above, the anvil jaws 10420 can be rotated to a closed or clamped position by a closing drive mechanism of the suture instrument 10000. When the closing drive mechanism retracts, the anvil jaws 10420 open. (Reference) Figures 38 to 43The suture instrument 10000 also includes one or more biasing members or springs 10446 configured to open the anvil jaws 10420 when the closing drive retracts. The surgical instrument 10000 includes two open springs 10446, but may include any suitable number of biasing members. In any case, each spring 10446 is positioned in a recess 10416 defined in the staple cartridge jaws 10410. The recess 10416 tightly receives the spring 10446 such that the spring 10446 does not buckle under compressive load; however, the size and configuration of the recess 10416 are set to accommodate any lateral extension of the spring 10446 when the anvil jaws 10420 are closed.

[0624] Main reference Figure 42 The anvil jaws 10420 include a transverse tab 10426 adjacent to the proximal end 10422 of the anvil 10420 and in contact with a spring 10446. When the anvil jaws 10420 are closed, the spring 10446 is compressed between the transverse tab 10426 and the bottom of the recess 10416. When the closing system retracts, the spring 10446 elastically extends again and pushes the transverse tab 10426 upward, causing the anvil jaws 10420 to rotate to its open or unclamped position. It is worth noting that the main reference... Figure 40 The staple cartridge jaws 10410 have a stop portion 10419 defined thereon, which is contacted by the proximal end 10422 of the anvil 10420 when the anvil 10420 reaches its fully open position. The anvil 10420 includes a proximal stop surface 10429 that contacts the stop portion 10419 of the staple cartridge jaws 10410. In this situation, the anvil jaws 10420 cannot be opened further. For the above reasons, the spring 10446 holds the anvil jaws 10420 against the stop portion 10419 of the staple cartridge jaws 10410 until the anvil jaws 10420 close again.

[0625] When the anvil jaws 10420 are in their open position, the staple cartridge jaws 10410 are positioned on one side of the tissue to be sutured, and the anvil jaws 10420 are positioned on the opposite side. In this configuration, the end effector 10400 moves relative to the tissue until the tissue is properly positioned between the staple cartridge jaws 10410 and the anvil jaws 10420. The anvil jaws 10420 include a transverse tissue stop 10427 extending downward alongside the staple cartridge jaws 10410, configured to ensure that the tissue positioned within the end effector 10400 is positioned above the staple cavity in the staple cartridge 10430. (Main Reference) Figure 39The tissue stop 10427 extends distally relative to the nearest staple cavity 10440. In at least one case, the tissue stop 10427 extends distally relative to at least one staple cavity 10440 in each longitudinal staple row cavity 10440. Therefore, the tissue stop 10427 ensures that tissue captured in the end effector 10400 is not cut by the tissue cutter without being sutured. When the anvil jaws 10420 are closed, the tissue stop 10427 moves relative to the staple cartridge jaws 10410. The tissue stop 10427 is sized and constructed such that tissue is not accidentally compressed between the tissue stop 10427 and the lateral side of the staple cartridge jaws 10410. More specifically, the bottom edge 10428 of the tissue stop 10427 is configured such that even when the anvil jaws 10420 are in their fully open position, the bottom edge extends side-by-side with the lateral side of the staple cartridge jaws 10410, as... Figure 39 As shown. It is worth noting that the lateral side 10415 of the staple cartridge jaws 10410 extends upward along the platform 10433 to ensure that, throughout the entire range of motion of the anvil jaws 10420, there is an overlap between the tissue stop 10427 and the lateral side 10415 of the staple cartridge jaws 10410 when viewed from the side.

[0626] In various embodiments, in addition to the above, the distal edge of the tissue stop 10427 extends below the platform 10433 throughout the entire range of motion of the anvil jaws 10420. Therefore, when the anvil jaws 10420 are in their fully open and fully clamped positions, the distal edge of the tissue stop 10427 extends below the top surface of the platform 10433. This arrangement reduces the likelihood of tissue compression when the anvil jaws 10420 moves. In some embodiments, the staple cartridge includes a tissue stop extending upward from the platform 10433 alongside the tissue stop 10427. Similar to the above, the distal edge of the tissue stop 10427 extends below the cartridge tissue stop throughout the entire range of motion of the anvil jaws 10420. This arrangement also reduces the likelihood of tissue compression when the anvil jaws 10420 moves. Furthermore, these arrangements can be used in embodiments where the staple cartridge jaws 10410 moves relative to the anvil jaws 10420.

[0627] As discussed above and primarily referenced Figure 44 , Figure 45A and Figure 45BThe end effector 10400 includes a staple cartridge jaw 10410, which includes a spring recess 10416 defined therein, the spring recess including a wider top opening 10416'. The spring recess 10416 still supports the spring 10446 and prevents spring buckling, but when the anvil jaw 10420 is in its closed position, the wider top opening 10416' of the spring recess 10416 provides clearance for the lateral tab 10426. In this arrangement, the lateral tab 10426 can move into the staple cartridge jaw 10410 to compress the spring 10446. In this case, the spring 10446 can be highly compressed by the anvil jaw 10420, thereby ensuring a strong opening force from the spring 10446 when the anvil jaw 10420 is released by a closing drive. As described above, embodiments without the wider top opening 10416' are contemplated. In such embodiments, the spring is tightly received by the spring recess 10416 along the length of the spring 10446.

[0628] The tissue cutting component 10251 of the firing drive device of the suture instrument 10000 is in Figure 46 and Figure 47 As shown, the tissue cutting component includes a body comprising a distal nose 10258 and a tissue cutting blade 10259 that pass through the end effector 10400 during the nail firing stroke. The tissue cutting component 10251 also includes a top cam member 10255 configured to engage the anvil jaws 10420 and a bottom cam member 10256 configured to engage the staple cartridge jaws 10410 during the nail firing stroke. Figure 46 The longitudinal cam surface 10425 in the longitudinal slot of the anvil jaw 10420 can be seen, which is engaged by the top cam member 10255 during the nail firing stroke. The nail cartridge jaw 10410 also has a longitudinal cam surface 10419 engaged by the bottom cam member 10256. The cam members 10255 and 10256 position the jaws 10410 and 10420 relative to each other during the nail firing stroke and hold the jaws 10410 and 10420 in their closed configuration throughout the nail firing stroke. The cam members 10255 and 10256 also set the nail forming gap between the nail driver in the nail cartridge and the forming recess defined in the anvil jaw 10420.

[0629] It is worth noting that, Figure 46 and Figure 47The anvil jaws 10420 in their open position and the tissue cutting member 10251 in their non-firing position (i.e., the position before the staple firing stroke has begun) are shown. The anvil jaws 10420 include a recess 10450 defined therein, which aligns with the top cam member 10255 of the tissue cutting member 10251 when it is in its non-firing position. This configuration allows the tissue cutting member 10251 to stop precisely on the proximal side of the longitudinal cam surface 10425 in the anvil jaws 10420 and the corresponding cam surface in the staple cartridge jaws 10410 when it is in its non-firing position. This arrangement provides a shorter and more maneuverable end effector for a given staple length. Furthermore, the tissue cutting member 10251 includes a tissue cutting blade 10259, which, when the tissue cutting member is in its non-firing position, is positioned proximally relative to the staple cavity defined in the staple cartridge and proximally relative to the distal edge of the tissue stop. Therefore, tissue inserted into the end effector is unlikely to be cut by the tissue cutting blade 10259 until the tissue cutting member 10251 is advanced distally from its non-firing position during the firing stroke.

[0630] In addition to the above, it is desirable that the tissue cutting member 10251 be in its non-firing position at the start of the nail firing stroke. If the tissue cutting member 10251 is not in its non-firing position at the start of the nail firing stroke, it may inadvertently bypass the missing / used compartment closure of the suture instrument 10000. (See reference) Figure 41 The locking element of the suture instrument 10000 includes a shoulder 10417 defined in the bottom of the staple cartridge jaws 10410. If an appropriate unused staple cartridge is positioned in the staple cartridge jaws 10410 at the start of the staple firing stroke, and the tissue cutting member 10251 is in its non-firing position at the start of the staple firing stroke, the tissue cutting member 10251 will be raised over the locking element shoulder 10417. More specifically, refer to... Figure 46The nose 10258 of the tissue cutting member 10251 will be supported by a nail-driven slide in the cartridge, such that the locking tab 10257 of the firing member 10251 and / or any other part of the firing member 10251 will not contact the locking shoulder 10417. However, if the cartridge is not positioned in the cartridge jaws 10410, the cartridge is positioned in the cartridge jaws 10410 but has been previously used, or an incorrectly positioned cartridge is positioned in the cartridge jaws 10410, the slide will not support the nose 10258 of the tissue cutting member 10251, and the locking tab 10257 will contact the locking shoulder 10417 at the start of the nail firing stroke, thereby preventing the nail firing stroke. However, if the tissue cutting member 10251 is positioned distally relative to the locking member shoulder 10417 in some way at the start of the nail firing stroke, the advantages provided by the locking member of the surgical instrument 10000 will be lost.

[0631] The following patent disclosures are incorporated herein by reference in their entirety: U.S. Patent No. 7,143,923, published December 5, 2006, entitled “SURGICAL STAPLING INSTRUMENT HAVING A FIRING LOCKOUT FOR AN UNCLOSED ANVIL”; U.S. Patent No. 7,044,352, published May 16, 2006, entitled “SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING”; U.S. Patent No. 7,000,818, published February 21, 2006, entitled “SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS”; and U.S. Patent No. 7,000,818, published January 24, 2006, entitled “SURGICAL STAPLING INSTRUMENT HAVING A SPENTCARTRIDGE”. U.S. Patent No. 6,988,649, entitled “LOCKOUT”; and U.S. Patent No. 6,978,921, published on December 27, 2005, entitled “SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM”.

[0632] As mentioned above, refer to Figure 48The anvil jaws 10420 include a shoulder or stop 10455 defined thereon, which is configured to contact the top cam member 10255 of the tissue cutting member 10251 when the anvil jaws 10420 moves to its open position. In this case, even if the tissue cutting member 10251 has been accidentally moved distally or positioned too far, the anvil jaws 10420 will still position the tissue cutting member 10251 in its non-firing position. This arrangement is particularly useful after the surgical instrument 10000 has been used at least once and the nail firing system has been reset or retracted, because in some cases, the tissue cutting member 10251 may not have fully returned to its non-firing position after the last nail firing stroke. For the above reasons, the possibility of accidentally bypassing the locking mechanism of the surgical instrument 10000 is reduced. It is worth noting that the shoulder 10455 and the gap recess 10450 are positioned proximally relative to the distal edge of the tissue stop 10427. This ensures that the tissue cutting member 10251 is positioned proximally relative to the tissue captured within the end effector, so that the tissue is not accidentally cut against the tissue cutting member 10251.

[0633] As described above, the joint motion actuator 10260 is capable of proximal and distal translation to cause the end effector 10400 to perform articulation around the joint motion joint 10500. That is, the joint motion actuator 10260 is essentially the distal joint motion actuator of the joint motion drive system. (Reference) Figure 72 and Figures 74 to 76The joint motion drive system also includes a translationally proximal joint motion actuator 10270 that moves the distal joint motion actuator 10260. The joint motion drive system also includes a joint motion lock 10280 positioned between the proximal joint motion actuator 10270 and the distal joint motion actuator 10260, as described in more detail below. The proximal joint motion actuator 10270 includes a joint motion lever 10272, a proximal push protrusion 10274 extending from the joint motion lever 10272, and a distal pull protrusion 10276 extending from the joint motion lever 10272. When the proximal joint motion actuator 10270 is pushed distally, the proximal push protrusion 10274 contacts the joint motion lock 10280, unlocking the joint motion lock 10280, and distally drives the distal joint motion actuator 10260 to perform joint movement on the end effector 10400. When the proximal joint motion actuator 10270 stops, the joint motion lock 10280 automatically relocks and holds the end effector 10400 in place. When the proximal joint motion actuator 10270 is pulled proximally, the distal traction protrusion 10276 contacts the joint motion lock 10280, unlocking the joint motion lock 10280, and the distal joint motion actuator 10260 is pulled proximally to allow the end effector 10400 to articulate. Similarly, when the proximal joint motion actuator 10270 stops, the joint motion lock 10280 automatically relocks. When the joint motion lock 10280 is locked, it prevents the end effector 10400 from being reverse-driven or unintentionally moving out of its position. When the joint motion lock 10280 is unlocked, the end effector 10400 can articulate to a new position.

[0634] In addition to the above, see reference Figure 72A space 10275 is defined between the protrusions 10274 and 10276 of the proximal joint motion actuator 10270. The distal joint motion actuator 10260 includes a similar arrangement. More specifically, the distal joint motion actuator 10260 includes a proximal protrusion 10269 and a distal protrusion 10267, defining a space between the proximal and distal protrusions. The protrusions 10274 and 10276 of the proximal joint motion actuator 10270 are positioned within and move within the space defined between the protrusions 10267 and 10269 of the distal joint motion actuator 10260. The joint motion lock 10280 includes a stationary bar 10282 extending through the distal joint motion actuator 10260 and a locking member 10284 rotatably and slidably mounted to the stationary bar 10282. Locking member 10284 is positioned between two sets of locking members 10284. Spring 10286 is biased to the locked position, which causes locking member 10284 to engage with stationary rod 10282. However, when proximal articulation rod 10270 translates, proximal articulation rod 10270 pushes locking member 10284 to rotate locking member out of its locked position, allowing end effector 10400 to perform articulation.

[0635] In addition to the above, the protrusions 10274 and 10276 of the proximal joint motion actuator 10270 directly contact the locking member 10284. (See reference) Figure 74A Each of the protrusions 10274 and 10276 includes a protrusion or bump 10277 extending therefrom the engaging locking member 10284. The bump 10277 provides a larger actuation area for the proximal joint motion actuator 10270 to actuate the locking member 10284. By comparison, the proximal joint motion actuator 10270' in... Figure 73 and Figure 73A As shown, the proximal joint motion actuator does not have a protrusion 10277 on its protrusions 10274' and 10276'. Figure 73 and Figure 73A The arrangement is still useful, but the contact area between the proximal joint motion actuator 10270' and the locking member 10284 is smaller than the contact area between the proximal joint motion actuator 10270 and the locking member 10284. Due to the larger contact area with the locking member 10284, the stress and strain in the proximal joint motion actuator 10270 are less than those in the proximal joint motion actuator 10270'. Furthermore, the arrangement of the protrusion 10277 can increase the torque arm between the proximal joint motion actuator 10270 and the locking member 10284, thereby reducing the force required to unlock the joint motion lock 10280.

[0636] This document describes various mechanisms and methods for determining the orientation of an axis relative to its shank. Many of these mechanisms are capable of assessing the orientation of the axis in real time, regardless of one or more previous orientations. This arrangement is particularly useful, for example, when a surgical instrument loses power. For instance, when the surgical instrument is re-energized, the control system can immediately assess the orientation of the axis and the appropriate responsiveness of the joint motion control. Furthermore, the surgical instruments disclosed herein can be configured to immediately assess the joint motion angle of the end effector when the surgical instrument is re-energized. Upon re-energization, the control system will assess whether the end effector is in a closed or open configuration. If the end effector is in a closed configuration upon re-energization, the control system will determine that the surgical instrument lost power during the pin-firing mode and prompt the clinician to retract the pin-firing system. If the end effector is in an open configuration upon recharging, or once the end effector is in the open position upon recharging, the control system will attempt to ensure that the joint motion drive system is engaged with the pin-firing system so that the end effector can be straightened or otherwise properly oriented by the clinician to remove the surgical instrument from the patient. Figure 78 An algorithm 39000 for controlling a system to ensure engagement of the joint motion system with the pin-firing drive is described. In this algorithm, the control system causes the pin-firing drive to sweep between positions associated with its rightmost end effector position and its leftmost end effector position, such that if the joint motion drive is not already engaged with the firing drive, it will become engaged with the firing drive. These rightmost and leftmost orientations of the end effectors correspond to the farthest and nearest positions of the joint motion actuator 10260, as shown below. Figure 77 As shown. These positions are also the distal and proximal positions of the joint motion actuator 10270, respectively. The control system includes one or more non-volatile device memories for storing information about the distal (rightmost orientation) and proximal (leftmost orientation) positions of the joint motion actuator system. Therefore, this information is available to the control system upon power-on, and the control system can limit its evaluation to this range. In various embodiments, the surgical instrument may include a sensor configured to assess whether the joint motion actuator is mechanically coupled to the pin-firing actuator.

[0637] In addition to the above, algorithm 39000 includes step 39100, in which the control system evaluates whether a joint movement button is pressed during the initiation or initialization of the surgical instrument. If it is determined at step 39100 that the joint movement button is not pressed, the algorithm proceeds to logic path 39200. In logic path 39200, at step 39300, the control system actuates the electric motor driving the joint movement system to push the joint movement actuator 10260 distally, thereby causing the end effector to perform joint movement to the right. The control system then waits for a predetermined amount of time at step 39400, after which it proceeds to step 39600, in which the control system actuates the motor in the opposite direction to pull the joint movement actuator 10260 proximally and cause the end effector to perform joint movement to the left. The control system then waits again for a predetermined amount of time at step 39700, and after that time, waits for an input command at step 39800. In various embodiments, the control system includes a timer circuit for counting appropriate amounts of time. On the other hand, if the control system detects that the left joint motion controller is actuated at step 39100, then algorithm 39000 follows logic path 39500 and causes the end effector to move to the left. If the control system detects that the right joint motion controller is actuated at step 39100, then algorithm 39000 follows logic path to move the end effector to the right.

[0638] In addition to the above, during the firing stroke, the nails in the magazine are gradually ejected by the firing member. The firing member ejects the proximal nails from the magazine at the beginning of the firing stroke and the distal nails at the end of the firing stroke. If all the nails in the magazine properly contact their nail-forming recesses in the anvil, which is positioned opposite the magazine, the nails will be properly formed and the firing force will be low. If some nails miss their nail-forming recesses, these nails can deform, thereby increasing the force required to execute the firing stroke. Slowing down the firing stroke improves nail forming and reduces the force required to execute the firing stroke. In various cases, the force applied by the nail firing system can be detected, for example, directly by one or more force sensors and / or strain gauges. In other cases, the force can be detected by, for example, a current sensor or ammeter circuit that measures the current to the electric motor of the nail firing drive. The entire disclosure of U.S. Patent Application Serial No. 16 / 361,793, filed March 22, 2019, entitled “SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM,” is incorporated herein by reference. These methods are applicable to a variety of situations, but the following describes an implementation and method for evaluating the duty cycle of a nail-firing system during the nail-firing stroke.

[0639] In addition to the above, the control system of the surgical instrument 10000 includes a pulse width modulation (PWM) control circuit configured to control the speed of the electric motor of the firing drive device. The PWM control circuit applies voltage pulses to the electric motor of the firing drive device to perform the nail firing stroke. In various cases, the PWM control circuit increases the duration of the voltage pulses it applies to the electric motor of the firing drive device to increase the speed of the electric motor of the firing drive device and correspondingly increase the speed of the nail firing stroke. In other cases, the PWM control circuit increases the duration of the voltage pulses it applies to the electric motor of the firing drive device to decrease the speed of the electric motor of the firing drive device and correspondingly increase the speed of the nail firing stroke. In either case, the PWM control circuit can perform these pulse length adjustments without substantially increasing or decreasing the magnitude of the voltage pulses applied to the motor. That is, embodiments in which the magnitude of the voltage pulses or certain voltage pulses can be changed are contemplated. In any case, as described in more detail below, the control system is configured to drive the nail firing drive device at a constant or near-constant speed by adjusting the pulse duration via the PWM circuit. The entire disclosure of U.S. Patent 8,499,992, entitled “DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE”, published on August 6, 2013, is incorporated herein by reference.

[0640] The duty cycle of a PWM-driven motor is the ratio of the time the voltage is applied to the motor (on time) to the total time (on time + off time). Therefore, the duty cycle can range between 0% (completely off) and 100% (completely on), i.e., a constant voltage without periodic interruptions. The terms on and off refer to non-zero voltage and zero voltage, respectively; however, the terms on and off also include high voltage and low voltage, respectively. The terms low or off include zero voltage and non-zero voltage with a magnitude less than the high voltage or on-time voltage. Given the above, another way to express the duty cycle of a PWM-driven motor is the ratio of the time the voltage is applied to the motor (high time) to the total time (high time + low time).

[0641] The PWM control circuit applies voltage pulses to the firing actuator motor at regular intervals; however, the control system may include a frequency modulation (FM) control circuit to change the frequency of the voltage pulse intervals. In various cases, the FM control circuit reduces the interval between voltage pulses to increase the speed of the firing actuator motor and the pin firing stroke. Correspondingly, the FM control circuit increases the interval between voltage pulses to decrease the speed of the firing actuator motor and the pin firing stroke. In addition to or instead of the above, the control system may increase the magnitude of the voltage it applies to the firing actuator motor to increase the speed of the firing actuator motor and the pin firing stroke, and / or decrease the magnitude of the voltage it applies to the firing actuator motor to decrease the speed of the firing actuator motor and the pin firing stroke.

[0642] The control system of the Surgical Instrument 10000 includes an algorithm for controlling the speed of the nail-firing component. (Reference) Figure 79 The control system includes an algorithm 50000 configured to drive the nail-firing component at low, medium, and high speeds. Low speed is 6 mm / s, or approximately 6 mm / s. Medium speed is 12 mm / s, or approximately 12 mm / s. High speed is 20 mm / s, or approximately 20 mm / s. That is, the control system can be configured to operate the nail-firing drive at any suitable number of speeds and / or at any suitable speed. The control system is configured to monitor the speed of the nail-firing drive via a motor speed sensor and adjust the length of the voltage pulses applied to the electric motor of the nail-firing drive to achieve a target speed. For example, if the target speed of the nail-firing drive at a given point in the nail firing stroke is 12 mm / s and the actual speed is 11 mm / s, the control system increases the length of the voltage pulses applied to the electric motor to increase the speed of the nail-firing drive. In other words, the control system increases the duty cycle of the electric motor of the firing drive to increase the speed of the nail-firing drive. Correspondingly, the control system is configured to shorten the length of the voltage pulses applied to the electric motor of the firing mechanism if the speed of the nail-firing drive exceeds the target speed, until the speed of the nail-firing drive reaches the target speed. In other words, the control system is configured to reduce the duty cycle of the electric motor of the firing mechanism to reduce the speed of the nail-firing drive. It is worth noting that the target speed of the nail-firing drive can be changed during the nail firing stroke, as described in more detail below.

[0643] As described above, the firing member of the nail firing drive moves distally during the nail firing stroke. (Reference) Figure 47 and Figure 79The firing member is advanced distally from its proximal non-firing position, causing the top cam member 10255 of the firing member to move upward along the ramp of the inner slot 10425 defined in the anvil 10420. The distance between the proximal non-firing position and the distal end of the ramp of the inner slot is, for example, 15 mm or approximately 15 mm. This initial 15 mm movement of the firing member can be used to close the end actuator and / or pass over the aforementioned firing latch if a suitable unused pin cartridge is placed in the end actuator. That is, during this range of movement, the control system moves the firing member distally at a medium speed of 12 mm / s and evaluates the duty cycle required to drive the pin firing member at this speed. If the duty cycle is between 40% and 60% in this initial range, the control system continues to drive the pin firing drive at a medium speed of 12 mm / s. If the duty cycle is greater than 60%, the control system reduces the target speed of the pin firing drive to a low speed of 6 mm / s. This situation can occur when there is a thick layer of tissue between the anvil 10420 and the staple cartridge 10430. On the other hand, if the duty cycle is below 40% during this initial range, the control system increases the target speed to a high speed of 20 mm / s. This situation can occur when there is a thin layer of tissue between the anvil 10420 and the staple cartridge 10430. Figure 79 In this initial range, the end is defined by point A, and it is noteworthy that the nail is not deployed or fired during this initial range. After point A, as the firing member advances distally, the firing member fires the nail until the firing member reaches the end of the nail firing stroke, and / or the clinician stops the nail firing stroke by releasing the trigger.

[0644] refer to Figure 79 Algorithm 50000 shows that for the first 15mm, the nail firing member is driven at a medium speed of 12mm / s, and for the remainder of the nail firing stroke, it is driven at a high speed of 20mm / s. As mentioned above, this speed deviation occurs because the control system measures a duty cycle below 40% during the first 15mm of the nail firing stroke. However, if the firing member is blocked by the locking element within the first 15mm, the duty cycle will immediately and abruptly increase to 100%, and the control system is configured to immediately stop the nail firing stroke in response to this asymptotic sudden increase in duty cycle. Once the firing member has passed the initial 15mm distance, the remainder of the nail firing stroke includes, in various cases, for example, approximately 30mm, approximately 45mm, or approximately 60mm. These lengths represent different nail pattern lengths currently desired in many nail cartridges, but any suitable nail pattern length can be used. In some embodiments, after the initial evaluation of the firing drive duty cycle, the control system does not re-evaluate the nail firing drive duty cycle to adjust the target speed of the firing member. However, Figure 79The control system of the implementation scheme controls the duty cycle of the nail firing drive device across the entire nail firing stroke. At point C in the nail firing stroke, the control system adjusts the target speed or maintains the target speed according to the aforementioned criteria. Figure 79 As shown, the duty cycle of the nail firing drive is determined at point C to be between 40% and 60%, and thus the control system maintains a target speed of 20 mm / s. Point C is located halfway between point A and the end of the nail firing stroke, i.e., halfway through the nail pattern. That is, point C can be at any suitable location. Furthermore, the control system can be configured to adjust the target speed of the nail firing drive at any suitable number of points during the nail firing stroke. In at least one case, the control system can, for example, perform a target speed adjustment every 15 mm during the nail firing stroke. For a 30 mm nail cartridge, the control system can perform a total of two target speed adjustments, such as... Figure 79 As shown. For example, for a 45mm staple cartridge, the control system can make a total of three target speed adjustments at 15mm intervals, and for a 60mm staple cartridge, the control system can make a total of four target speed adjustments at 15mm intervals.

[0645] For the example given above, the control system uses the same set of criteria to evaluate the duty cycle at each target speed adjustment point. That is, referencing... Figure 80 An implementation scheme is envisioned in which the control system uses different sets of duty cycle standards at different target speed adjustment points. For example, the control system may use a first set of duty cycle standards at a first target speed adjustment point and a second set of duty cycle standards at a second target speed adjustment point. In at least one case, refer to Figure 80 Algorithm 51000 specifies that if the duty cycle is below 45% at the first target speed adjustment point, the control system increases the target speed of the nail firing drive. That is, if the duty cycle is below 40%, the control system increases the target speed of the nail firing drive at the second target speed adjustment point. Any suitable threshold value can be used. Figure 80 In the illustrated implementation, the 60% upper duty cycle threshold is the same at both the first and second target speed adjustment points in Algorithm 51000. If the duty cycle exceeds 60%, the control system shortens the voltage pulse to slow down the nail firing system. In other implementations, the upper duty cycle threshold may be different at the first and second target speed adjustment points.

[0646] In addition to the above, see reference Figure 81The control system's algorithm increases the target speed from medium to high at point A, but then decreases it from high to medium at point C. At point C, the control system determines that the duty cycle of the firing actuator's electric motor is above 60% and reduces the target speed by one level, from high to medium. It's noteworthy that the control system does not reduce the target speed from high to low at point C because it is configured to increase or decrease the target speed by only one level at each checkpoint. For the target speed of the nail firing actuator to decrease from high to low, the duty cycle must exceed an upper duty cycle threshold at both checkpoints. These checkpoints can be consecutive or discontinuous. That is, an implementation is envisioned where the control system includes a safe duty cycle threshold, which, if exceeded, will cause the control system to reduce the target speed of the nail firing actuator to low, regardless of the speed of the nail firing actuator before that checkpoint.

[0647] Figure 82A Two graphs are plotted: the duty cycle graph (i) and the firing force graph (ii) of the nail firing actuator. The duty cycle graph (i) and the firing force graph (ii) are correlated to illustrate three different nail firing strokes. Due to the lower firing force, Figure 82A Two of the nail firing strokes in the process are kept below the 40% duty cycle threshold. During such nail firing strokes, the control system increases the target speed of the nail firing system at each checkpoint according to the current algorithm, but other algorithms are also possible. Figure 82A One nail firing stroke in the system reaches 100% duty cycle due to the high firing force. When the duty cycle exceeds 60% at the target speed adjustment point, the control system reduces the target speed of the nail firing system according to the current algorithm, but other algorithms are also possible. It is important to note that the duty cycle of this nail firing does not exceed the 60% threshold at the start of the nail firing stroke, and therefore if the duty cycle does not exceed the 60% upper threshold until after one or more checkpoints, the control system may not actually reduce the target speed.

[0648] Figure 82B Two graphs are depicted: the duty cycle graph (i) and the firing force graph (ii) of the nail firing drive mechanism. The duty cycle graph (i) and the firing force graph (ii) are correlated to show three different nail firing strokes. Figure 82B The two nail firing strokes in the current nail firing cycle are maintained between the 40% duty cycle threshold and the 60% duty cycle threshold because the firing force is relatively low. During these nail firing strokes, the control system does not change the target speed of the nail firing system according to the current algorithm, but other algorithms are also possible. However, Figure 82BOne nail firing stroke in the nail firing process reaches 100% duty cycle due to the high firing force. When the duty cycle exceeds 60% at the target speed adjustment point, the control system reduces the target speed of the nail firing system according to the current algorithm, but other algorithms are also possible. In this case, approximately 20 mm from the proximal non-firing initiation position of the nail firing component, the duty cycle exceeds the upper duty cycle threshold. In other words, once the nail firing drive begins firing the nail, i.e., 5 mm beyond the aforementioned initial 15 mm range, the duty cycle jumps to over 60%. Therefore, the control system may not react to the increased duty cycle until, for example, after a 30 mm checkpoint.

[0649] It is worth noting that, in addition to the above, Figure 82A and Figure 82B The graphs, along with several others, depict the point flow along the nail firing stroke. These points represent data samples acquired by the control system. The proximity of the points indicates a fairly high data sampling rate, but lower or higher data sampling rates can be used. As can be seen in these graphs, the data undergoes a certain amount of jitter or fluctuation, which can cause the control system to react to abnormal data, especially when the duty cycle data is close to the upper or lower duty cycle threshold. In various cases, the control system may utilize a data smoothing algorithm that uses the average of data from multiple collected data points and / or other statistical evaluations to determine the duty cycle at the target velocity evaluation point. In at least one such case, the control system uses the average of three consecutive duty cycle measurements, for example, to determine the duty cycle value used for evaluating the algorithm's criteria.

[0650] Figure 83A Three graphs are depicted: the duty cycle graph (i), the firing force graph (ii), and the firing speed graph (iii) of the nail firing drive. These graphs are correlated to illustrate the nail firing stroke. The duty cycle of the nail firing stroke jumps from below the lower duty cycle threshold of 40% to above the upper duty cycle threshold of 60% at approximately 30 mm, causing nail deformation at approximately 15 mm. This jump in duty cycle is not due to an increase in firing force; rather, it occurs because the control system increases the duty cycle according to its target speed selection criteria to increase the speed of the nail firing drive. Figure 83BA similar jump in the duty cycle was depicted at approximately 20 mm; however, this jump occurred because the nail-firing component encountered increased resistance as it deformed the nail, and the control system responded by increasing the length of the voltage pulses applied to the electric motor to maintain the nail-firing speed at its target speed. In other words, the control system caused a sudden increase in the duty cycle as it struggled to maintain the nail-firing system at a moderate speed of 12 mm / s. This situation did not last long, as the control system reduced the duty cycle again at the 30 mm target speed checkpoint, while simultaneously reducing the nail-firing stroke speed to its low target speed of 6 mm / s.

[0651] Figure 84A and Figure 84B A graph depicting the firing force of a nail-firing drive used for suturing and cutting actual tissue is shown, which tracks the firing force used for suturing and cutting tissue analogues such as foam.

[0652] Figure 85A and Figure 85B Several examples of nail firing strokes occurring during suturing and cutting of gastric tissue are depicted. The nail firing strokes follow a very similar duty cycle pattern. For example, all nail firing strokes begin below a lower duty cycle threshold, and in response, the control system increases the speed of the nail firing stroke from medium to high. To do this, the control system increases the duration of the voltage pulse applied to the electric motor of the nail drive system at the first checkpoint. However, in doing so, the duty cycle jumps to the upper duty cycle threshold, and at the next checkpoint, the control system shortens the voltage pulse to reduce the duty cycle and slows the nail firing stroke back to medium speed. Notably, in one example, the speed of the nail firing drive is maintained at high speed. In this example, the deformed nail is smaller compared to the nails used during other nail firing strokes, and the duty cycle remains below the threshold.

[0653] Figure 86A The duty cycles of two nail firing strokes during suturing of thin jejunal tissue are depicted, one nail firing stroke occurring during articulation of the end effector and the other nail firing stroke occurring when the end effector is not articulated. (As in...) Figure 86A As can be seen, the two duty cycle curves are very similar and lie significantly between approximately 60% and approximately 80% duty cycles. Figure 86B The duty cycles of two nail firing strokes during suturing of thick jejunal tissue are depicted, one of which occurs during articulation of the end effector, and the other occurs when the end effector is not articulating. (As in...) Figure 86B As can be seen, the two duty cycle curves are very similar and significantly fall between approximately 60% and 80% duty cycles. Additionally, it is noteworthy that, compared to thin jejunal tissue ( Figure 86A Compared to thick jejunal tissue, thick jejunal tissue ( Figure 86B The duty cycle is slightly higher. Figure 86C The duty cycles of two nail firing strokes during gastric tissue suturing are depicted, one occurring during articulation of the end effector and the other during non-articulation of the end effector. (As in...) Figure 86C As can be seen, the two duty cycle curves are very similar, and it is worth noting that the maximum duty cycle is reached once the nail firing drive begins to deform the nail at a position approximately 15 mm from the non-firing position near the firing element.

[0654] Figure 87 This includes a graph 63000 depicting the duty cycle of the nail firing stroke. As shown in graph 63000, for the first 30mm of the nail firing stroke (initial travel 15mm and nail firing 15mm), the duty cycle is just at or just below 40%, and then the control system increases this duty cycle to increase the speed of the nail firing drive. Similarly, in this case, the duty cycle is increased to exceed the top duty cycle threshold of 60%, where this duty cycle remains constant for the remainder of the nail firing stroke (i.e., the last 30mm).

[0655] Figure 88 This includes a graph 64000 depicting the duty cycle of the nail firing stroke. As shown in graph 64000, the duty cycle begins below the 40% duty cycle threshold but then gradually increases into the region between the upper and lower duty cycle thresholds. In this region, the control system does not increase or decrease the speed of the nail firing system and / or otherwise adjust the duty cycle of the firing drive motor, except to maintain the speed of the nail firing system at an intermediate target speed. Therefore, a smooth duty cycle curve is observed without abrupt changes.

[0656] Figure 89 This includes a graph 65000 depicting the duty cycle of the nail firing stroke. As shown in graph 65000, the duty cycle begins at a low duty cycle threshold of approximately 40%, and then rapidly increases once the firing member begins to deform the nail at the 15mm point. In fact, the duty cycle increases to almost 100% until the next checkpoint is reached at 30mm, where, as described above, the control system reduces the duty cycle to slow down the nail firing drive. Figure 89 It depicts the sharp drop in duty cycle at this point, but for the remainder of the pin firing stroke, it returns to an elevated state just above the upper duty cycle threshold.

[0657] The low duty cycle threshold is described as 40% in many cases and 45% in others. That is, the low duty cycle threshold can be any suitable value, such as 30%, 33%, 35%, or 50%. Similarly, the high duty cycle threshold is described as 60%. That is, the high duty cycle threshold can be any suitable value, such as 50%, 55%, 65%, 67%, 70%, or 75%.

[0658] As described above, when the clinician releases the trigger, the pin firing stroke stops. When the clinician actuates the trigger again, the pin firing stroke resumes. In such cases, the control system returns the speed of the pin firing stroke to the speed just before the pin firing stroke stopped. The control system includes one or more memory devices for storing the speed of the pin firing stroke during the stroke, allowing the control system to access the stored speed to restart the pin firing stroke. If the control system cannot access this data, it can, for example, restart the pin firing stroke at a moderate speed.

[0659] As described herein, the surgical instrument 10000 is configured to evaluate the speed of the nail firing stroke and compare the measured speed of the nail firing stroke with a target speed. The surgical instrument 10000 includes an encoder in communication with a control system, configured to measure the speed of the nail firing stroke. In at least one embodiment, the encoder observes a gear in the nail firing drive to evaluate the speed of the nail firing stroke. The gear includes teeth that pass in front of the encoder as the gear rotates during the nail firing stroke. The control system uses the rate at which the teeth pass through the encoder to evaluate the speed of the nail firing drive. In at least one embodiment, the gear makes one full rotation during the entire nail firing stroke. In addition to or instead of the above, the gear is made of metal, and the control system includes a Hall effect sensor configured to sense the rate at which the metal gear teeth pass through the Hall effect sensor. In various embodiments, the control system is configured to evaluate the speed of a translational component of the nail firing drive.

[0660] As described herein, the control system's algorithm uses the duty cycle of the firing actuator's electric motor to evaluate whether the speed of the nail firing actuator should be adjusted, and in which direction—slower or faster. Besides the duty cycle of the firing actuator's electric motor, various other algorithms use data to adjust the speed of the nail firing stroke. For example, speed adjustment algorithms may utilize, for instance, the joint motion angle of the end effector, the initial battery voltage, the operable battery voltage, the current through the motor, PID error, and / or any characterization of the PWM circuitry generated during the manufacture of the surgical instrument. Among other things, these parameters can be used in mathematical operations or evaluation formulas to determine whether the speed of the nail firing stroke should be adjusted, the direction of adjustment, and / or the amount of adjustment. The parameters used can be instantaneous measurements and / or measurements averaged over several readings. The parameters used may include changes in the rate of change or slope of the measurement. The values ​​of the parameters can be added, subtracted, multiplied, and / or divided according to the evaluation formulas.

[0661] Figures 68 to 71 An end effector 40000 is depicted, including an anvil jaw 40420 and a staple cartridge jaw 10410. The anvil jaw 40420 includes a proximal portion 40100 and a distal portion or end 40200 attached to the proximal portion 40100. The distal portion 40200 is capable of operating in a first operational orientation ( Figure 68 ) and second operational orientation ( Figure 70 and Figure 71 The anvil end can be rotated between the two ends to allow clinicians to choose between a straight anvil end and an angled anvil end before using the end actuator 40000.

[0662] The proximal portion 40100 includes a sloped distal end, which can be characterized by a first angle 40120 and a second angle 40130. The first angle 40120 is measured with reference to a top plane defined by the top of the proximal portion 40100, while the second angle 40130 is measured with reference to a bottom plane defined by the bottom of the proximal portion 40100. In various cases, the first angle 40120 and the second angle 40130 are complementary angles. In at least one case, the first angle 40120 and the second angle 40130 are substantially complementary. The distal portion 40200 includes a distal slope attached to the proximal portion 40100. The sloped proximal end of the distal portion 40200 can be characterized by a first angle 40220 and a second angle 40230. In various cases, the first angle 40220 and the second angle 40230 are complementary angles. In at least one case, the first angle 40220 and the second angle 40230 are substantially complementary. In various cases, the first angle 40120 and the first angle 40220 are complementary angles, and the second angle 40130 and the second angle 40230 are complementary angles. This configuration allows the proximal portion 40100 and the distal portion 40200 of the anvil jaw 40420 to have complementary inclined attachment planes, wherein the distal surface 40110 of the proximal portion 40100 and the proximal surface 40210 of the distal portion 40200 are adjacent to each other along the first orientation and the second orientation.

[0663] Using the attachment mechanism, refer to Figure 69 and Figure 69A The distal portion 40200 is rotatable relative to the proximal portion 40100, allowing the distal portion 40200 to be rotated into different orientations. To move the distal portion 40200 to... Figure 70 The second orientation shown, the distal portion 40200 from Figure 68 The first orientation shown is rotated 180 degrees. This configuration allows the user to switch between straight-end anvil jaws and angled-end anvil jaws (40420). Figure 70 and Figure 71 In the second orientation shown, the first angle 40120 and the second angle 40230 are adjacent to each other, and correspondingly, the first angle 40220 and the second angle 40130 are adjacent to each other. The angle at the attachment joint in the second orientation ( Figure 70 Unlike the angle of the first orientation ( Figure 68 That's supplementary.

[0664] The attachment mechanism used can be any suitable attachment mechanism. In at least one case, refer to Figure 69AThe attachment mechanism includes a flexible rotatable pin 40300 anchored to the proximal portion 40100 and the distal portion 40200. This mechanism allows the rotatable portion to rotate between different orientations while maintaining the proximal portion 40100 and the distal portion 40200 attached to each other. One or more spring members and / or stops may be used in conjunction with the pin to hold the portion in a first operating orientation or a second operating orientation. The attachment mechanism may be embedded in the proximal portion 40100 and / or the distal portion 40200. The attachment mechanism may include a bistable compliant mechanism configured to bias portion 40200 into either orientation to prevent accidental partial rotation of the rotatable distal portion 40200. The attachment mechanism may include a spring-loaded stop, a movable hinge, a sliding member, and / or various other locking members. The attachment mechanism may also include an interference fit engagement and / or a friction fit engagement between the proximal portion 40100 and the distal portion 40200.

[0665] In addition to the above, and again refer to Figure 69AThe flexible pin 40300 includes a spherical first end 40310 mounted in a cavity defined in a proximal anvil portion 40100, a spherical second end 40320 mounted in a cavity defined in a distal anvil portion 40200, and a flexible connector 40330 connecting the first end 40310 and the second end 40320. The spherical first end 40310 and the spherical second end 40320 are rotatable within their respective cavities, such that the flexible pin 40300 is rotatable relative to the proximal portion 40100 and / or the distal portion 40200 is rotatable relative to the flexible pin 40300. In either case, this relative rotation allows for rotation of the distal portion 40200 as described above. The length of the flexible connector 40330 is selected such that the flexible connector 40300 is in a resiliently stretched state with respect to each orientation of the distal portion 40200. Therefore, the flexible connector 40330 is used to abut against the first anvil portion 40100 to pull the distal portion 40200. Given that the proximal portion 40100 includes a pin-forming recess and the distal portion 40200 does not, the retaining force provided by the pin 40300 does not need to withstand a pin-forming force and is sufficient to hold the distal portion 40200 in place when the end effector 40000 is positioned within the patient's body. The pin can be spring-loaded in the socket such that the spring pulls the head proximally within the chamber, thereby holding the proximal portion 40100 and the distal portion 40200 together. To allow the distal portion 40200 to rotate between orientations, it can be pulled distally to overcome a biasing force, twisted to another orientation, and released so that the spring can abut against the proximal portion 40100 to pull the distal portion 40200. The engagement between the distal portion 40200 and the proximal portion may also include interlocking features extending therefrom to prevent unintentional movement relative to each other. For example, when the distal portion 40200 is in its first and second orientations, but not when the distal portion 40200 is pulled away from the proximal portion 40100, the teeth may extend from one portion into a corresponding slot defined in the other portion.

[0666] In at least one embodiment, the distal portion 40200 includes, for example, two halves assembled around the attachment mechanism. For example, the two halves may be held together by an elastomer around a pin. In at least one embodiment, a snap-fit ​​mechanism may be used to assemble the two halves together around the attachment mechanism.

[0667] In various cases, the proximal portion 40100 and the distal portion 40200 are made of one or more materials. For example, the proximal portion 40100 may be made of one or more materials, and the distal portion 40200 may be made of one or more materials. In at least one case, the distal portion 40200 is made of metal facing the attachment joint and is made of a molded, overlaid soft end extending distally from the metal portion. The soft end may be made of, for example, rubber and / or plastic. The anvil jaws 40410 may also include an intermediate member positioned between the proximal portion 40100 and the distal portion 40200. The intermediate member may accommodate one or more portions of the attachment mechanism. The intermediate member may also provide an aesthetic and / or functional transition between the proximal portion 40100 and the distal portion 40200, which may be used when the proximal portion 40100 and the distal portion 40200 contain more than one material.

[0668] In at least one case, the first portion 40100 and the second portion 40200 include edges designed to eliminate any sharp edges presented by the rotation of the second portion 40200 relative to the first portion 40100.

[0669] 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.

[0670] Surgical Instrument 110000 is shown Figure 90 Surgical instrument 110000 may include a handle 110100, a shaft 110200 extending from the handle 110100, and an end effector 110400 rotatably connected to the shaft 110200 about a joint joint 110500. Surgical instrument 110000 is similar to other surgical instruments disclosed herein, and for the sake of brevity, such similarities will not be discussed further herein. The shaft 110200 is fixedly attached to the handle 110100. [Reference] Figures 91 to 93The shank 110100 includes a shank frame 110110, and the shaft 110200 includes a shaft frame 110210. The shank frame 110110 includes a distal portion 110115 that extends over and nests with the proximal portion 110215 of the shaft frame 110210. The shaft frame 110210 includes alignment protrusions 110216 extending therefrom, which are received tightly within orifices defined in the shank frame 110110. Each of the protrusions 110216 includes an orifice 110217 extending through it, configured to receive, for example, a self-tapping screw 110116. The self-tapping screw is configured to obtain a grip in the shank frame 110115 and securely fasten the shaft 110200 to the shank 110100. In various cases, refer again... Figure 90 Force can be applied to the end effector 110400 to remove the pin cartridge positioned therein without creating relative movement between the shaft 110200 and the handle 110100.

[0671] In addition to the above, the surgical instrument 110100 also includes a joint motion drive, a closure drive, and a nail firing drive. The joint motion drive is actuated to cause the end effector 110400 to articulate about the joint motion axis AA. The closure drive includes a closure actuator 10140 as described above, which is actuated to move the jaws 110420 of the end effector 110400 toward the jaws 110410. The nail firing drive is actuated to fire a nail from a cartridge disposed in the end effector 110400 during the nail firing stroke. The nail firing drive includes an electric motor configured to advance the firing member distally through the nail firing stroke and retract the firing member proximally back to its unfired position. Similar to other embodiments described herein, the joint motion drive may selectively engage with the nail firing drive. When the joint motion drive device is engaged with the pin-firing drive device, the joint motion component of the joint motion drive device can be driven by the pin-firing drive device, and correspondingly, when the joint motion drive device is not engaged with the pin-firing drive device, the joint motion drive device cannot be driven by the pin-firing drive device. As further described below, when the closing drive device is fully actuated, the closing drive device disengages the joint motion drive device from the pin-firing drive device.

[0672] refer to Figures 94 to 96The handle 110100 includes a joint actuator 110160, which can be actuated to cause the end effector 110400 to perform joint movements. The joint actuator 110160 includes a rocker switch, such as a rocker body 110163 rotatably mounted to a circuit board 110190 about a pivot 110162. The joint actuator 110160 also includes a first contact 110168 mounted to the circuit board 110190, which moves from an open state to a closed state when a first end 110164 of the rocker body 110163 is pressed down. When the first end 110164 is released, a biasing member in the first contact 110168 returns the first contact to its open state. The joint motion actuator 110160 also includes a second contact 110169 mounted to a circuit board 110190, which moves from an open state to a closed state when the second end 110165 of the rocker arm body 110163 is pressed down. When the second end 110165 is released, a biasing member in the second contact 110169 returns the second contact to its open state. The first contact 110168 and the second contact 110169 are in communication with the control system of the surgical instrument 110000. When the control system detects that the first contact 110168 is closed, the control system operates the electric motor of the pin-firing system to cause the end effector 110400 to perform joint motion in a first direction. Correspondingly, when the control system detects that the second contact 110169 is closed, the control system operates the electric motor of the pin-firing system to cause the end effector 110400 to perform joint motion in a second direction.

[0673] In addition to the above, the rocker arm body 110163 includes a first support 110166 that contacts the circuit board 110190 and restricts the travel of the rocker arm body 110163 when pressed down in a first direction. Similarly, the rocker arm body 110163 includes a second support 110167 that contacts the circuit board 110190 and restricts the travel of the rocker arm body 110163 when pressed down in a second direction. This arrangement prevents or reduces the possibility of damage to the joint motion actuator 110160. For example, this arrangement may also be applied to other actuators (such as actuator 110170) on the handle 110100. Actuator 110170 includes a switch in communication with the control system of surgical instrument 110100, which, when closed, causes the control system to automatically move end effector 110400 along the longitudinal axis LA of shaft 110200. Figure 90 Refocus your mind.

[0674] In addition to the above, shaft 110200 and end effector 110400 are rotatable relative to shank 110100 about longitudinal axis LA. In use, clinicians can grasp the nozzle-shaped portion of shaft 110200 or nozzle 110220 to rotate shaft 110200 about longitudinal axis. Similar to the above, see reference... Figures 97 to 100 The surgical instrument may include a handle 111100 and a shaft 111200 rotatable relative to the handle 111100 about a longitudinal axis LA, wherein the rotation of the shaft 111200 relative to the handle 111100 can be sensed by a sensor or a switch 111230. The switch 111230 is mounted to a circuit board 111190, and similarly as described above, the switch 111230 switches between a first or open state and a second or closed state when the cam 111225 of the nozzle 111220 contacts the switch 111230. Therefore, the rotation of the shaft 111200 is divided into two ranges—a first orientation range in which the switch 111230 is in the first state and a second orientation range in which the switch 111230 is in the second state. The switch 111230 is in communication with the control system of the surgical instrument 111000, and depending on the input provided by the switch 111230, the control system controls the joint movement of the end effector in a first response state and a second response state. Compared to the first response state, in the second response state, the response of the joint motion drive to the actuation of the joint motion actuator 110160 is reversed or flipped. As described above, this arrangement provides more intuitive operation of the surgical instrument 111000 when the shaft 111200 is in a flipped or inverted orientation. See, for example, Figure 100 The control system 111900. For example, the control system can be used in conjunction with any embodiment disclosed herein, such as surgical instrument 110000.

[0675] In various embodiments, in addition to the above, when the closure trigger 10140 is initially actuated to close the end effector 110400, the control system of the surgical instrument 110000 becomes unresponsive to the articulation actuators 110160 and 110170. Furthermore, in such embodiments, the initial actuation of the closure trigger 10140 causes the articulation drive to disengage from the pin-firing drive. Such embodiments completely eliminate the possibility of articulation of the end effector 110400 while it is clamped onto tissue. That is, such embodiments require the clinician to estimate the location where the second jaw 110420 will contact the tissue when it is finally closed after the end effector 110400 has articulated. In such embodiments, if the clinician has partially closed the end effector 110400, the clinician must reopen the end effector 110400 to allow it to articulate again. In such embodiments, reopening the end effector 110400 re-engages the articulation actuator with the pin-firing actuator, and the control system becomes responsive to the articulation actuators 110160 and 110170 again. In an alternative embodiment, the end effector 110400 of the surgical instrument 110000 can perform articulation when the end effector 110400 is in a partially closed or partially clamped configuration. Once the end effector 110400 is closed more than in a partially closed configuration, in these embodiments, the articulation actuator disengages from the pin-firing actuator, and the control system no longer responds to the articulation controls 110160 and 110170 until the end effector 110400 is reopened or at least returned to its partially closed configuration.

[0676] In addition to the above, the partially closed configuration of the end effector 110400 is a predefined or predetermined position of the second jaw 110420. In at least one such embodiment, reference is made to... Figures 101 to 103 The surgical instrument 110100 includes a closure lock 10146 configured to releasably retain the closure actuator 10140 in a predefined partially closed position. When the closure actuator 10140 is in this partially closed position, the joint motion actuator remains engaged with the pin-firing actuator, and the control system responds to joint motion controls 110160 and 110170. In other words, when the closure actuator 10140 is in a position between and including the predefined partially closed position, the joint motion actuator engages with the pin-firing actuator, and the control system responds to joint motion controls 110160 and 110170. Figure 102A locking arm 10147 is shown, positioned within a notch or recess 10145 defined in the top portion 10144 of the closure actuator 10140. When the closure actuator 10140 is closed, i.e., when the closure actuator 10140 reaches the partially closed position discussed above, the locking arm 10147 engages the notch 10145. In various cases, the locking arm 10147 engaging the notch 10145 may produce an audible click, indicating to the clinician who is closing the closure actuator 10140 that any additional closure of the closure actuator 10140 will disable the joint movement actuator and controls. The locking arm 10147 engaging the notch 10145 may also provide tactile feedback to the clinician. At this point, the clinician has the opportunity to observe the articulated position of the end effector 110400 and its partially closed configuration, while the closing actuator 10140 remains in place. In this situation, if the clinician is not satisfied with the position of the end effector 110400, they have the opportunity to use the articulation controls 110160 and 110170 to re-articulate the end effector 110400 without having to reopen it. However, closing the closing actuator 10140 outside this position disengages the articulation drive from the pin-firing drive and prevents the control system from responding to the articulation controls 110160 and 110170. In such a case, the locking arm 10147 flexes and disengages from the notch 10145, causing the top portion 10144 to rotate through the locking arm 10147 until the closing actuator 10140 reaches the end of its stroke. At this point, refer to... Figure 103 The locking arm 10147 does not flex and falls behind the top portion 10144 to releasably hold the closing actuator 10140 in its fully closed position. Applying force to the closing actuator 10140 may cause the locking arm 10147 to flex away again, so that the closing actuator 10140 returns to its partially closed and / or fully open position as discussed above. When the closing actuator 10140 returns to the partially closed position and / or any position between the partially closed and open positions, the joint motion actuator re-engages with the pin firing actuator, and the control system responds again to the joint motion controls 110160 and 110170.

[0677] exist Figures 104 to 106 The image shows a surgical instrument including a handle 112100, which includes a selectively actuated closure actuator block. The handle 112100 includes a closure actuator 112140, similar to closure actuator 10140, which is located in a fully open position (…). Figure 104 Rotate to the fully clamped position. Figure 106The closing actuator 110400 is used to close the end effector 110400. The closing actuator 112140 includes a deployable block 112145 rotatably mounted thereto, which can be in a retracted position. Figure 104 ) and unfolding position ( Figure 105 The actuator 112140 can be rotated between these two positions, with the deployed position supporting the closure actuator 112140 in a partially closed position. In this partially closed position, similar to the above description, the joint motion actuator remains operatively engaged with the pin-firing actuator, and the control system remains responsive to the joint motion controls 110160 and 110170. At this point, the clinician can choose to deactivate the closure block 112145 and fully close the end effector 110400. Similarly, doing so will disengage the joint motion actuator from the pin-firing actuator and render the control system unresponsive to the joint motion controls 110160 and 110170. The clinician can then decide whether to deploy the closure block 112145. If the closure block 112145 is not deployed, the closure actuator 112140 will not stop in its predefined partially closed position, and the joint motion actuator will be deactivated when the end effector 110400 is closed. When the closing actuator 10140 returns to its partially closed position and / or any position between the partially closed and open positions, the joint motion drive re-engages with the pin firing drive, and the control system responds again to the joint motion controls 110160 and 110170. The control system includes a sensor system configured to assess whether the closing actuator 112140 is in its open, partially closed, and / or fully closed position.

[0678] In addition to the above, in various implementations, automatic locks and / or deployable blocks can be used individually and / or together. Figure 107 and Figure 108 Another example is shown, which includes a shaft 113200 extending from a handle 110100. The shaft 113200 includes a nozzle 113220 for rotating the shaft 113200 about a longitudinal axis. The nozzle 113220 includes an actuator 113225 that is manually depressed by a clinician to block the closure actuator in a state corresponding to a predefined partially closed position discussed above.

[0679] When the closing actuator 10140 is closed, now refer to Figure 109 and Figure 110The closure actuator 10140 drives the closure drive unit 10600 to close the second jaw 110420 of the end effector 110400. The closure drive unit 10600 includes a bracket 110610 that is pushed distally by the top portion 10144 of the closure actuator 10140 when the closure actuator 10140 is moved distally by a clinician into its closed position. The closure drive unit 10600 also includes a closure tube assembly 10240 mounted to the bracket 110610 that moves distally together with the bracket 110610. The closure tube assembly 10240 includes a distal end that engages with the second jaw 110420 and causes the second jaw 110420 to move downward toward the first jaw 110410 when the closure tube assembly 10240 is advanced distally. The closing drive mechanism 10600 also includes a spring 110620 positioned between the bracket 110610 and the shaft frame 110210. When the bracket 110610 is pushed distally during the closing stroke, the spring is elastically compressed between the bracket 110610 and the shaft frame 110210. After the closing stroke is completed, the spring 110620 is released by the closing lock 10146 discussed above. Figure 102 ) remains in its compressed state until the closed lock 10146 is opened by actuators 10180a and 10180b on the handle 110100. Figure 90 The opening force provided overcomes this. At this time, the compression spring 110620 pushes the bracket 110610 and the closing tube assembly 10240 proximally to reposition the closing actuator 10140 in its unactuated position, and allows the jaw opening spring 10446 in the end actuator 110400 to open. Figure 147 Open the second jaw 110420.

[0680] In various alternative embodiments, in addition to the above, the closing drive may include more than one spring compressed between the closing bracket 110610 and the shaft frame 110210. Reference Figure 111The closing actuator may include a distal spring 110620' and a proximal spring 110620" connected in series. The distal spring 110620' is stiffer than the proximal spring 110620" so that the proximal spring 110620" is significantly compressed, followed by the distal spring 110620' being significantly compressed. Therefore, the initial movement of the closing actuator 10140 from its fully open position will encounter a slight force due to the compression of the proximal spring 110620"; once the distal spring 110620' begins to compress significantly, this force increases abruptly. In at least one such case, the proximal spring 110620' reaches its fully compressed or solid state before the distal spring 110620' begins to compress significantly. This sudden increase in force applied to the closing actuator 10140 corresponds to a point where the joint motion system has been deactivated during the closing stroke. In such cases, the clinician is provided with the following tactile feedback: the joint motion system can no longer be used to perform joint movements with the end effector 110400 unless the closing actuator 110400 is at least partially released or reopened, returning beyond the force transition point. Figure 113 The diagram depicts a graphical representation of the forces applied to the closing actuator 10140 by springs 110620' and 110620'". The forces applied to the closing actuator 10140 are depicted by line 110650, which includes an initial portion 110650a and a final portion 110650b. In the initial portion 110650a, as summarized above, the proximal spring 110620' is easily compressed during the initial portion of the closing stroke, resulting in a relatively small force of approximately 100 N applied to the closing actuator 10140. For example, at the midpoint of the closing stroke, the force applied to the closing actuator 10140 in the final portion 110650b increases significantly due to the solidity of the proximal spring 110620' and the higher spring stiffness of the distal spring 110620'. This force transition occurs in... Figure 113 The data was divided into 110651, which also included the deactivation of the joint movement system.

[0681] In addition to the above, Figure 112A The spring 110620 discussed above is depicted, which has a constant spring stiffness along its length. Figure 112C This is a graphical representation of a spring system including a distal spring 110620' and a proximal spring 110620" with different spring stiffnesses. In various cases, for example, the effects provided by the distal spring 110620' and the proximal spring 110620" can be combined into a single spring (such as...). Figure 112BThe spring 110620"' is located within the spring. In at least one embodiment, the spring 110620"' includes a spring stiffness that varies along its length. In various embodiments, the springs positioned between the closed bracket 110610 and the shaft frame 110210 may include a parallel and / or series arrangement. Regardless of the spring arrangement used, the spring arrangement can provide tactile feedback to the clinician indicating that an operational transition or threshold has been exceeded.

[0682] refer to Figure 114 The surgical instrument 110000 includes a visual indicator that indicates the joint motion actuator has disengaged from the pin-firing actuator and the control system is no longer responsive to joint motion controls 110160 and 110170. For example, the rocker arm body 110163 of the joint motion actuator 110160 is made of a translucent material (such as translucent plastic). In at least one embodiment, the rocker arm body 110163 is made of, for example, transparent polycarbonate. The joint motion actuator 110160 also includes, for example, a light, such as a light-emitting diode (LED), positioned within and / or below the rocker arm body 110163. The light is communicated with the control system of the surgical instrument 110000 and is illuminated by the control system when the joint motion actuator is not engaged with the pin-firing actuator. In such cases, visual feedback is provided to the clinician that the joint motion control 110160 is no longer responsive to input. Similarly, the joint motion control 110170 includes a button housing made of a translucent material and a light communicated with the control system. Similar to the joint motion control 110160, the light on the joint motion control 110170 is illuminated by the control system when the joint motion drive is not engaged with the pin firing drive. In various embodiments, as discussed above, the joint motion actuator 110160 is not illuminated when the closing actuator 10140 is in a position range between and including these positions, and between its fully open position and a predetermined partially closed position. When the closing actuator 10140 is closed beyond the predetermined partially closed position, the joint motion actuator 110160 is illuminated—at least until the closing actuator 10140 returns to the predetermined partially closed position.

[0683] In various alternative embodiments, when the joint motion actuator is engaged with the nail firing actuator, the lights of actuators 110160 and / or 110170 are illuminated, for example, in a first color (such as green), and when the joint motion actuator is not engaged with the nail firing actuator, the lights are illuminated, for example, in a second color (such as red). In at least one such embodiment, the light in the joint motion actuator 110160 includes, for example, a bicolor LED.

[0684] refer to Figure 115The surgical instrument 110000 may include a visual indicator that indicates engagement of the joint motion actuator with the pin-firing actuator and controls the system in response to joint motion controls 110160 and 110170. A light in joint motion control 110160 is communicated with the control system of the surgical instrument 110000 and is illuminated by the control system when the joint motion actuator engages with the pin-firing actuator. In this case, visual feedback is provided to the clinician in response to the input to joint motion control 110160. Similar to joint motion control 110160, a light in joint motion control 110170 is illuminated by the control system when the joint motion actuator engages with the pin-firing actuator. In various embodiments, as discussed above, joint motion actuator 110160 is illuminated when closure actuator 10140 is in a position range between and including these positions. When the closing actuator 10140 is closed beyond the predetermined partially closed position, the joint motion actuator 110160 is deactivated—at least until the closing actuator 10140 returns to the predetermined partially closed position. Figure 116 and Figure 117 Further details are provided in the control system schematic diagrams 110900” and 110900”’ shown respectively.

[0685] As described above, the joint motion drive of the surgical instrument 110000 can selectively engage with the pin-firing drive. When the joint motion drive is engaged with the pin-firing drive, the joint motion actuator 110160 can be actuated to operate the electric motor of the pin-firing drive and longitudinally translate the joint motion component of the joint motion drive. (Reference) Figures 118 to 120 The surgical instrument 110000 also includes a joint motion locking system 110260, which comprises two sets of joint motion locks 110280 that releasably hold the joint motion drive system (and end effector 110400) in place when the joint motion drive is not driven by an electric motor, as described in more detail below. Also described in more detail below, when the joint motion drive is driven by an electric motor of a pin-firing drive, the two sets of joint motion locks 110280 automatically unlock.

[0686] refer to Figure 118The joint motion actuation device of the surgical instrument 110000 includes a proximal actuation member 110250, which is translated proximally and distally by an electric motor, depending on the direction along which it actuates the joint motion actuator 110160. When the proximal actuation member 110250 is driven distally, it contacts a first set of joint motion locks 110280, which are displaced from a locked position to an unlocked position by distal movement of the proximal actuation member 110250. The displacement of the first set of joint motion locks 110280 is via a spring 10286 positioned between the first and second sets of joint motion locks 110280. Figure 73 The second set of joint motion locks 110280 is moved to the unlocked position. Therefore, the distal movement of the proximal drive member 110250 unlocks both sets of joint motion locks 110280 and drives them distally. The joint motion lock 110280 engages with the distal joint motion member 110270, which is driven distally by the joint motion lock 110280 when the joint motion lock 110280 is driven distally by the proximal joint motion member 110250. When the proximal drive member 110250 stops moving, the spring 10286 biases the joint motion lock 110280 back to its locked position to relock the end effector 110400 into place. When the proximal member 110250 is driven proximally, it contacts the second set of articulated locks 110280, shifting the first and second sets of articulated locks 110280 into their unlocked positions, and driving the first and second sets of articulated locks 110280 and the distal articulated member 112070 proximally. When the proximal member 110250 stops moving, similar to the above description, the spring 10286 biases the articulated locks 110280 back into their locked positions to relock the end effector 110400 into place.

[0687] When the proximal drive member 110250 of the joint motion drive device moves the joint motion lock 110280 proximally and distally, as described above, the joint motion lock 110280 slides along the lock track 110282. (Main Reference) Figure 120The locking track 110282 extends through an aperture 110285 defined in the locking end 110284 of the articulated lock 110280. Specifically, the locking track 110282 includes two flat locking surfaces 110282a positioned on opposite sides and two arcuate locking surfaces 110282b positioned on opposite sides. Each aperture 110285 includes an opposing flat locking side 110285a that engages the flat locking surface 110282a of the locking track 110282 when the articulated lock 110280 is in its locked position. In various cases, the flat locking side 110285a includes an edge that engages with the locking track 110282 when the articulated lock 110280 is in its locked position. When torque and / or force are applied to end effector 110400 (which tends to cause end effector 110400 to articulate or de-articulate), this arrangement strongly resists the reverse driving force transmitted to the articulation drive. When articulation lock 110280 is moved to the unlocked position by articulation drive, as described above, the flat locking side 110285a of orifice 110285 can slide along the flat locking surface 110282a of lock track 110282, which allows end effector 110400 to articulate. Each orifice 110285 also includes opposing arcuate side 110285b that slides along the arcuate locking surface 110282b of lock track 110282.

[0688] In various embodiments, the surgical instrument 110000 may include one or more position sensors that can be used to verify engagement or disengagement of the joint motion drive system with the pin-firing system. In at least one such embodiment, the surgical instrument 110000 includes, for example, a Hall effect sensor configured to assess whether the joint motion drive member is aligned and / or engaged with the pin-firing drive member. As a supplement to or alternative to the position sensors, the surgical instrument 110000 may include force and / or force-related sensors configured to assess whether the joint motion drive system is engaged with the pin-firing drive system. In at least one such embodiment, the control system of the surgical instrument 110000 includes, for example, at least one strain gauge mounted on the proximal joint motion drive member 110250, configured to detect strain in the proximal joint motion drive member 110250. When the joint motion drive member 110250 is advanced proximally or distally to unlock the joint motion locking assembly 110260, the strain loading in the joint motion drive member 110250 follows a predictable pattern. For example, a significant force is required to unlock the joint motion lock assembly 110260, and this force is then reduced once the end effector 110400 initiates joint movement. In various cases, the processor of the surgical instrument control system is configured to compare sensed strain loading data from a strain gauge with expected strain data stored in the control system's memory. If the sensed data matches or sufficiently matches the stored data within acceptable error limits, the control system determines that the joint motion actuator is engaged with the pin-firing actuator and allows the surgical instrument 110000 to continue responding to the joint motion controls 110160 and 110170. The handle 110100 may also include an indicator light communicated with the control system, which is illuminated by the control system when it determines that the joint motion actuator is engaged with the pin-firing actuator. Such an indicator light may, for example, be an indicator light for the joint motion actuator 110160, the joint motion actuator 110170, and / or adjacent to the joint motion actuators 110160 and 110170.

[0689] However, if the sensed data and stored data do not match sufficiently, the control system will determine that the joint motion actuator is not engaged with the pin-firing actuator and will not allow the surgical instrument 110000 to continue responding to the joint motion controls 110160 and 110170. When the joint motion actuator is not engaged with the pin-firing actuator, the joint motion actuator is not driven by the electric motor, and therefore, a small strain (if any) will exist in the joint motion actuator 110250, providing a mode that can be clearly distinguished from the above-described mode. Similar to the above, the handle 110100 may also include an indicator light communicated with the control system, which is illuminated by the control system when it determines that the joint motion actuator is not engaged with the pin-firing actuator. For example, such an indicator light may be part of the indicator lights of the joint motion actuator 110160, the joint motion actuator 110170, and / or adjacent to the joint motion actuators 110160 and 110170.

[0690] In addition to the above, the proximal joint motion drive component 110250 includes circuitry communicating with at least one strain sensor mounted to the proximal joint motion drive component 110250. The circuitry includes an electrical contact that travels within and contacts an elongated longitudinal electrical contact in the handle 110100, which in turn communicates with the processor of the surgical instrument 110000. Due to this slidable electrical engagement, at least one strain sensor remains in communication with the control system throughout the travel of the proximal joint motion drive component 110250. Other contact arrangements may be used. Furthermore, other types of force sensors, such as force sensors, may be used. Additionally, any suitable portion of the joint motion drive system can be used to assess whether the joint motion drive system engages with the nail firing system.

[0691] exist Figures 121 to 122The diagram illustrates a joint movement lock according to at least one alternative embodiment. The joint movement lock includes a locking track 110282', a first set of joint movement locks 110280a', and a second set of joint movement locks 110280b'. Similar to the joint movement lock 110280, the joint movement locks 110280a' and 110280b' are displaceable between a locked position and an unlocked position when the proximal joint movement drive member 110250 is longitudinally driven. The locking track 110282' includes a first portion 110282a' held by the first joint movement lock 110280a', a second portion 110282b' held by the second joint movement lock 110280b', and a spring 110282c' connecting the first portion 110282a' and the second portion 110282b' of the locking track 110282'. The flexibility of spring 110282c' generates a reaction force in the joint motion drive system, which can be observed and detected by the control system to assess whether the joint motion actuator engages with the pin-firing drive. Furthermore, each joint motion lock 110280a' includes a punch-out portion 110284a', and similarly, each joint motion lock 110280b' includes a punch-out portion 110284b'. The punch-out portions 110284a' are nested and contact each other. Similarly, the punch-out portions 110284b' are nested and contact each other. The length L and radius R of the punch-out portions 110284a' and 110284b' are designed to generate improved locking / unlocking forces and / or displacement profiles of the joint motion locks, which can be observed and detected by the control system to assess whether the joint motion actuator engages with the pin-firing drive.

[0692] exist Figures 123 to 126 The image shows a surgical instrument according to at least one alternative embodiment. The surgical instrument includes a shaft 114200, an end effector 114400, a joint motion actuator configured to enable joint movement of the end effector 114400 about a joint motion joint, and a joint motion lock 114280. The joint motion actuator includes a proximal joint motion actuator 114250, a distal joint motion actuator 114270, and a joint motion lock spring 114260 positioned between the distal arm 114272 and the proximal arm 114274 of the distal joint motion actuator 114270. When the joint motion actuator system is stationary, i.e., not driven to perform joint movement of the end effector 114400, reference is made to… Figure 123 The joint motion locking spring 114260 includes a distal end 114262 positioned against a distal arm 114272 of a distal joint motion actuator 114250 and a proximal end 114264 engaging with a proximal joint motion actuator 114270. In such cases, as Figure 123As shown, the proximal end 114264 of the joint motion locking spring 114260 is disposed in a notch or recess 114255 defined in the proximal joint motion actuator 114250. Furthermore, in this case, the locking spring 114260 is in a locked state, wherein it engages with the locking track 10282 of the shaft 114200. Main Reference Figure 126 The locking track 10282 extends through an aperture in the locking spring 114260, and when the locking spring 114260 is in its locked state, the coil of the locking spring 114260 engages or grips the circular outer surface of the locking track 10282. Therefore, when the end effector 114400 is subjected to a reverse driving torque and / or force that tends to cause or release the articulation of the end effector 114400, a significant drag force can be generated to resist or prevent the articulation of the end effector 114400. To release the grip of the locking spring 114260 and unlock the articulation lock 114280, the diameter of the locking spring 114260 must be increased, as described in more detail below.

[0693] When the proximal joint motion actuator 114250 is advanced distally to cause the end effector 114400 to perform joint movement, refer to Figure 124 The proximal cam arm 114254 of the proximal joint motion actuator 114270 engages the proximal arm 114274 of the distal joint motion actuator 114270 to push the distal joint motion actuator 114250 distally. The distal end of the distal joint motion actuator 114270 engages with the frame 114410 of the end effector 114400, such that longitudinal translation of the distal joint motion actuator 114270 causes rotation of the end effector 114400. When the proximal joint motion actuator 114250 contacts the distal joint motion actuator 114270, in addition to the above, the proximal end 114264 of the joint motion locking spring 114260 exits from the notch 114255 and is driven inward by the proximal joint motion actuator 114250. In this case, the diameter of the articulation locking spring 114260 increases to release its grip on the locking rail 10282 and allow the end effector 114400 to perform articulation via the articulation actuator. When the distal movement of the proximal articulation actuator 114250 stops, the articulation locking spring 114260 elastically returns to its locked position and re-grips the locking rail 10282.

[0694] When the proximal joint motion actuator 114250 is moved proximally to cause the end effector 114400 to perform joint movement in the opposite direction, reference Figure 125The distal cam arm 114252 of the proximal articulator 114270 engages the distal arm 114272 of the distal articulator 114270 to pull the distal articulator 114250 proximally. In this case, in addition to the above, the proximal end 114264 of the articulator locking spring 114260 exits from the notch 114255 and is driven inward by the proximal articulator 114250. In this case, the diameter of the articulator locking spring 114260 increases to release its grip on the locking rail 10282 and allow the end effector 114400 to perform articulation via the articulator. When the proximal movement of the proximal articulator 114250 stops, the articulator locking spring 114260 elastically returns to its locked state and re-grips the locking rail 10282.

[0695] As discussed above, the actuation of the closing drive mechanism of surgical instrument 110000 deactivates the joint motion drive system at a point during the closing stroke. When the closing drive mechanism reaches the end of its closing stroke, the second jaw 110420 contacts the first jaw 110410 in a manner that indicates to the clinician using surgical instrument 110000 that the second jaw 110420 is reaching its fully clamped position. Reference Figures 127 to 130 The second jaw 110420 is pivotally coupled to the first jaw 110410 and can be in the fully open position during the closing stroke. Figure 128 ) and fully clamped position ( Figure 127 Rotate between ) when the second jaw 110420 is in its fully open position ( Figure 128 When the second jaw 110420 is closed, the flange or tissue stop 110428 of the second jaw 110420 does not engage with the first jaw 110410. When the second jaw 110420 is closed, refer to... Figure 129 The tissue stop 110428 contacts the outer wall 110418 of the first jaw 110410. The inner surface 110429 of the tissue stop is not inclined, or parallel to the closing movement of the second jaw 110420. (Main Reference) Figure 130The outer surface 110419 of the outer wall 110418 is inclined inward or not parallel to the closing movement of the second jaw 110420. Due to this arrangement, interference occurs between the tissue stop 110428 of the second jaw 110420 and the outer wall 110418 of the first jaw 110410 during the closing movement of the second jaw 110420, and gradually increases as the second jaw 110420 moves into its fully closed position. This increased interference between the jaws 110410 and 110420 generates increased resistance within the closing actuator, which is transmitted back to the closing trigger 10140 through the closing tube 110240. The clinician pulling the closing trigger 10140 can feel the increased resistance transmitted through the closing trigger 10140 and understand that the second jaw 10420 is reaching its fully closed position.

[0696] For example, the main reference Figure 130 Each outer surface 110419 includes a top inclined surface 110419a, a second inclined surface 110419b, and a final inclined surface 110419c. The first jaw 110410 includes a channel 110412 configured to receive a staple cartridge therein, comprising a top width defined between the top inclined surfaces 110419a. The top width of the channel 110412 is narrower than the intermediate width defined between the intermediate inclined surfaces 110419b, which is narrower than the final width defined between the final inclined surfaces 110419c. In addition to providing tactile feedback to clinicians, the above arrangement maintains proper lateral alignment between the first jaw 110410 and the second jaw 110420.

[0697] As discussed above, the actuation of the closure drive 10600 of the surgical instrument 110000 disengages the joint movement drive from the pin firing drive at a point during the closure stroke. (Reference) Figure 131 and Figure 132The surgical instrument 110000 includes a transmission 110230 that switches from a first state or configuration to a second state or configuration when the closing drive 10600 is closed. When the transmission 110230 is in its first state, a proximal joint motion actuator 110250 is coupled to the firing member of the pin-firing drive. When the transmission 110230 is in its second state, the proximal joint motion actuator 110250 disengages from the firing member. During the closing stroke, a cam portion of the closing drive 10600 contacts the transmission 110230 to rotate the transmission 110230 from its first state to its second state. The transmission 110230 includes a cam member 110232 mounted within a rotatable collar 110234, which is contacted by the cam portion of the closing drive during the closing stroke. The cam member 110232 is made of a material harder than the cam portion of the closing drive 10600. In various embodiments, the scratch hardness and / or indentation hardness of the cam member 110232 is higher than that of the cam portion of the closing drive 10600. In at least one embodiment, for example, the rotatable collar 110234 is made of plastic and the cam member 110232 is made of metal, such as a zinc casting. In various alternative embodiments, the cam portion of the closing drive 10600 is made of metal, and the cam member 110232 of the transmission 110230 is made of the same metal. In any case, the transmission 110230 also includes a spring that is compressed when the collar 110234 rotates to its second state. The compressed spring is configured to re-expand and bias the collar 110234 back to its first state when the closing drive is retracted.

[0698] When the closing drive advances distally during the closing stroke, in addition to the above, the closing tube 110240 advances distally to engage and close the second jaw 110420 of the end actuator 110400. (See reference) Figure 133 and Figure 134The frame 110210' of the shaft 110220 may include one or more sealing engagements that are engaged by the closing tube 110240 when the closing tube is advanced distally. The shaft frame 110210' is cylindrical, or at least substantially cylindrical, and includes a first sealing engagement 110212 and a second sealing engagement 110214. The first sealing engagement 110212 includes a ring or ridge extending partially around the shaft frame 110210'; however, in other embodiments, the first sealing engagement 110212 may extend around the entire circumference of the shaft frame 110210'. Similarly, the second sealing engagement 110214 includes a ring or ridge extending partially around the shaft frame 110210'. However, in other embodiments, the second sealing engagement 110214 may extend around the entire circumference of the shaft frame 110210'. The first sealing joint 110212 and the second sealing joint 110214 are made of plastic and are configured to elastically deform when engaged by the closure tube 110240. The elastic deformation of joint 110212 provides a liquid-tight and / or airtight joint between the closure tube 110240 and the frame 110210', which restricts fluid access into the shaft 110200 and / or handle 110100 of the surgical instrument 110000. In various embodiments, for example, sealing joints 110212 and 110214 may be made of any suitable material, such as rubber and / or silicone.

[0699] Once the end effector 110400 has been fully closed, in addition to the above, the nail firing drive of the surgical instrument 110000 can be actuated to fire a nail contained in the nail magazine disposed in the end effector 110400 during the nail firing stroke. Reference Figure 148 The nail firing drive includes a firing member or lever 110710, which is responsive to a firing trigger 10150. Figure 91 The bolt is propelled distally by an electric motor of the bolt-firing drive mechanism. The bolt-firing drive mechanism also includes a connecting element 110720 attached to the distal end of the firing lever 110710. In at least one embodiment, the joint between the firing lever 110710 and the connecting element 110720 includes, for example, a dovetail arrangement. During the bolt-firing stroke, the connecting element 110720 may be in a proximal unfired position (…). Figure 148(Shown) and the distal firing position. The connecting element 110720 includes a cam 110724 configured to engage the first jaw 110410 and a cam 110722 configured to engage and hold the second jaw 110420 during the nail firing stroke. Cams 110722 and 110724 cooperate to hold the second jaw 110420 in place relative to the first jaw 110410 during the nail firing stroke, although embodiments are contemplated without cams 110722 and 110724. The connecting element 110720 also includes a tissue cutting blade 110271 configured to transversely cut tissue captured between the first jaw 110410 and the second jaw 110420 during the nail firing stroke.

[0700] In addition to the above, the surgical instrument 110000 also includes a nail firing lock to prevent nail firing stroke when the nail cartridge is missing from the first jaw 110410 and / or when the nail cartridge housed in the first jaw 110410 has been at least partially fired. For this purpose, the connecting element 110720 also includes a proximal tail 110729 that is biased downward (i.e. towards the bottom of the first jaw 110410) by a firing lock spring 110490 mounted in the shaft 110200 at the start of the nail firing stroke. If the unfired nail cartridge is not positioned in the first jaw 110410 at the start of the nail firing stroke, the firing locking spring 110490 will push the connecting element 110720 downward, causing the laterally extending lock shoulder 110727 extending from the connecting element 110720 to enter the lock recess 10419 defined in the first jaw 10410 and contact the lock shoulder 10417 at the distal end of the lock recess 10419, which blocks the distal advance of the nail firing drive to prevent the nail firing stroke. If the unfired nail cartridge is positioned in the first jaw 110410 at the start of the nail firing stroke, the distal end 110725 of the connecting element 110720 is supported by a slider in the nail cartridge, which prevents the connecting element 110720 from being pushed into the lock recess 110419 by the firing locking spring 110490, and thus the connecting element 110720 can be advanced distally to perform the nail firing stroke.

[0701] In addition to the above, the firing locking spring 110490 includes a proximal portion 110492 mounted to the shaft 110200 and a distal end portion 110494 freely movable relative to the proximal portion 110492. The distal end portion 110494 includes an arcuate portion 110499 extending above the proximal tail portion 110729, which contacts the proximal tail portion 110729 when the pin firing drive is actuated. The firing locking spring 110490 also includes a lateral support 110495 extending therefrom, which supports the distal end portion 110494 above the proximal tail portion 110729. The lateral support 110495 is positioned within a recess 110415 defined in the first jaw 110410, which holds the lateral support 110495 in place. As a result of this arrangement, the firing locking spring 110490 is prevented from bottoming out on the first jaw 110410, and its effective length is shortened. Furthermore, as a result of this arrangement, the firing locking spring 110490 is capable of upward flexing and / or movement to allow the connecting member 110720 to pass through without yielding or permanently deforming the firing locking spring 110490. When the connecting member 110720 returns to its proximal unfired position after the pin firing stroke, the firing locking spring 110490 is moved upward by the connecting member 110720 to allow the tail portion 110729 of the connecting member to move beneath it.

[0702] In addition to the above, see reference Figures 135 to 146 The articulated joint of the surgical instrument described herein can be configured to support the firing rod 110710 of the nail firing drive during the nail firing stroke. As discussed above, the surgical instrument may include a shaft 114200 and an end effector 114400 rotatably connected to the shaft 114200 about the articulated joint. Main Reference Figure 135 The shaft 114200 includes a frame 114210, which includes a pivot pin 114560 extending therefrom, the pivot pin being tightly received in a pivot orifice defined in the frame 114410 of the end effector 114400. The pivot pin 114560 and the pivot orifice cooperate to define the joint motion axis AA of the articulated joint. Similar to the above, see main reference. Figure 136 The end effector frame 114410 includes an articulated motion drive pin 14464 extending therefrom, which engages with a distal articulated motion actuator 114270 and is driven by an articulated motion drive system to articulate the end effector 114400 relative to the axis 114200.

[0703] Refer again Figure 135 and 136The articulated joint also includes a firing rod guide 114510 configured to slide relative to a pivot pin 114560 of the articulated joint. The firing rod guide 114510 includes a proximal end portion 114530 comprising a proximal control pin extending downward into a guide aperture 114215 defined in a shaft frame 114210. The proximal control pin is configured to move within the shaft guide aperture 114215, but its lateral and longitudinal movement is constrained by the sidewalls of the shaft guide aperture 114215. Similarly, the firing rod guide 114510 includes a distal end portion 114540 comprising a distal control pin extending downward into a guide aperture 114440 defined in an end effector frame 114410. The distal control pin is configured to move within the end effector guide orifice 114440, but its lateral and longitudinal movement is constrained by the sidewalls of the end effector guide orifice 114440. The firing rod guide 114510 also includes an arcuate guide wall 114570 that supports the side of the firing rod 110710 when it slides relative to it. The guide wall 114570 particularly prevents buckling of the firing rod 110710.

[0704] In addition to the above, shaft 114200 also includes a retainer 114290 attached to shaft frame 114210. Retainer 114290 also includes a distal end portion having a control surface 114295 defined thereon, the control surface being configured to constrain rotation of firing rod guide 114510 within the articulated joint. When end effector 114400 performs articulated movement to the left, as... Figure 135 As shown, the control surface 114295 is defined on the left shoulder portion 114535 of the firing lever guide 114510 and contacts the retainer 114290. When the end effector performs a joint movement to the right, as... Figure 137 As shown, the right shoulder 114535 of the firing lever guide 114510 contacts the control surface 114295 on the retainer 114290. Regardless of whether the firing lever guide 114510 is in its leftmost orientation, its rightmost orientation, or any position in between, the bar guide wall 114570 is aligned with the bar guide slot 114270 defined in the shaft 114200 and the bar guide slot 114470 defined in the end effector 114400 to provide a continuous or at least nearly continuous support path for the fir...

Claims

1. A surgical suturing instrument, comprising: Handle; A shaft extending from the shank; End effector, the end effector comprising: First jaws; A second jaw, the second jaw being rotatable relative to the first jaw; and Pinning silos; A joint motion connector, wherein the end effector is rotatable about the joint motion connector relative to the axis; A joint motion drive device, when the joint motion drive device is in an active operating state, is operable to rotate the end effector about the joint motion joint, wherein the joint motion drive device includes a joint motion actuator. A closing drive device, which is actuable to perform a closing stroke to move the second jaw into a closed position, wherein the closing drive device includes a closing actuator, and wherein the joint motion drive device is switchable by the closing drive device to a deactivated non-operating state during the closing stroke; A nail-firing drive device, wherein when the joint motion drive device is in the activated operating state, the joint motion drive device is operatively engaged with the nail-firing drive device, and wherein when the joint motion drive device is in the deactivated non-operating state, the joint motion drive device is operatively disengaged from the nail-firing drive device. Control system; A closure sensor, connected to the control system, wherein the closure sensor is configured to sense when the closure actuator is in an unactuated position, a fully actuated position, and an intermediate position between the unactuated position and the fully actuated position, and wherein when the closure actuator is in the intermediate position, the second jaw is in a partially closed position; and An indicator, connected to the control system, wherein the indicator is configured to indicate a first display state in response to a first input from the control system and a second display state in response to a second input from the control system, wherein the control system supplies the first input to the indicator when the closure actuator is between the inactive position and the intermediate position, wherein the joint motion drive is in the activated operating state when the closure actuator is between the inactive position and the intermediate position, wherein the control system supplies the second input to the indicator when the closure actuator is in the intermediate position, and wherein the joint motion drive is in the deactivated inactive state when the closure actuator is in the intermediate position.

2. The surgical suturing instrument according to claim 1, wherein, The indicator includes a light-emitting diode, wherein the first display state includes a first color emitted by the indicator, wherein the second display state includes a second color emitted by the indicator, and wherein the first color and the second color are different.

3. The surgical suturing instrument according to claim 1, wherein, The indicator includes a light, wherein the first display state includes a first color emitted by the indicator, wherein the second display state includes a second color emitted by the indicator, and wherein the first color and the second color are different.

4. The surgical suturing instrument according to claim 1, wherein, When the closed actuator is between the intermediate position and the fully actuated position, the control system supplies the second input to the indicator, and wherein when the closed actuator is between the intermediate position and the fully actuated position, the joint motion drive is in the deactivated non-operating state.

5. The surgical suturing instrument according to claim 1, wherein, The first input includes a high voltage potential and the second input includes a low voltage potential.

6. The surgical suturing instrument according to claim 1, wherein, The nail firing drive includes a firing actuator and an electric motor, wherein the firing actuator is in communication with the control system, wherein the control system is configured to prevent operation of the electric motor to operate the nail firing drive when the control system outputs the first input to the indicator, and wherein the control system is configured to operate the electric motor when the firing actuator is actuated and the control system outputs the second input to the indicator.

7. The surgical suturing instrument according to claim 6, wherein, The firing actuator includes the indicator.

8. The surgical suturing instrument according to claim 7, wherein, The firing actuator includes a semi-transparent housing and at least one light-emitting diode positioned within the semi-transparent housing, the at least one light-emitting diode being configured to emit the first display state and the second display state.

9. A surgical suturing instrument, comprising: Handle; A shaft extending from the shank; End effector, the end effector comprising: First jaws; A second jaw, the second jaw being rotatable relative to the first jaw; and Pinning silos; A joint motion connector, wherein the end effector is rotatable about the joint motion connector relative to the axis; A joint motion drive device, when the joint motion drive device is in an active operating state, is operable to rotate the end effector about the joint motion joint, wherein the joint motion drive device includes a joint motion actuator. A closing drive device, which is actuable to perform a closing stroke to move the second jaw into a closed position, wherein the closing drive device includes a closing actuator, and wherein the joint motion drive device is switchable by the closing drive device to a deactivated non-operating state during the closing stroke; Control system; A closure sensor, connected to the control system, wherein the closure sensor is configured to sense when the closure actuator is in an unactuated position and a partially actuated position, and wherein when the closure actuator is in the partially actuated position, the second jaw is in a partially closed position; and An indicator, connected to the control system, wherein the indicator is configured to indicate a first display state in response to a first input from the control system and a second display state in response to a second input from the control system, wherein the control system supplies the first input to the indicator when the closed actuator is between the unactuated position and the partially actuated position, wherein the joint motion drive is in the activated operating state when the closed actuator is between the unactuated position and the partially actuated position, wherein the control system supplies the second input to the indicator when the closed actuator is in the partially actuated position, and wherein the joint motion drive is in the deactivated inactive state when the closed actuator is in the partially actuated position.

10. The surgical suturing instrument according to claim 9, wherein, The indicator includes a light-emitting diode, wherein the first display state includes a first color emitted by the indicator, wherein the second display state includes a second color emitted by the indicator, and wherein the first color and the second color are different.

11. The surgical suturing instrument according to claim 9, wherein, The indicator includes a light, wherein the first display state includes a first color emitted by the indicator, wherein the second display state includes a second color emitted by the indicator, and wherein the first color and the second color are different.

12. The surgical suturing instrument according to claim 9, wherein, When the closed actuator is between the partially actuated position and the fully actuated position, the control system supplies the second input to the indicator, and wherein when the closed actuator is between the partially actuated position and the fully actuated position, the joint motion drive is in the deactivated non-operating state.

13. The surgical suturing instrument according to claim 9, wherein, The first input includes a high voltage potential and the second input includes a low voltage potential.

14. The surgical suturing instrument of claim 9, further comprising a nail firing drive, wherein when the joint motion drive is in the activated operating state, the joint motion drive is operatively engaged with the nail firing drive, and wherein when the joint motion drive is in the deactivated inactive state, the joint motion drive is operatively disengaged from the nail firing drive.

15. The surgical suturing instrument according to claim 14, wherein, The nail firing drive includes a firing actuator and an electric motor, wherein the firing actuator is in communication with the control system, wherein the control system is configured to prevent operation of the electric motor to operate the nail firing drive when the control system outputs the first input to the indicator, and wherein the control system is configured to operate the electric motor when the firing actuator is actuated and the control system outputs the second input to the indicator.

16. The surgical suturing instrument according to claim 15, wherein, The firing actuator includes the indicator.

17. The surgical suturing instrument according to claim 16, wherein, The firing actuator includes a semi-transparent housing and at least one light-emitting diode positioned within the semi-transparent housing, the at least one light-emitting diode being configured to emit the first display state and the second display state.

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