Surgical instrument with slider position detection and adjustment features

Abstract

A surgical stapling instrument for use with a staple cartridge including a sled and staples is disclosed. The surgical stapling instrument includes a firing system. The firing system includes a motor and a drive member operably coupled to the motor. The motor is configured to enable the drive member to advance the sled to deploy the staples into tissue grasped by the surgical stapling instrument. The drive member is movable by the motor along a predetermined firing path. The surgical stapling instrument further includes a control circuit configured to detect a position of the sled along the firing path and adjust a motor control program based on the position of the sled.

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. Summary of the Invention

[0002] In one aspect, this disclosure provides a surgical suturing instrument for use with a staple cartridge, the staple cartridge including a slider and staples. The surgical suturing instrument includes a firing system. The firing system includes a motor and a drive member operatively coupled to the motor. The motor is configured to enable the drive member to advance the slider to deploy staples into tissue held by the surgical suturing instrument. The drive member is movable by the motor along a predetermined firing path. The surgical suturing instrument also includes control circuitry configured to detect the position of the slider along the firing path and adjust a motor control program based on the position of the slider.

[0003] In another aspect, this disclosure provides a loading unit for use with a surgical suturing instrument. The loading unit includes a shaft and an end effector extending from the shaft. The end effector includes a first jaw including an anvil. The end effector also includes a second jaw. At least one of the first and second jaws is movable relative to the other to grasp tissue. The second jaw includes an elongated channel including channel electrical contacts spaced along the length of the elongated channel, the channel electrical contacts defining a firing path. The second jaw also includes a staple cartridge that can be inserted into the elongated channel for assembly with the elongated channel. The staple cartridge includes a cartridge disc and a slider translatable along the firing path through positions defined by the channel electrical contacts. The loading unit also includes slider detection circuitry translatable from an open configuration to a closed configuration when the slider is moved into these positions.

[0004] In another aspect, this disclosure provides a loading unit for use with a surgical suturing instrument. The loading unit includes a shaft and an end effector extending from the shaft. The end effector includes a first jaw including an anvil. The end effector also includes a second jaw. At least one of the first and second jaws is movable relative to the other to grasp tissue. The second jaw includes an elongated channel and a staple cartridge capable of being inserted into the elongated channel for assembly with the elongated channel. The staple cartridge includes a cartridge disc and a slider that is translatable relative to the cartridge disc from a starting position along a firing path during a firing motion to deploy staples from the cartridge. The loading unit also includes a slider position reset mechanism configured to return the slider from a predetermined range away from the starting position to the starting position before the firing motion. Attached Figure Description

[0005] The various features and advantages of the embodiments described herein can be understood in conjunction with the following figures and the following description:

[0006] Figure 1 It is a perspective view of a surgical instrument according to at least one aspect of this disclosure.

[0007] Figure 2 It is a perspective view of a motor-operable inner core according to at least one aspect of this disclosure.

[0008] Figure 3 It is a shell in an open configuration and Figure 2 A perspective view of the embodiment of the inner core shown.

[0009] Figure 4 yes Figure 3 The shell and Figure 2 The diagram shows a perspective view of the inner core, which has a different color associated with it and is in a closed configuration.

[0010] Figure 5 It is an exploded assembly diagram of a non-joint-movable loading unit according to at least one aspect of this disclosure.

[0011] Figure 6 This is an exploded assembly diagram of a load-bearing unit with articulated movement according to at least one aspect of this disclosure.

[0012] Figure 7 It is a cross-sectional view of a loading unit according to at least one aspect of this disclosure.

[0013] Figure 8 yes Figure 7 An exploded view of a portion of the loading unit.

[0014] Figure 9This is a partial side sectional view of the distal end of the drive assembly, showing the latch member of the firing locking assembly in either the first or unlocked configuration.

[0015] Figure 10 yes Figure 9 A partial side cross-sectional view of the distal end of the drive assembly shows the latching member in the second configuration or the locking configuration.

[0016] Figure 11 This is a partial exploded view of the stapling assembly of the loading unit according to at least one aspect of this disclosure.

[0017] Figure 12 yes Figure 11 A partial sectional view of the loading unit.

[0018] Figure 13 yes Figure 11 A partial cross-sectional view of the staple cartridge component.

[0019] Figure 14 It is a partial exploded view of the pinning device according to at least one aspect of this disclosure.

[0020] Figure 15 yes Figure 14 A partial cross-sectional view of the staple cartridge.

[0021] Figure 16 It is a partial perspective view of the pinning device according to at least one aspect of this disclosure.

[0022] Figure 17 It is a partial exploded view of the pinning device according to at least one aspect of this disclosure.

[0023] Figure 18 yes Figure 17 A partial cross-sectional view of the staple cartridge.

[0024] Figure 19 This is a partial exploded view of the pinning cartridge assembly according to at least one aspect of this disclosure.

[0025] Figure 20 These are top and cross-sectional views of the staple cartridge according to at least one aspect of this disclosure.

[0026] Figure 21 It includes Figure 20 A cross-sectional view of the staple cartridge component.

[0027] Figure 22 This is a partial cross-sectional view of a staple cartridge including a slider and a retaining feature, according to at least one aspect of this disclosure.

[0028] Figure 23 yes Figure 22 A partial inverted perspective view of the staple cartridge.

[0029] Figure 24 It shows that Figure 22 The method of assembling the sliding part of the staple cartridge with the retaining feature.

[0030] Figure 25 A staple cartridge assembly comprising a staple cartridge, an elongated channel, and a drive member for a loading unit, according to at least one aspect of this disclosure, is shown in part.

[0031] Figure 26 Partially shown Figure 25 The staple cartridge assembly, in which the staple cartridge is correctly placed in a narrow channel.

[0032] Figure 27 yes Figure 25 A partial cross-sectional view of the staple cartridge component.

[0033] Figure 28 yes Figure 26 A partial cross-sectional view of the staple cartridge component.

[0034] Figure 29 It is a partial perspective view of the pinning device according to at least one aspect of this disclosure.

[0035] Figure 30 yes Figure 29 A partial cross-sectional view of the staple cartridge.

[0036] Figure 31 It is a logic flowchart depicting a process of control procedure or logic configuration according to at least one aspect of this disclosure.

[0037] Figure 32 The figure is a surgical suturing instrument including a firing system according to at least one aspect of this disclosure.

[0038] Figure 33 It shows three locations along its firing path. Figure 32 The driving component of the surgical suture instrument, and the component that can be propelled by the driving component to deploy. Figure 32 The sliding component of the staple in a surgical suture instrument.

[0039] Figure 34 It shows two locations along the firing path. Figure 32 The driving component.

[0040] Figure 35 It is a graph according to at least one aspect of the present disclosure, which depicts the distance (δ) that the drive member travels along the firing path from the starting position on the x-axis, and the firing speed (V) of the motor and the corresponding electrical load during the firing stroke of the powered surgical suture instrument on the y-axis.

[0041] Figure 36A staple cartridge according to at least one aspect of the present disclosure is shown, the staple cartridge including a retaining feature for holding a slider in its original position within the staple cartridge.

[0042] Figure 37 It shows Figure 36 The staple cartridge, in which the slider is pushed further to the distal end beyond its original position within the staple cartridge.

[0043] Figure 38 It shows Figure 36 The retaining feature of the pin cartridge.

[0044] Figure 39 A partially exploded view of a surgical suture assembly according to at least one aspect of this disclosure is shown.

[0045] Figure 40 It is shown Figure 39 A graph showing the change in resistance of the slider detection circuit of the surgical suture assembly on the y-axis and the corresponding travel distance of the slider on the x-axis.

[0046] Figure 41 This is a partial cross-sectional view of a pin magazine including a slider reset circuit according to at least one aspect of this disclosure.

[0047] Figures 42 to 44 The slide on the staple cartridge according to at least one aspect of this disclosure is shown in three positions relative to the retaining feature.

[0048] Figure 45 A partial perspective view of a staple cartridge including a slider retaining feature according to at least one aspect of the present disclosure is shown.

[0049] Figure 46 It shows Figure 45 The pin cartridge has been removed to expose the sliding retainer feature.

[0050] Figure 47 A simplified partial cross-sectional view of a staple cartridge assembly according to at least one aspect of the present disclosure is shown, wherein the slider is in its original position and in a position different from its original position.

[0051] Figure 48 At least one aspect of this disclosure is shown. Figure 47 A simplified partial cross-sectional view of the staple cartridge assembly, wherein the working end of the push drive member engages the protrusion of the slide reset member.

[0052] Figure 49 A handle of a surgical instrument according to at least one aspect of the present disclosure is shown, the handle including a firing trigger capable of moving to a first position and a second position.

[0053] Figure 50A motor assembly operatively coupled to a sliding reset member according to at least one aspect of this disclosure is shown.

[0054] Figure 51 A handle of a surgical instrument according to at least one aspect of the present disclosure is shown, the handle including a firing trigger and a slider reset actuator.

[0055] Figure 52 A partially exploded view is shown of a loading unit including an anvil and a surgical suture assembly including a staple cartridge for assembly with an elongated channel, according to at least one aspect of the present disclosure.

[0056] Figure 53 It shows Figure 52 A partial cross-sectional view of the loading unit shows a staple cartridge assembled with an elongated channel in an unlocked configuration and an anvil with an elongated channel in an open configuration.

[0057] Figure 54 It shows Figure 52 and Figure 53 A partial cross-sectional view of the loading unit shows the staple cartridge and elongated channel in a locked configuration, and the anvil with the elongated channel in a closed configuration.

[0058] Figure 55 It shows the locked configuration. Figure 52 A partial perspective view of the surgical suture assembly.

[0059] Figure 56 It shows Figure 52 A partial perspective view of the surgical suture assembly transitioning from a locked configuration to an unlocked configuration.

[0060] Figure 57 A partial perspective view of a surgical suture assembly including a retainer, a staple cartridge, and an elongated channel, according to at least one aspect of this disclosure, is shown.

[0061] Figures 58 to 61 It shows the use of Figure 57 The method of releasing the pin cartridge from the elongated channel using a retainer.

[0062] Figure 62 A partial cross-sectional view of a staple cartridge assembly according to at least one aspect of this disclosure is shown.

[0063] In several views, corresponding reference symbols indicate corresponding parts. The examples described herein illustrate certain embodiments of the invention in one form, and such examples should not be construed as limiting the scope of the invention in any way. Detailed Implementation

[0064] 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:

[0065] - A U.S. patent application entitled "METHOD FOR TISSUE TREATMENT BY SURGICAL INSTRUMENT"; Agent's file number END9291USNP1 / 200802-1M;

[0066] - U.S. patent application entitled "SURGICAL INSTRUMENTS WITH INTERACTIVE FEATURES TO REMEDY INCIDENTAL SLED MOVEMENTS"; Agent's file END9291USNP2 / 200802-2;

[0067] - U.S. patent application entitled "SURGICAL INSTRUMENT WITH CARTRIDGE RELEASE MECHANISMS"; Agent's file END9291USNP4 / 200802-4;

[0068] - A U.S. patent application entitled "DUAL-SIDED REINFORCED RELOAD FOR SURGICAL INSTRUMENTS"; Agent's file number END9291USNP5 / 200802-5;

[0069] - A U.S. patent application entitled "SURGICAL SYSTEMS WITH DETACHABLE SHAFT RELOAD DETECTION"; Agent's file END9291USNP6 / 200802-6;

[0070] - U.S. patent application entitled "SURGICAL INSTRUMENTS WITH ELECTRICAL CONNECTORS FOR POWERTRANSMISSION ACROSS STERILE BARRIER"; Agent's file END9291USNP7 / 200802-7;

[0071] - U.S. patent application entitled "DEVICES AND METHODS OF MANAGING ENERGY DISSIPATED WITHINSTERILE BARRIERS OF SURGICAL INSTRUMENT HOUSINGS"; Agent's file END9291USNP8 / 200802-8;

[0072] - U.S. patent application entitled "POWERED SURGICAL INSTRUMENTS WITH EXTERNAL CONNECTORS"; Agent's file END9291USNP9 / 200802-9;

[0073] - U.S. patent application entitled "POWERED SURGICAL INSTRUMENTS WITH SMART RELOAD WITH SEPARATELY ATTACHABLE EXTERIORLY MOUNTED WIRING CONNECTIONS"; Agent's file END9291USNP10 / 200802-10;

[0074] - U.S. patent application entitled "POWERED SURGICAL INSTRUMENTS WITH COMMUNICATION INTERFACESTHROUGH STERILE BARRIER"; Agent's File No. END9291USNP11 / 200802-11; and

[0075] - U.S. patent application entitled "POWERED SURGICAL INSTRUMENTS WITH MULTI-PHASE TISSUETREATMENT"; Agent's file END9291USNP12 / 200802-12.

[0076] The applicant of this patent application owns the following U.S. patent applications filed on December 4, 2018, the disclosure of each of which is incorporated herein by reference in its entirety:

[0077] • U.S. Patent Application Serial No. 16 / 209,385 entitled “METHOD OF HUB COMMUNICATION, PROCESSING, STORAGE AND DISPLAY”;

[0078] • U.S. Patent Application Serial No. 16 / 209,395 entitled “METHOD OF HUB COMMUNICATION”;

[0079] • U.S. Patent Application Serial No. 16 / 209,403 entitled “METHOD OF CLOUD BASED DATA ANALYTICS FOR USE WITH THE HUB”;

[0080] • U.S. Patent Application Serial No. 16 / 209,407 entitled “METHOD OF ROBOTIC HUB COMMUNICATION, DETECTION, AND CONTROL”;

[0081] • U.S. Patent Application Serial No. 16 / 209,416 entitled “METHOD OF HUB COMMUNICATION, PROCESSING, DISPLAY, AND CLOUDANALYTICS”;

[0082] • U.S. Patent Application Serial No. 16 / 209,423 entitled “METHOD OF COMPRESSING TISSUE WITHIN ASTAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS”;

[0083] • U.S. Patent Application Serial No. 16 / 209,427 entitled “METHOD OF USING REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLESENSORS TO OPTIMIZE PERFORMANCE OF RADIO FREQUENCY DEVICES”;

[0084] • U.S. Patent Application Serial No. 16 / 209,433 entitled “METHOD OF SENSING PARTICULATE FROM SMOKE EVACUATED FROM APATIENT, ADJUSTING THE PUMP SPEED BASED ON THE SENSED INFORMATION, AND COMMUNICATING THE FUNCTIONAL PARAMETERS OF THE SYSTEM TO THE HUB”;

[0085] • U.S. Patent Application Serial No. 16 / 209,447 entitled “METHOD FOR SMOKE EVACUATION FOR SURGICAL HUB”;

[0086] • U.S. Patent Application Serial No. 16 / 209,453 entitled “METHOD FOR CONTROLLING SMART ENERGY DEVICES”;

[0087] • U.S. Patent Application Serial No. 16 / 209,458 entitled “METHOD FOR SMART ENERGY DEVICE INFRASTRUCTURE”;

[0088] • U.S. Patent Application Serial No. 16 / 209,465 entitled “METHOD FOR ADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORKCONTROL AND INTERACTION”;

[0089] • U.S. Patent Application Serial No. 16 / 209,478 entitled “METHOD FOR SITUATIONAL AWARENESS FOR SURGICAL NETWORK ORSURGICAL NETWORK CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASED ON ASENSED SITUATION OR USAGE”;

[0090] • U.S. Patent Application Serial No. 16 / 209,490 entitled “METHOD FOR FACILITY DATA COLLECTION AND INTERPRETATION”; and

[0091] • U.S. Patent Application Serial No. 16 / 209,491 entitled “METHOD FOR CIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENTBASED ON SITUATIONAL AWARENESS”.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 a plurality of ramp surfaces configured to slide beneath the actuator toward the anvil and to lift the actuator, on which the nail is supported.

[0097] 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.

[0098] refer to Figures 1 to 4 A surgical instrument system, such as an electromechanical surgical instrument system 10, is provided. System 10 includes a handle assembly 100, various types of adapters or shaft assemblies (such as adapter assembly 200a), and various types of end effectors (such as end effector 300a). The handle assembly 100 is configured to selectively attach to any one of a plurality of adapter assemblies (e.g., adapter assembly 200a), and each unique adapter assembly 200a is subsequently configured to selectively connect to any number of surgical loading units or end effectors (such as end effector 300a). The end effector 300a and adapter assembly 200a are configured for actuation and manipulation by the handle assembly 100. When an adapter assembly 200a is connected, for example, to the handle assembly 100, and one type of end effector (such as end effector 300a) is connected to the selected adapter assembly 200a, a powered handheld electromechanical surgical instrument is formed.

[0099] For a detailed description of the construction and operation of exemplary electromechanical handheld electric surgical instruments, please refer to International Publication WO 2009 / 039506 and U.S. Patent Application Publication 2011 / 0121049, the entire contents of which are incorporated herein by reference.

[0100] refer to Figure 1 and Figure 2 The handle assembly 100 includes an inner core 101 and a housing or shell 110a configured to selectively receive and enclose the inner core 101. The inner core 101 is motor-operable and configured to drive the operation of various types of end effectors. The inner core 101 has multiple sets of operating parameters (e.g., operating speed of the motor of the inner core 101, the amount of power delivered by the motor of the inner core 101 to the adapter assembly, selection of the motor of the inner core 101 to be actuated, the function of the end effector to be performed by the inner core 101, etc.). Each set of operating parameters of the inner core 101 is designed to drive actuation of a unique set of specific functions for the corresponding type of end effector when an end effector is coupled to the inner core 101. For example, depending on the type of end effector coupled to the inner core 101, the inner core 101 may change its power output, deactivate or activate certain buttons, and / or actuate different motors.

[0101] For details, please refer to the following: Figure 2 An inner core 101 defines an inner housing cavity therein, and a power supply assembly 106 is located within this inner housing cavity. The power supply assembly 106 is configured to control various operations of the inner core 101. The power supply assembly 106 includes a plurality of motors 108a, 108b operably coupled thereto. Rotation of the motors 108a, 108b drives the shaft and / or gear components of the adapter assembly 200a, for example, to drive various operations of an end effector (e.g., end effector 300a) attached thereto. Although in Figure 2 The example shown depicts two motors, but in other examples, the handle assembly may include more or fewer than two motors.

[0102] In various examples, the handle assembly 100 is replaced with the robotic arm of a robotic system. In such examples, the adapter assembly 200a can also be effectively used with the tool drive assembly of a robot-controlled or automated surgical system. For example, the adapter assembly disclosed herein can be used with various robotic systems, instruments, components, and methods such as, but not limited to, those disclosed in U.S. Patent No. 9,072,535 entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,” the entire contents of which are incorporated herein by reference.

[0103] When the end effector 300a is coupled to the inner core 101, the motor of the power supply assembly 106 is configured to drive the shaft and / or gear components of the adapter assembly 200a to selectively move the end effector 300a relative to the proximal body portion 302a of the end effector 300a, rotate the end effector 300a about the longitudinal axis "X", move the staple cartridge assembly 308a and the anvil assembly 306a of the end effector 300a relative to each other, and / or fire staples from the staple cartridge assembly 308a of the end effector 300a.

[0104] refer to Figure 3 and Figure 4 The surgical instrument system 10 also includes a disposable outer housing 110. The housing 110 is configured to enclose the inner core 101, thereby preventing surgical debris from penetrating and contaminating the inner core 101 during surgical procedures. The housing 110 selectively encloses the inner core 101 before use and can then be removed from the inner core 101 after use for disposal, or in some cases sterilized for reuse.

[0105] refer to Figure 3 The housing 110 includes a housing portion 112a. The housing 110 also includes a housing portion 112b, which is movably connected to the housing portion 112b by a hinge 120a positioned along the upper edge of the housing portion 112b. The housing portions 112a and 112b are capable of being positioned relative to each other as follows: Figure 4 The closed, fully connected configuration shown and as Figure 3 The partially separated configurations shown pivot between the open sections. When engaged, housing portions 112a, 112b define a cavity 122a therein, in which the inner core 101, memory 114, and microprocessor 140 are optionally located. In some embodiments, housing portions 112a, 112b may be made of any suitable material, such as polycarbonate. For example, in some embodiments, memory 114 and microprocessor 140 are integrated into inner core 101.

[0106] It is conceivable that memory 114 may be a non-volatile memory, such as electrically erasable programmable read-only memory. Memory 114 has stored discrete operating parameters of core 101 therein, these discrete operating parameters corresponding to the operation of a type of end effector (e.g., an end effector such as end effector 300a) and / or a type of adapter assembly (e.g., an adapter assembly such as adapter assembly 200a). The operating parameters stored in memory 114 may be at least one of the following: the operating speed of motors 108a, 108b of core 101; the amount of power delivered by motors 108a, 108b of core 101 during their operation; which motors 108a, 108b of core 101 will be actuated when operating core 101; the type of function of the end effector performed by core 101; etc.

[0107] Figure 5 An example of a loading unit 16 that can be used in conjunction with a surgical instrument system 10 in a manner discussed in U.S. Patent No. 5,865,361, the entire disclosure of which is incorporated herein by reference.

[0108] like Figure 5 As shown, the loading unit 16 typically includes a tool assembly 17 for performing surgical procedures such as cutting tissue and applying staples on each side of an incision. Specifically, the tool assembly includes a cartridge assembly 18 that houses a plurality of surgical staples. The tool assembly 17 also includes a staple-forming anvil assembly 20 having anvil portion 204 having a plurality of staple-forming recesses formed in its lower surface. A cover plate 208 is typically fixed to the top surface of the anvil portion 204 to define an anvil cavity therebetween. The anvil cavity is sized to receive the distal end of an axial drive assembly 212. A longitudinal slot 214 extends through the anvil portion 204 to allow the retaining flange 284 of the axial drive assembly 212 to enter the anvil cavity. A cam-acting surface 209 is formed on the proximal end of the anvil portion 204 and is positioned to engage the axial drive assembly 212 to close the anvil assembly 20.

[0109] The cartridge assembly 18 typically includes a carrier 216 that defines an elongated support channel 218. The elongated support channel 218 is sized and configured to receive a staple cartridge 220 therein. This staple cartridge 220 supports multiple fasteners and pushers, as known in the art. Multiple spaced longitudinal slots 230 extend through the staple cartridge 220 to receive an upright cam wedge 232 of an actuating slider 234. A central longitudinal slot 282 extends along the length of the staple cartridge 220 to allow passage of a blade 280 formed on the axial drive assembly 212. During operation of the loading unit 16, the actuating slider 234 translates through the longitudinal slots 230 of the staple cartridge 220 to advance the cam wedge 232, bringing it into sequential contact with a pusher operably supported in the cartridge 220, thereby causing the pusher to translate vertically within the staple cartridge 220 and push the fastener (staple) associated with the pusher into the staple deformation cavity of the anvil assembly 20. A pair of pivoting members 211 are formed on the proximal end of the anvil portion 204 and are configured to be received in a slot 213 formed in the carrier 216 so that the anvil portion 204 can pivot between an open position and a tissue clamping position.

[0110] As in Figure 5 It can also be seen that the loading unit 16 also has a housing portion 200 adapted to snap onto or otherwise attach to the carrier 216. The axial drive assembly 212 includes an elongated drive beam 266 having a distal working head 268 and a proximal engagement segment 270. As is known, the drive beam 266 may be constructed from a single sheet of material, or preferably from multiple stacked sheets. The engagement segment 270 includes a pair of engagement fingers 270a and 270b, which are sized and configured to engage in a corresponding pair of retaining slots 272a formed in the drive member 272 in an assembly manner. The drive member 272 may include a proximal orifice configured to receive the distal end of a control lever as discussed in U.S. Patent 5,865,361.

[0111] The distal end of the drive beam 266 includes a vertical support post 278 supporting the blade 280 and an adjacent surface 283 that engages the central portion of the actuating slide 234 during the suturing process. Surface 285 is located at the base of surface 283 and is configured to receive a support member 287, which is slidably positioned along the bottom of the carrier 216. The blade 280 is generally positioned slightly behind the actuating slide 234, translating through a central longitudinal slot 282 in the staple cartridge 220 to form an incision between rows of sutured body tissue.

[0112] A retaining flange 284 protrudes distally from the vertical support 278 and supports a cam-acting pin 286 at its distal end. The cam-acting pin 286 is sized and configured to engage a cam-acting surface 209 on the anvil portion 204 to clamp the anvil portion 204 against body tissue. Additionally, a leaf spring 207 may be disposed between the proximal end of the anvil portion 204 and the distal end portion of the housing 200 to bias the anvil assembly 20 to a normally open position. The loading unit 16 may also include a locking device 288 and a spring 304 arrangement as described in U.S. Patent 5,865,361.

[0113] Figure 6 An articulated loading unit 16' is shown, comprising a tool assembly 17 having an anvil assembly 20 and a cartridge assembly 18. The anvil assembly 20 includes an anvil portion 204 having a plurality of nail-deformed recesses formed in its lower surface. A cover plate 208 is fixed to the top surface of the anvil portion 204 to define an anvil cavity therebetween. The anvil cavity is sized to receive the distal end of an axial drive assembly 212. A longitudinal slot 214 extends through the anvil portion 204 to allow a retaining flange 284 of the axial drive assembly 212 to enter the anvil cavity. A cam-acting surface 209 formed on the anvil portion 204 can be positioned to engage the axial drive assembly 212 to clamp tissue between the anvil assembly 20 and the cartridge assembly 18.

[0114] The cartridge assembly 18 includes a carrier 216 therein supporting a staple cartridge 220. The staple cartridge 220 includes a retaining slot 225 for receiving a plurality of fasteners (staples) and a pusher. A plurality of spaced longitudinal slots 230 extend through the staple cartridge 220 to receive an upright cam wedge 232 of an actuating slider 234. A central longitudinal slot 282 extends along the length of the staple cartridge 220 to allow passage of a blade 280. During operation of the loading unit 16', the actuating slider 234 translates through the longitudinal slots 230 of the staple cartridge 220 to advance the cam wedge 232 into sequential contact with a pusher operably supported in the cartridge 220, thereby causing the pusher to push the fastener into a staple deformation cavity of the anvil assembly 20. A pair of pivoting members 211 are formed on the anvil portion 204 and positioned within slots 213 formed in the carrier 216 to guide the anvil portion 204 between an open position and a tissue clamping position.

[0115] The articulated loading unit 16' also includes a housing portion 200, which includes an upper housing half 250 and a lower housing half 252. The proximal end of the housing half 250 may include an engagement protrusion 254 for releasably engaging the elongated body 14. The protrusion 254 forms a bayonet-type connection with the distal end of the body 14, as described in U.S. Patent 5,865,361. Figure 6It can also be seen that the axial drive assembly 212 includes an elongated drive beam 266 having a distal working head and a proximal engagement segment 270. The drive beam 266 may be constructed from a single sheet of material, or preferably from multiple stacked sheets. The engagement segment 270 includes a pair of engagement fingers 270a and 270b, which are sized and configured to engage in a corresponding pair of retaining slots 272a formed in the drive member 272 in an assembly manner. The drive member 272 includes a proximal port aperture configured to receive the distal end of a control rod when the proximal end of the loading unit 16' engages with the elongated body 14 of a surgical suturing device as disclosed in U.S. Patent 5,865,361.

[0116] The distal end of the drive beam 266 is defined by a vertical support strut 278 supporting the blade 280 and an abutting surface 283 that engages the central portion of the actuating slide 234 during the suturing process. A surface 285 at the base of surface 283 is configured to receive a support member 287 slidably positioned along the bottom of the carrier 216. The blade 280 is generally positioned slightly behind the actuating slide 234, translating through a central longitudinal slot 282 in the staple cartridge 220 to form an incision between rows of sutured body tissue. To provide support for the drive beam 266 within the housing portion 200 as it advances axially, a blade stabilizing member 290 is mounted within the housing portion 200. A retaining flange 284 projects distally from the vertical strut 278 and supports a pair of cylindrical cam rollers 286 at its distal end. The dimensions and configuration of the cam roller 286 are set to engage the cam action surface 209 on the anvil portion 204 to abut against the body tissue and clamp the anvil portion 204.

[0117] The articulated loading unit 16' includes an articulated joint 340, which includes a mounting assembly 202 comprising an upper mounting portion 236 and a lower mounting portion 238. A pivot pin 244 is formed on each of the mounting portions 236, 238 and defines a pivot axis "A1-A1", which is substantially perpendicular to the longitudinal axis "LL" of the articulated loading unit 16'. The mounting assembly 202 is pivotally connected to the distal end of the housing portion 200 via a pair of connecting members 246. Each connecting member 246 has an orifice 247 therethrough for receiving a corresponding pin 244 therethrough. The proximal end 248 of each connecting member 246 is configured to interlockably receive in corresponding recesses 251 formed in the distal ends of the upper housing half 250 and the lower housing half 252. A pair of springs 207 are disposed between the proximal end of the anvil portion 204 and the upper mounting portion 236 to bias the anvil assembly 20 to the normally open position. As taught in U.S. Patent 5,865,361, an articulation link 256 may be provided to articulate the tool assembly 17 about the articulation axis “A1-A1” relative to the housing portion 200.

[0118] Figure 7 and Figure 8 An example of a loading unit 1100 for use with a surgical instrument system 10 is shown. The loading unit 1100 is substantially as described in U.S. Patent Application Publication No. 2013 / 0098965 and U.S. Patent Application Publication No. 2016 / 0249921, the entire contents of which are incorporated herein by reference. The loading unit 1100 includes a proximal body portion 1102 and a tool assembly 1104.

[0119] The loading unit 1100 also includes a drive assembly 1180, which includes a drive member 1182 having a body and a working end 1184. The working end 1184 includes an upper flange 1186a, a lower flange 1186b, a vertical support connecting the upper flange 1186a and the lower flange 1186b, and a blade 1187 supported on or formed in the vertical support. The upper flange 1186a is positioned to be slidably received within a channel 1131 of the anvil assembly 1130, and the lower flange 1186b is positioned to be slidably positioned along the outer surface 1156a of the jaw member 1156. In use, the distal movement of the drive member 1182 initially advances the upper flange 1186a into the cam action surface formed on the anvil 134 and advances the lower flange 1186b to engage with the cam action surface 1156b formed on the jaw member 1156, causing the staple cartridge assembly 1150 to pivot toward the anvil assembly 1130 to a near or closed position. As the working end 1184 moves through the tool assembly 1104, the continued advancement of the drive member 1182 gradually maintains a minimum tissue gap between the anvil assembly 1130 and the staple cartridge assembly 1150 adjacent to the working end 184 of the drive member 1180.

[0120] An actuating slider 1162 is positioned distal to the working end 1184 within the cartridge assembly 1150. When the working end 1184 is in its closest position and the tool assembly 1104 is in the open or unapproached position, the slider 1162 and the working end 1184 are in their initial positions. The slider 1162 includes a plurality of cam-acting surfaces positioned to engage and lift a pusher within a nail-holding slot in the cartridge body of the cartridge assembly 1150. The pusher is positioned within the cartridge assembly 1150 to eject nails from the cartridge body as the slider 1162 advances through the tool assembly 1104.

[0121] refer to Figures 7 to 10 The loading unit 1100 includes a firing locking assembly 1221, which includes a latch member 1222 pivotally supported on the distal end of the lower mounting portion 1174. The latch member 1222 includes a U-shaped body having a proximal base member 224 and two spaced-apart distally extending legs. The base member 1224 is provided with a blocking member that defines a blocking surface and is welded or fixed to the base member 1224 to provide additional support to the base member 1224. Alternatively, the base member 1224 and the blocking member are integrally or integrally formed. The latch member 1222 is in a first position ( Figure 9 Pivot to the second position ( Figure 10 ).exist Figure 9In the first position shown, the blocking member 1224a of the latching member 1222 is aligned with the stop surface 1184a of the drive member 1182 to prevent the drive member 1182 from advancing within the tool assembly 1104. Figure 10 In the second position shown, the blocking member 1224a is misaligned with the stop surface 1184a of the drive member 1182 to allow the drive member 1182 to advance within the tool assembly 1104.

[0122] In addition to the above, inserting the non-firing cartridge assembly 1150 into the elongated channel 1157 of the jaw member 1156 pivots the latch member 1222 to a second position, thereby allowing the drive member 1182 to advance within the tool assembly 1104. The proximal portion of the slider 1162 resists the biasing force of the biasing member 1230 to hold the latch member 1222 in the second position. During firing, as the slider 1162 is advanced distally through the cartridge assembly 1150, the slider 1162 disengages from the latch member 1222, and the biasing member 230 causes the latch member 1222 to return to a first position, in which the latch member 1222 re-engages with the locking engagement of the drive member 182.

[0123] It is worth noting that accidental bumps or shaking of the non-firing cartridge assembly 1150 may cause the slider 1162 to move slightly within the non-firing cartridge assembly 1150. This movement can be problematic because a misaligned slider 1162 cannot deactivate the firing locking assembly 1221 by shifting the latch member 1222 to the second position when the non-firing cartridge assembly 1150 is inserted. Therefore, even if a new non-firing cartridge assembly 1150 is ready to fire, the advancement of the drive member 1182 is still hindered.

[0124] In addition to the above, a properly installed non-firing chamber assembly 1150 may suffer the same consequences due to accidental impact or shaking of the loading unit 1100. Slight movement of the slider 1162 may cause the latch member 1222 to disengage from the slider 1162, thereby allowing the latch member 1222 to return to the first position by the biasing force of the biasing member 1230. Therefore, the firing locking assembly 1221 may be prematurely reactivated due to accidental impact or shaking of the loading unit 1100 before actual firing begins.

[0125] In either case, misalignment of the slider 1162 can frustrate a user who expects to fire the properly installed non-firing cartridge assembly 1150 to deploy the staple into the tissue held between the anvil assembly 1130 and the cartridge assembly 1500. When firing inevitably fails, the user has no choice but to release the tissue, sacrificing all the time spent identifying the most suitable tissue bite and aligning the loading unit 1100 with it for gripping. Furthermore, if the user is certain that the cartridge assembly is new and non-firing, attempting to replace the loading unit 1100 and / or the surgical instrument system 10 is expensive and will not be a successful remedy if the user installs the cartridge assembly 1150 and the misaligned slider 1162 into the new loading unit 1100.

[0126] This disclosure provides various solutions for holding the slider 1162 in the correct position for the non-firing chamber assembly 1150. Additionally or alternatively, this disclosure provides various mechanisms for detecting accidental movement of the slider 1162 from its correct position. This disclosure also provides various mechanisms for actively returning the slider 1162 to its correct position.

[0127] refer to Figures 11 to 13 Loading unit 1200 is similar to loading unit 1100 in many respects. For example, loading unit 1200 includes a proximal body portion 1102. Figure 8 The tool assembly 1204 includes an end effector having jaws 1236 including an anvil assembly 1230 and jaws 1256 including a staple cartridge assembly 1250. At least one of the jaws 1236 and 1256 is movable relative to the other jaw to grasp tissue between the anvil assembly 1230 and the staple cartridge assembly 1250.

[0128] Furthermore, the staple cartridge assembly 1250 includes an elongated channel 1257, the size and design of which are configured to receive and releasably retain the staple cartridge 1220, which is similar in many respects to other staple cartridges described elsewhere herein (e.g., staple cartridge 220). Figures 1 to 8 The loading units 16, 16', 1100 deploy staples from the staple cartridge 1220 through the cartridge platform 1255 into the tissue in a similar manner to that described above, via a staple driver actuated by the slider 1262. The staples and staple driver are stored in the cartridge body 1259 of the staple cartridge 1220.

[0129] The tray 1258 is attached to the bottom of the housing 1259 to prevent the nail actuator from falling out of the housing 1259. The tray 1258 includes a tray slot 1254 aligned with a tray slot defined in the housing platform 1255. The tray slot 1254 is also aligned with a channel slot 1253 defined in the base portion 1252 of the elongated channel 1257. During firing, the drive member 1182 ( Figure 9 The working end 1184 can be slidably moved through the bin slot, the tray slot 1254 and the channel slot 1253, thereby advancing the slider 1262 distally from the first position toward the second position within the bin body, so that the nail driver deploys the nail through the bin platform 1255.

[0130] Furthermore, the loading unit 1200 includes a firing locking assembly 1221 configured to prevent the drive member 1182 from advancing in the absence of a properly positioned slider 1262 in the non-firing cartridge 1220. To prevent movement of the slider 1262 due to accidental impact or shaking of the cartridge 1220, the base portion 1252 includes one or more retaining features (e.g., retaining features 1270a, 1270b) configured to engage the slider 1262 and prevent movement of the slider 1262 until a predetermined force is reached.

[0131] In some instances, such as Figure 13 As shown, the slider 1262 includes one or more orifices, holes, recesses, or pawls (e.g., pawls 1272a, 1272b) defined in the slider base 1263. Pawls 1272a, 1272b are aligned with retaining features 1270a, 1270b and configured to receive the retaining features when the slider 1262 is in a first position. Figures 11 to 13 In the example shown, when the staple cartridge 1220 is correctly positioned in the elongated channel 1257, the retaining features 1270a, 1270b extend through the corresponding openings or cutouts 1274a, 1274b in the cartridge 1258.

[0132] In the illustrated example, when the slider 1262 is in the first position, the retaining feature 1270a, pawl 1272a, and cutout 1274a are located on a first side of the plane that longitudinally aligns with the staple cartridge 1220 and extends longitudinally along the cartridge slot, disc slot 1254, and channel slot 1253. The retaining feature 1270b, pawl 1272b, and cutout 1274b are located on a second side of the plane opposite to the first side.

[0133] In various examples, retaining features 1270a, 1270b are in the form of bumps or protrusions extending upward from the base portion 1252. Retaining features 1270a, 1270b may define a ramp and / or curved profile having a radius of curvature sized to prevent the slider 1262 from advancing when the driving force applied to the slider 1262 by the drive member 1182 is less than or equal to a predetermined force.

[0134] In various aspects, the retaining feature may include a triangular prism shape, a partially elliptical shape, a partially spherical shape, a partially cylindrical shape, or a truncated pyramid shape. Other shapes are also contemplated in this disclosure. In various aspects, the height of the retaining feature may be less than or equal to the depth of the corresponding pawl of the slider to ensure that the slider is not lifted by the retaining feature when assembled with it. In various aspects, the number of retaining features may be more or less than two. In one example, a single retaining feature may be used with a corresponding pawl and a notch. In another example, three or more retaining features may be used with corresponding pawls and notches. In some examples, a dedicated notch is replaced by a single notch that accommodates multiple retaining features passing through it.

[0135] When the driving force applied by the drive member 1182 exceeds a predetermined force, the slider 1262 moves toward the second position so as not to align with the retaining features 1270a, 1270b. After the slider 1262 reaches the second position, the drive member 1182 retracts to the initial position, where the firing locking assembly 1221 is reactivated to prevent the drive member 1182 from advancing again until the non-firing pin cartridge 1220 is assembled with the elongated channel, thereby correctly positioning the slider 1262 in the first position. The proximal portion of the slider 1262 engages the latch member 1222, thereby deactivating the firing locking assembly 1221.

[0136] Figure 13 An example is shown of a retaining feature 1270a of a non-firing pin cartridge 1220 correctly positioned in an elongated channel 1257. The pawl 1272a of the slider 1262 of the non-firing pin cartridge 1220 is correctly aligned to receive the retaining feature 1270a through a cutout 1274a in a first position, which produces an unlocked configuration of the firing locking assembly 1221. The retaining feature 1270a includes a base portion 1277 protruding from the elongated channel 1257 and extending into the cutout 1274a, and a head portion 1279 protruding from the base portion and extending into the pawl 1272a of the slider 1262. The head portion 1279 (instead of the base portion 1277) extends through the cutout 1274a beyond the cartridge tray 1258 and into the pawl 1272a.

[0137] The base portion 1277 ensures proper alignment of the staple cartridge 1220 with the elongated channel 1257, and the head portion 1279 ensures that the slider 1262 remains in a first position until a driving force greater than a predetermined driving force is applied to the slider. In the illustrated example, the base portion 1277 has a rectangular or at least substantially rectangular cross-section. In some instances, the head portion 1279 has a curved profile that defines a ramp that prevents the slider 1262 from advancing at or below a predetermined force defined by the radius of curvature of the head portion 1279.

[0138] Furthermore, the head portion 1277 is slightly smaller than the pawl 1272a to allow slight movement of the slider relative to the head portion 1279 without accidentally shifting the firing locking assembly from an unlocked configuration to a locked configuration. In the illustrated example, the length d2 of the pawl 1272a is a distance Δd (the difference between d1 and d2) greater than the length d1 of the head portion 1279. Therefore, the slider can slide a distance Δd relative to the tray 1258 without compromising the engagement between the head portion 1279 and the pawl 1272a.

[0139] Figure 14 and Figure 15 A staple cartridge 1220' is shown, which is similar in many respects to staple cartridges 220 and 1220. For example, staple cartridge 1220' includes a slider 1272a with a pawl 1262a. However, unlike staple cartridge 1220, the tray 1258' of staple cartridge 1220' does not include a cutout for receiving a retaining feature for accommodating an elongated channel. Instead, tray 1258' includes retaining features 1270a' and 1270b' projecting from tray 1258'. Retaining features 1270a' and 1270b' are similar in many respects to retaining features 1270a and 1270b. For example, retaining features 1270a' and 1270b' are configured to engage the pawls 1272a and 1272b of slider 1262 to retain slider 1262 in the position corresponding to the firing locking assembly 1221. Figure 9 The first position of the unlocked configuration.

[0140] exist Figure 14 and Figure 15 In the example shown, retaining features 1270a' and 1270b' are located on opposite sides of the disk slot 1254. Retaining features 1270a' and 1270b' are defined in the base portion of the tray 1258' adjacent to the sidewalls 1273a and 1273b. In the example shown, retaining features 1270a' and 1270b' are aligned across the disk slot 1254. In other examples, retaining features 1270a' and 1270b' may be offset.

[0141] Figure 16An alternative stapler 1220” is shown, which is similar in many respects to other staplers (such as staplers 220, 1220, 1220') described elsewhere in this document, in conjunction with... Figures 1 to 8 In a similar manner to that described in loading units 16, 16', 1100, staples are deployed from the staple cartridge 1220” through the cartridge platform into the tissue via a staple driver actuated by slider 1162. Drive member 1182 is configured to deploy staples from the cartridge body through the cartridge platform by slidably advancing slider 1162 distally relative to cartridge tray 1258” from a first position toward a second position. The staple cartridge 1220” includes retaining features 1270a”, 1270b defined on opposite sides of the tray slot 1254 in the base portion 1252” of cartridge tray 1258”.

[0142] The difference between staple cartridge 1220” and staple cartridge 1220’ is that the retaining features 1270a” and 1270b” are in the form of tabs curved away from the base 1252”. The retaining features 1270a” and 1270b” define a foldable ramp configured to prevent the slider 1162 from moving beyond a first position, thereby triggering the locking assembly 1221 when the slider 1162 is in the first position. Figure 9 (Stay in the unlocked configuration.)

[0143] In the illustrated example, the slider 1162 is slightly slidably movable from a first position before engaging the retaining features 1270a”, 1270b”. The permitted movement is insufficient to disengage the slider 1162 from the latch member 1222, and therefore insufficient to prematurely transition the firing locking assembly 1221 to the locked configuration. Further advance of the slider 1162 is prevented by the retaining features 1270a”, 1270b” as the distal end portion of the slider 1162 engages the retaining features 1270a”, 1270b”.

[0144] When the driving force applied to the slider 1162 by the driving member 1182 exceeds the predetermined driving force, the slider 1162 is pushed past the retaining features 1270a” and 1270b”. In some instances, when the driving force applied to the slider 1162 by the driving member 1182 exceeds the predetermined driving force, the retaining features 1270a” and 1270b” are folded under the slider 1162.

[0145] Figure 17 and Figure 18 Staple 1320 is shown, which in many respects is similar to other staples (such as staples 220, 1220, 1220') described elsewhere in this document. (To be combined with...) Figures 1 to 8The loading units 16, 16', 1100 deploy staples from the staple cartridge 1320 through the cartridge platform 1355 into the tissue in a similar manner to that described above, via a staple driver actuated by the slider 1362. The staples and staple driver are stored in the cartridge body 1359 of the staple cartridge 1320.

[0146] In addition to the above, retaining features 1370a and 1370b, defined in the proximal portion of the sidewall of the cartridge 1358, are used to hold the slider 1362 of the non-firing pin cartridge 1320 in the default first position. Figure 17 In the example shown, retaining features 1370a and 1370b are in the form of inwardly projecting leaf springs. The leaf springs may be stamped or formed in the sidewall of the tray 1358. Retaining feature 1370a includes a base attached to and projecting from the sidewall of the tray 1358. A apex portion extends from the base and is sized to pass through a cutout (e.g., cutout 1374a) defined in the tray 1359 and into a pawl (e.g., pawl 1372a) defined in the sidewall of the slider 1362. Retaining feature 1370a defines a ramp that prevents the slider 1362 from advancing distally until a predetermined driving force is reached.

[0147] Figure 19 An alternative staple cartridge assembly 1450, similar in many respects to staple cartridge assembly 1250, is shown. For example, similar to staple cartridge assembly 1250, staple cartridge assembly 1450 includes a staple cartridge 1420 comprising a slider 1462 configured to deploy staples from the cartridge body through the cartridge platform by slidably advancing the slider 1462 distally relative to the cartridge tray 1458 from a first position toward a second position. When the non-firing staple cartridge 1420 is properly assembled with the elongated channel 1457 of the loading unit, the firing locking assembly 1221 transforms into an unlocked configuration to allow the drive member 1182 to advance distally, thereby actuating the slider 1462 to deploy the staple.

[0148] The staple cartridge assembly 1450 differs from the staple cartridge assembly 1250 in that the elongated channel 1457 includes retaining features 1470a and 1470b in the form of recesses, holes, orifices, or pawls. The retaining features 1470a and 1470b are configured to receive sliding protrusions 1472a and 1472b through cutouts 1474a and 1474b defined in the base portion of the cartridge 1458. The retaining features 1470a and 1470b are configured to prevent the slider 1462 from moving until a predetermined force is reached. When the driving force of the drive member 1182 exceeds the predetermined force, the slider 1462 is advanced distally beyond a first position, causing the sliding protrusions 1472a and 1472b to disengage from the retaining features 1470a and 1470b.

[0149] Figures 20 to 21An alternative staple cartridge assembly 1550, similar in many respects to staple cartridge assemblies 1250, 1450, is shown. Static cartridge assembly 1550 includes a staple cartridge 1520 that is similar in many respects to other staple cartridges (such as staple cartridges 220, 1220, 1220', 1220", 1420) described elsewhere herein. This is for use in conjunction with... Figures 1 to 8 The loading units 16, 16', 1100, in a similar manner, deploy staples from the staple cartridge 1520 through the cartridge platform 1555 into the tissue via a staple driver actuated by the slider 1562. The drive member 1182 is configured to deploy staples from the cartridge body through the cartridge platform 1555 by slidably advancing the slider 1562 relative to the cartridge tray 1558 from a first position toward a second position distally.

[0150] The staple cartridge 1520 includes one or more retaining features (e.g., retaining features 1570a, 1570b) configured to prevent the slider 1562 from advancing distally until the staple cartridge 1520 is fully in place or assembled with the elongated channel 1557 of the loading unit. In the illustrated example, the retaining feature 1570b is in the form of a foldable leaf spring defined in the cartridge tray 1558 by bending an existing disc metal sheet. In the illustrated example, the retaining feature 1570b includes a first portion bent toward the cartridge platform 1555 and a second portion bent away from the cartridge platform 1555. A curved portion extends between and connects the first and second portions. In the illustrated example, the second portion is slightly longer than the first portion.

[0151] like Figure 21 As shown, inserting the staple cartridge 1520 into the elongated channel 1557 causes the retaining features 1570a, 1570b to fold or flatten against the elongated channel 1557, which allows the slider 1562 to move distally via the drive member 1182. The retaining features 1570a, 1570b prevent the slider 1562 from advancing until they fold due to the insertion of the staple cartridge 1520 into the elongated channel 1557. In other words, the retaining features 1570a, 1570b are configured to hold the slider 1562 in a first position until the staple cartridge 1520 is inserted into the elongated channel 1557. In doing so, the retaining features 1570a, 1570b ensure that the slider 1562 converts the trigger locking assembly 1221 into an unlocked configuration to allow the drive member 1182 to advance.

[0152] Figures 22 to 24An alternative staple cartridge 1620 and retaining feature 1670, similar in many respects to staple cartridge 1520 and its retaining features 1570a, 1570b, are shown. For example, retaining feature 1670 is also in the form of a foldable leaf spring defined in the cartridge 1658 by bending an existing disc metal sheet. However, unlike retaining features 1570a, 1570b, retaining feature 1670 does not fold or flatten due to insertion of staple cartridge 1620 into the elongated channel of the loading unit. Instead, the slider 1662 of staple cartridge 1620 includes a recess, orifice, hole, or pawl 1672 configured to receive retaining feature 1670, such as Figure 22 As shown.

[0153] Similar to other foldable retaining features described elsewhere herein, retaining feature 1670 is configured to hold slider 1662 in a first position, thereby ensuring the unlocking configuration of triggering locking assembly 1221 through continuous engagement between latching member 1222 and slider 1662. When the driving force applied to slider 1662 by driving member 1182 exceeds a predetermined threshold, retaining feature 1670 disengages from pawl 1672, thereby allowing slider 1662 to advance further.

[0154] In the example shown, the retaining feature 1670 includes a first portion 1671, a second portion 1673, and an intermediate curved portion 1675 extending between portions 1671 and 1673 and connecting these portions. Portion 1671 includes an aperture 1679. During assembly, as... Figure 24 As shown, the hook member 1681 engages portion 1671 at orifice 1679 to temporarily pull back the retaining feature 1670, allowing the slider 1662 to slidably move to a first position. The hook member 1681 then releases portion 1671, which allows the retaining feature 1670 to be received in the pawl 1672.

[0155] Now for reference Figures 25 to 28 The staple cartridge assembly 1750 is similar in many respects to other staple cartridge assemblies (such as staple cartridge assembly 1250) described elsewhere herein. For example, staple cartridge assembly 1750 includes an elongated channel 1757, which is sized and designed to receive and releasably retain the staple cartridge 1720, which is similar in many respects to other staple cartridges 220, 1220 described elsewhere herein. Figures 1 to 8 The loading units 16, 16', and 1100 deploy staples from the staple cartridge 1720 through the cartridge platform into the tissue in a manner similar to that described above, via a staple driver actuated by a slider 1762. The staples and staple driver are stored in the cartridge body of the staple cartridge 1720. During firing, the working end of the drive member 1182 propels the slider 1762 distally from a first position to a second position within the cartridge body, thereby causing the staple driver to deploy the staple.

[0156] Similar to the staple cartridge assembly 1250, the staple cartridge assembly 1750 includes a retaining feature 1770 disposed in an elongated channel 1757. In the illustrated example, the retaining feature 1770 is in the form of a leaf spring that is flattened or at least partially flattened in a biased configuration by a hard stop comprising hard stop portions 1771a, 1771b defined in opposing sidewalls 1757a, 1757b of the elongated channel 1757. When the non-firing staple cartridge 1720 is properly assembled with the elongated channel 1757, a slider 1762 presses the hard stop portions 1771a, 1771b into the opposing sidewalls 1757a, 1757b, respectively, thereby allowing the retaining feature 1770 to be released from the hard stop portions 1771a, 1771b.

[0157] Then, the distal portion of the retaining feature 1770 engages the corresponding pawl 1772 in the slider 1762, thereby pulling the slider 1762 and holding it in a first position corresponding to the unlocked configuration of the locking firing assembly 1221. In the illustrated example, maintaining the engagement between the retaining feature 1770 and the pawl 1772 allows the slider 1762 to move slightly within a predetermined threshold distance "d" without causing the firing locking assembly 1221 to transition to the locked configuration.

[0158] As described in more detail by other retaining features of this disclosure, retaining feature 1770 is configured to prevent slider 1762 from advancing until a predetermined force is reached. When the driving force of drive member 1182 exceeds the predetermined force, slider 1762 is released from retaining feature 1770 and advanced distally beyond a first position. Advancement of slider 1762 on retaining feature 1770 resets retaining feature 1770 into locked engagement with hard stop portions 1771a, 1771b.

[0159] The retaining feature 1770 is then held in a flattened or at least partially flattened configuration by the hard stop portions 1771a, 1771b until another non-firing cartridge 1720 is inserted into the elongated channel 1757. In the illustrated example, holding the retaining feature 1770 in a flattened or at least partially flattened configuration reduces resistance on the drive member 1182 during the remainder of firing.

[0160] In the illustrated example, the slider 1762 includes one or more features 1773 designed and sized to engage hard stops 1771a, 1771b and press the hard stops into opposing sidewalls 1757a, 1757b. The hard stops 1771a, 1771b can be spring-biased so that they return to a locking engagement with the retaining feature 1770 after disengaging from the one or more features 1773.

[0161] In various aspects, before and after inserting the staple cartridge into the elongated channel of the loading unit, one or more slider positioning and / or retaining mechanisms described in this disclosure may be combined to position and / or retain the slider in the staple cartridge. For example, before inserting the staple cartridge into the elongated channel, a first positioning and / or retaining mechanism may be employed to retain the slider in a first position within the staple cartridge. Then, after inserting the staple cartridge into the elongated channel, a second positioning and / or retaining mechanism may be employed to retain the slider in the first position within the staple cartridge.

[0162] exist Figures 25 to 28 In the example shown, one or more features 1773 may be received in corresponding openings or cutouts in the pallet, as in combination. Figures 11 to 13 As described in loading unit 1200. Before inserting the staple cartridge 1720 into the elongated channel 1757, feature 1773 holds the slider in a first position within the staple cartridge 1720. However, after insertion, the slider 1762 is held in the first position by retaining feature 1770. Therefore, the staple cartridge assembly (e.g., staple cartridge assembly 1750) can be configured to hold the slider in the first position in different ways before and after insertion into the elongated channel. In other words, inserting the staple cartridge into the elongated channel can cause the active retaining feature to be deactivated and cause the inactive retaining feature to be activated.

[0163] refer to Figures 29 to 30 The staple cartridge 1820 is similar in all respects to other staple cartridges described elsewhere in this document (such as staple cartridge 220). For example, similar to staple cartridge 220, staple cartridge 1820 includes a blade 280. Figure 5 A central longitudinal slot 1882 is defined in the staple cartridge 220 along a central longitudinal plane 1884. The blade 280 is generally positioned slightly behind the slide 1860 and translates through the central longitudinal slot 1882 in the staple cartridge 1820 to form an incision between rows of sutured body tissue.

[0164] In various aspects, the slider 1860 is held in a first position or original position by a retaining feature 1855 extending across a central longitudinal slot 1882. In the illustrated example, the retaining feature 1855 includes a weakened central portion 1885c extending between portions 1885a and 1885b, which define hinged doors at one end of the portions respectively attached to sidewalls 1882a and 1882b. In the illustrated example, the central portion 1885c includes a perforated, fragile body. In other examples, the central portion 1885c may include a thickness smaller than that of portions 1885a and 1885b.

[0165] In any case, the design and dimensions of the central portion 1885c are configured to prevent the slider 1860 from advancing until a predetermined driving force threshold is reached. When the threshold is exceeded, the blade 280 applies a force to the slider 1860 that breaks through the central portion 1885c, causing portions 1885a and 1885b to fold or swing open, thereby allowing the slider 1860 to move distally beyond the first position or its original position.

[0166] As described in more detail elsewhere in this article, accidental impacts or shaking of the non-firing cartridge can cause unintended movement of the slider within the non-firing cartridge. Figure 31 The logic flowchart of process 1920 is shown, which describes the control program or logic configuration for detecting the position of the slider of the 1922 electric surgical suture instrument along its firing path and adjusting one or more motor settings or motor control programs of the 1924 electric surgical suture instrument based on the position of the slider along the firing path.

[0167] Figures 32 to 34 An electrically powered surgical suturing instrument 1901 according to process 1920 is shown. This instrument includes a firing system 1902 configured to detect the position of a slider along its firing path and adjust one or more motor settings or motor control programs based on the slider's position along the firing path. The firing system 1902 includes control circuitry 1930 configured to execute process 1920. In the illustrated example, control circuitry 1930 includes a controller 1932, which includes a processor 1934 and a memory 1936 storing program instructions that, when executed by the processor 1934, cause the processor 1934 to perform one or more aspects of process 1920.

[0168] The surgical suture instrument 1901 also includes a loading unit 1900, which is similar in many respects to other loading units described elsewhere herein (such as loading units 1100, 1200). For example, similar to loading unit 1100, loading unit 1900 includes a drive assembly 1980, which includes a drive member 1982. A motor assembly 1904 includes a motor configured to move the drive member 1982 along a predetermined firing path to distally advance a slider 1962, thereby deploying a staple 1908 from a staple cartridge 1921 into tissue held between the staple cartridge 1921 and anvil assembly 1931. The slider 1962 includes a plurality of cam-acting surfaces positioned to engage and elevate a pusher within a staple holding slot of the cartridge body of the staple cartridge 1921. The pusher is positioned within the staple cartridge 1921 to eject the staple 1908 from the cartridge body as the slider 1962 is advanced by the drive member 1982, as... Figure 33 , Figure 34 As shown.

[0169] Figure 35 It is graph 1940, which shows the distance (δ) traveled by the drive member 1982 along the firing path from the starting position on the x-axis, and shows the distance traveled by the electric surgical suture instrument 1901 on the y-axis. Figure 32 The firing speed (V) of the motor and the corresponding electrical load during the firing stroke are represented by lines 1942', 1944', 1946', 1948', 1950', 1952' and lines 1942, 1944, 1946, 1948, 1950, 1952, respectively. The segment Δδ along the firing path... SC Define an acceptable initial slider contact position, wherein the drive member 1982 is configured to engage first during the advancement of the drive member 1982 along the firing path (see [reference]). Figure 33 Slider 1962. Additionally, the segment Δδ along the firing path... IS Define an acceptable initial pin contact position, wherein the slider 1962, driven by the drive member 1982, is configured to engage first (see...). Figure 33 The actuator for nail 1908 inside the nail magazine 1921.

[0170] In a successful firing, as shown in lines 1942 and 1944, the drive member 1982 is configured to initially contact segment Δδ (1M, 2M). SC The slider 1982 inside, and the slider 1962 driven by the drive member 1982, are configured to initially contact the (1M', 2M') segment Δδ. IS The internal nail 1908 pusher.

[0171] In all aspects, the motor's electrical load rapidly increases or rises to a predetermined range (F-slider). min To F-slider max The value within (F) S1 , Figure 33 This indicates that initial contact has been detected between the drive member 1982 and the slider 1962. In various aspects, the control circuit 1930 detects the position of the slider 1962 by monitoring at least one parameter indicating the electrical load of the motor (such as the motor's current consumption).

[0172] Similarly, the motor's electrical load increases rapidly or rises above a predetermined range (F-slider). min To F-slider max The predetermined range (F-nail) min To F-nail max The value within (F) S2 , Figure 33This indicates that initial contact has been detected between the slider 1962, driven by the drive member 1982, and the pusher of the nail 1908. In various aspects, the control circuit 1930 detects the initial contact between the slider 1962 and the nail pusher by monitoring at least one parameter indicating the electrical load of the motor (such as the motor's current consumption).

[0173] If in segment Δδ SC If a rapid increase in the electrical load of the motor is detected internally, the control circuit 1930 allows the drive member 1982 to continue at a speed less than or equal to the predetermined maximum speed (V-slider). max The speed of the slide 1962 along the firing path advances the slide 1982 until the slide 1982 engages the pusher of the nail magazine 1921, characterized in that the electrical load of the motor again rapidly increases to a value (F). S2 , Figure 33 As discussed above, the detection of initial contact between the slider 1962 and the nail pusher causes the control circuit 1930 to gradually increase the speed of the drive member 1982 (1R, 2R) to a speed greater than the predetermined minimum speed (V-firing). min And less than or equal to the predetermined maximum speed (V-fire) max (speed)

[0174] However, if the control circuit 1930 fails (4M) to detect the slider 1962 in segment Δδ SC If the position is such that, as shown by line 1950, the control circuit 1930 can stop the drive member 1982 (4R), for example, by stopping the motor assembly 1904. The control circuit 1930 can also prompt the user via the user interface 1909 to replace the staple cartridge, as the absence of the slider 1962 may be due to a previously fired staple cartridge being attached to the cartridge channel of the loading unit 1900, or the staple cartridge being missing. If the user agrees, the drive member 1982 returns (b) to the starting position. However, if the user is certain that the non-fired staple cartridge is attached to the staple cartridge channel, the slider 1962 may have been moved or misaligned due to accidental collision of the staple cartridge.

[0175] To address this issue, control circuit 1930 prompts the user to allow (a) continued propulsion of drive member 1982 until a predetermined maximum threshold δ for travel without slider detection is reached (5M, 5R). max If slider 1962 is not detected, and the predetermined maximum threshold δ has been reached. max Then the control circuit 1930 causes the drive component to return to its starting position (5R').

[0176] However, if the predetermined threshold δ is reached max If the (6M,6R) slider 1962 is detected previously, the control circuit 1930 may allow the drive member 1982 to move within a predetermined segment Δδ.SL An additional push (6R') is made to connect the drive assembly 1980 to the slider 1962, as described in more detail below. Predetermined segment Δδ SL A function window that limits the movement of the slider is used to ensure that the connection between the drive member 1982 and the slider 1962 has occurred.

[0177] Then, control circuit 1980 causes the motor to retract drive member 1980 back to its initial position, which returns slider 1962 to its original position (6R') in the non-firing pin magazine. Control circuit 1930 may also prompt the user to push down any pins 1908 that have been accidentally raised above the magazine platform due to unintentional advancement of slider 1962. Once slider returns to its original position, control circuit 1930 may prompt the user to restart (c) the firing stroke.

[0178] In addition to the above, in segment Δδ SC Successful detection (1M) of slider 1962, accompanied by failure (3M') in segment Δδ IS The internal detection of initial contact between the slider 1962 and the nail pusher caused the control circuit 1930 to stop (3R) driving the member 1982 in segment Δδ. IS The propulsion is performed at or near the end of the device. The control circuit 1930 can also return the drive member 1982 to the starting position.

[0179] Although process 1920 is described as being performed by control circuitry 1930, this is only for the sake of brevity, and it should be understood that process 1920 and other processes described elsewhere herein may be performed by circuitry that may include a variety of hardware and / or software components and may be located in or associated with the various suitable systems described herein, such as combinational logic circuitry or sequential logic circuitry.

[0180] In various configurations, the motor of motor assembly 1904 may be, for example, a DC brushed drive motor with a maximum rotation speed of approximately 25,000 RPM. In other configurations, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor may be powered by power source 1910, which, in one configuration, may include a removable power supply unit. Power source 1910 may include any of the various power supply configurations disclosed in detail in, for example, U.S. Patent Application Publication 2015 / 0272575 entitled “SURGICAL INSTRUMENT COMPRISING ASENSOR SYSTEM,” the entire disclosure of which is hereby incorporated by reference.

[0181] In at least one example, the surgical suture instrument 1901 was implemented as being similar in many respects to Figure 1 The surgical instrument system 10 is a handheld surgical instrument. In another example, the surgical suturing instrument 1901 is implemented as a robotic surgical suturing instrument similar to that disclosed in U.S. Patent No. 9,072,535 entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,” the entire contents of which are incorporated herein by reference.

[0182] In various examples, surgical instrument 1901 includes sensor 1938, which comprises one or more sensors configured to monitor parameters indicating the position of drive member 1982 along the firing path. Sensor 1938 may also include one or more sensors configured to monitor the current consumption of the motor. For example, reading sensor 1938 may help control circuitry 1930 detect the position of drive member 1982 in segment Δδ. SC or segment Δδ IS The presence of the drive member 1982 is detected to establish initial contact between the drive member 1982 and the slider 1962, and / or to detect initial contact between the slider 1962 driven by the drive member 1982 and the pusher of the nail 1908.

[0183] In various aspects, sensor 1938 may include a variety of other sensors, such as magnetic sensors (e.g., Hall effect sensors), strain gauges, pressure sensors, inductive sensors (e.g., eddy current sensors), resistive sensors, capacitive sensors, optical sensors and / or any other suitable sensors, to perform one or more aspects of, for example, process 1920.

[0184] Now for reference Figures 36 to 38 The staple cartridge 2020 includes a retaining feature 2072 configured to hold the slider 2062 in its original or initial position within the staple cartridge 2020. The staple cartridge 2020 is similar in many respects to other staple cartridges described elsewhere herein (such as staple cartridges 1520, 1620). To prevent movement of the slider 2062 due to accidental impacts or shaking of the staple cartridge 2020, the cartridge tray 2058 of the staple cartridge 2020 includes one or more retaining features (e.g., retaining feature 2020) configured to engage the slider 2062 and prevent movement of the slider 2062 until a predetermined force is reached.

[0185] In the illustrated example, the retaining feature 2072 is in the form of an inwardly projecting or curved leaf spring. The leaf spring may be stamped or formed in the proximal portion of the base of the tray 2058. The retaining feature 2072 includes a base attached to and projecting from the base portion of the tray 2058. A vertex portion extends from the base and is sized to extend through a cut (e.g., cut 2022) defined in the tray 2058 and into a pawl (e.g., pawl 2063) defined in the sidewall of the slider 2062. The retaining feature 2072 defines a ramp that prevents the slider 2062 from advancing distally until a predetermined driving force is reached. When a driving member (e.g., driving member 1982) applies a driving force greater than the predetermined driving force on the slider 2072, the retaining feature 2072 is flattened by the advancement of the slider 2072.

[0186] The staple cartridge 2020 includes a slider detection circuit 2073 configured to determine whether the slider 2062 is outside its original or initial position. The slider detection circuit 2073 includes a retaining feature 2072 and a wire or rod 2071 extending from a distal portion 2075 of the retaining feature 2072 through a groove 2077 defined in a proximal portion 2078 of the retaining feature 2072. The wire 2071 terminates at an electrical contact 2079, such as a spring pin. The electrical contact 2079 is configured to allow the slider detection circuit 2073 to... Figure 36 The closed configuration and retaining feature 2072 shown during bending are as follows: Figure 37 The transition between the open configurations shown is achieved by flattening the slider 2062.

[0187] Therefore, the control circuit (such as the control circuit 1930 of the surgical instrument 1901) can employ a slider detection circuit 2073 to determine whether the slider 2062 is outside its original or initial position by detecting whether the slider detection circuit 2073 has changed from a closed configuration to an open configuration. When the slider detection circuit 2073 switches from a closed configuration to an open configuration, it signals to the control circuit 1930 that the slider 2062 has advanced distally beyond its original or initial position. Furthermore, when the slider detection circuit 2073 returns to a closed configuration, it signals to the control circuit 1930 that it has returned to its original or initial position.

[0188] Now for reference Figure 39 The staple cartridge assembly 2150 can be used with loading units (such as loading units 1100, 1200). In the illustrated example, the staple cartridge assembly 2150 includes an elongated channel 2157, which is sized and designed to receive and releasably retain a staple cartridge 2120, which is similar in many respects to other staple cartridges (such as staple cartridge 220) described elsewhere herein. For example, it can also be used in conjunction with... Figures 1 to 8 The loading units 16, 16', and 1100 deploy staples from the staple cartridge 2120 through the cartridge platform into the tissue in a similar manner to that described above, via a staple driver or pusher actuated by the slider 2162. The staples and staple drivers are stored in the cartridge body of the staple cartridge 2120.

[0189] A tray 2158 is attached to the bottom of the cartridge body to prevent the nail driver from falling out of the nail cartridge 2120. The tray 2158 includes a tray slot 2154 aligned with a cartridge slot defined in the cartridge platform. The tray slot 2154 is also aligned with a channel slot 2153 defined in the base portion 2152 of the elongated channel 2157. During firing, the working end 1184 of the drive member 1182 slidably moves through the cartridge slot, tray slot 2154, and channel slot 2153, thereby advancing the slider 2162 distally within the cartridge body from a first position toward a second position, causing the nail driver to deploy the nail through the cartridge platform.

[0190] As described in more detail above, due to accidental impact or shaking of the staple cartridge 2120, a slider (such as slider 2162) may move from its original or initial position. To detect this movement, the staple cartridge assembly 2150 includes a slider detection circuit 2160 configured to detect the position of slider 2162 as its original or initial position and an additional position distal to the original or initial position via a series of spaced-apart electrical contacts 2170a, 2170b on opposite sides of the channel slot 2153. When the corresponding electrical contacts 2172a, 2172b of the slider are positioned against a pair of electrical contacts 2170a, 2170b, the slider detection circuit 2160 transitions to a closed configuration, and as... Figure 41 The signal shown is unique for that location and is transmitted to the control circuit (such as control circuit 1930).

[0191] Control circuitry 1930 can determine the position of slider 2162 based on the received signal. For example, memory 1936 can store algorithms, equations, or lookup tables for determining the position of slider based on one or more parameters of the received signal. Processor 1934 can employ such algorithms, equations, and / or lookup tables to determine the position of slider based on readings of one or more parameters. In one example, the reading is a current or voltage reading indicating the position of slider 2162.

[0192] In at least one example, sensor 1938 includes a current sensor configured to measure the current passing through slider detection circuit 2160 in a closed configuration. For a given voltage, the measured current value will vary depending on the resistance. Figure 41Exemplary resistors are shown associated with different positions of slider 2162 along the firing path. Each position is designed to produce a unique resistance, and therefore a unique current value associated with that position. Thus, the current readings from the current sensor help the control circuitry (e.g., control circuitry 1930) determine whether slider 2162 is in its original position, its initial position, or some other more distant position.

[0193] like Figure 40 As shown, the slider detection circuit 2160 of the return control circuit 1930 has an inherent baseline resistance. Each time the slider 2162 completes the slider detection circuit 2160, the additional resistance inherent in the wires in the channel increases the total resistance, and thus produces a unique current reading at each location along the firing path. In various respects, high-resistance circuit materials and / or actual resistors may be intentionally used at each contact point.

[0194] In the illustrated example, electrical contacts 2170a and 2170b rise above the base portion 2152 of the elongated channel 2157 and define a biasing member configured to ensure a good connection with the pin cartridge 2120. Electrical contacts 2170a and 2170b extend through cutouts 2174a and 2174b defined in the base portion 2159 of the cartridge 2158. In various aspects, the cartridge 2158 is coated with a thin-film electrical insulator to prevent short circuits. Similarly, the inner surface of the base portion 2152 may be coated with a thin-film electrical insulator to prevent short circuits. Electrical contacts 2170a and 2170b extend through the electrically insulating film of the cartridge 2158.

[0195] In all aspects, signals from the slider detection circuit 2160 indicate the completion of the firing stroke. Electrical contacts 2170a and 2170b may be located at or near the end of the firing path. In the illustrated example, electrical contacts 2170a and 2170b are located 60 mm or approximately 60 mm from the original or starting position. When the slider 2162 reaches the end of the firing stroke, electrical contacts 2172a and 2172b engage electrical contacts 2170a and 2170b, thereby turning the slider detection circuit 2160 into a closed configuration and generating a unique signal indicating the completion of the firing stroke.

[0196] In the illustrated example, the slider 2162 is insulated, except for the conductive portion 2161 defining the electrical contacts 2172a and 2172b. However, in other examples, the entire slider 2162 may be made of a conductive material. In such examples, the entire slider 2162 becomes part of the slider detection circuit 2160.

[0197] Now for reference Figure 41The document depicts a staple cartridge 2220. The staple cartridge 2220 is similar in many respects to other staple cartridges described elsewhere herein (such as staple cartridges 1220', 1220"', 1320, 1620). For example, the staple cartridge 2220 includes a retaining feature 2270 configured to prevent the slider 2262 from accidentally moving within the staple cartridge 2220 due to, for example, accidental impacts from the staple cartridge 2220.

[0198] Furthermore, the staple cartridge 2220 is also equipped with a slider reset circuit 2264, which is configured to retract the slider 2262 back to its original position or starting position 2267. In the illustrated example, the slider 2262 includes one or more orifices, holes, grooves, or pawls (e.g., pawl 2272) defined in the slider base 2263. The pawl 2272 is aligned with and configured to receive the retaining feature 2270. A driving force greater than a predetermined threshold is required to separate the retaining feature 2270 from the slider 2262. Therefore, the retaining feature 2270 is configured to prevent the slider 2262 from advancing until the predetermined threshold is reached.

[0199] Furthermore, the retaining feature 2270 is located in a channel 2266 defined in the tray 2258 of the staple cartridge 2220. The proximal wall 2266a of the channel 2266 defines a proximal stop position for retaining the feature 2270, which corresponds to the original or starting position 2267 of the slider 2262. The distal end wall 2266b of the channel 2266 defines a distal stop position for retaining the feature 2270 within the channel 2266. Since movement of the retaining feature 2270 beyond the distal wall 2266b is not permitted, any additional movement of the slider 2262 forces the slider 2262 to disengage from the retaining feature 2270.

[0200] In addition to the above, channel 2266 allows accidental movement of slider 2262 and retaining feature 2270 within a predetermined range defined by the length of channel 2266 or the distance between the proximal sidewall 2266a and the distal sidewall 2266b, without disengaging slider 2262 from retaining feature 2270. However, prior to firing, slider reset circuit 2264 is activated to retract retaining feature 2270 against sidewall 2266a. Retraction of retaining feature 2270 returns slider 2262 to its original or initial position 2267. In the illustrated example, slider reset circuit 2264 includes solenoid 2269, which, when activated, is configured to pull or retract wire or rod 2268 connected to retaining feature 2270.

[0201] As described elsewhere in this document, the slider 2262 of the non-firing cartridge 2220 prevents the firing locking assembly 1221 from transitioning to a locked configuration when the slider 2262 is in its home or starting position 2267. Therefore, the retraction of the slider 2262 by the slider reset circuit 2264 ensures that the non-firing cartridge 2220 is not mistaken for a previously fired cartridge 2220 due to accidental advancement of the slider from its home or starting position 2267. It is noteworthy that the slider reset circuit 2264 is capable of retracting the slider 2262 only when the retaining feature 2270 is engaged with the slider 2262. Once the slider 2262 is advanced distally by the driven member beyond its engagement with the retaining feature 2270, the cartridge 2220 is considered fired.

[0202] In various aspects, the slider reset circuit 2264 can be incorporated into other staple cartridges disclosed elsewhere herein. In some aspects, the slider reset circuit 2264 can be coupled to the control circuit 1930 and can be activated by the control circuit 1930 in response to the control circuit 1930 determining that the slider 2262 is not in its original or starting position 2267. In such aspects, one or more sensors in the sensor 1938 can detect that the slider 2262 is in a position beyond its original or starting position 2267. In response, the control circuit 1930 can activate the slider reset circuit 2264 to return the slider 2262 to its original or starting position 2267 before initializing the firing stroke.

[0203] Now for reference Figures 42 to 44 An alternative embodiment of the slider reset circuit 2364 is described. Similar to slider reset circuit 2264, slider reset circuit 2364 is also configured to retract slider 2362 to its original or initial position within a predetermined range of motion, where retaining feature 2370 remains movably coupled to slider 2362. When the predetermined range is exceeded, a drive member actuates slider 2362 to disengage from retaining feature 2370. Then, retaining feature 2370 retracts to its proximal initial position via slider reset circuit 2364.

[0204] Now for reference Figures 45 to 46 The surgical suture assembly 2450 includes a cartridge 2420, which includes a slide member 2462. The cartridge assembly 2450 can be converted to a closed configuration to grasp tissue in a manner similar to that described in conjunction with other cartridge assemblies such as cartridge assemblies 1150, 1250. The working end 2484 of the drive member (e.g., drive member 1182) defines an I-beam configured to enable firing of the surgical suture assembly 2450.

[0205] The working end 2484 includes a first flange 2484a, a second flange, a vertical support 2484c interconnecting the first flange 2484a and the second flange, and a blade supported on or formed in the vertical support 2484c. The second flange is positioned to be slidably received within a channel of an anvil assembly (e.g., anvil assembly 1130), and the first flange 2484a is positioned to be slidably positioned along the outer surface of the surgical suture assembly 2450. An actuating slider 2462 is disposed within the cartridge assembly 2450 at a location distal to the working end 2484.

[0206] In various respects, the flexible arm 2470 extends from the working end 2484 into a channel 2471 defined in the side wall of the cartridge 2459 of the staple cartridge 2420. In the illustrated example, the flexible arm 2470 defines a leaf spring arm member that passes through the channel 2471 and latches onto the distal portion of the slider 2470. The flexible arm 2470 is configured to retract the slider 2462 to its original or initial position.

[0207] In channel 2471, flexible arm 2470 is flattened so that it naturally presses into the side of slider 2462. In at least one example, the distal end of flexible arm 2470 passes over the distal end of slider 2462. In the relaxed position, tab 2472 extends from flexible arm 2470 to latch onto the leading edge of slider 2462. Movement of working end 2484, occurring before the blade actuates the cartridge assembly 2450 during the full firing stroke, will allow flexible arm 2470 to pull slider 2462 back to its original or starting position, provided slider 2462 is within a threshold defined by the length of side channel 2471.

[0208] Figures 47 to 51 Various aspects of a slide reset mechanism 2500 for retracting the slide of a staple cartridge (e.g., staple cartridge 2520) back to its original position (H) before firing a surgical instrument to deploy staples in the cartridge 2520 are shown. As discussed elsewhere herein, if the staple cartridge is bumped or shaken, the slide of a non-firing staple cartridge may move unintentionally, which could cause the staple cartridge to be mistakenly considered fired and / or could cause the firing locking assembly to be activated. The slide reset mechanism 2500 is configured to return a slide that has unintentionally moved to its original position (H) within the staple cartridge, provided that the slide has not moved more than a predetermined distance (d1) from its original position (H).

[0209] Figure 47The image shows the slider 2562 of the staple cartridge 2520 in a position distal to its original position (H) but proximal to a distal position (A) defined by a predetermined distance (d1). Before firing, a slider reset member 2592 retracts the slider 2562 back to its original position (H). The slider reset member 2592 includes a catcher 2595, which may be in the form of a hook or a bent portion, configured to engage the distal portion of the slider 2562 to return the slider 2562 to its original position (H).

[0210] In various aspects, a portion of the slider reset member 2592 extends below the slider 2562 and is slidably movable, such as within a channel defined in the tray of the staple cartridge 2520. In at least one example, as Figure 51 As shown, the slider reset member 2592 can be manually operated via the actuation member 2593 defined in the handle 2507. The user can pull the actuation member 2593 proximally before activating the firing mechanism to return the slider 2562 to its original position (H).

[0211] In another example, such as Figure 49 and Figure 50 As shown, the slider reset member 2592 is powered by a motor assembly 2504, which is similar in many respects to a motor drive assembly 1904 of the surgical instrument 1901. In the illustrated example, the motor drive assembly 2504 includes a linear threaded connector 2598 operatively connected to the slider reset member 2592. In the illustrated example, the motor assembly 2504 is housed in a shank 2510 including a trigger member 2512. Movement of the trigger member 2512 to a first position causes the motor assembly 2504 to retract the slider reset member 2592, thereby returning the slider 2562 to its original position (H). A second movement of the trigger member 2512 from the first position to a second position activates a firing stroke or firing motion to deploy a staple from the staple cartridge 2520.

[0212] The slider reset mechanism 2500 can be implemented in conjunction with other suitable embodiments of this disclosure, such as a slider detection circuit. Furthermore, the slider reset mechanism 2500 can be implemented in conjunction with suitable components of the surgical suture instrument 1901. For example, the control circuit 1930 can determine, based on the slider detection circuit, that the slider is in a position different from its original position. In response, the control circuit 1930 can cause the motor assembly 2504 to return the slider to its original position, which can be verified, for example, by the slider detection circuit.

[0213] During use, the slider 2562 returns to its original position (H) via the slider reset member 2592, such as... Figure 47As shown. Then, a drive member (e.g., drive member 1182) is configured to advance its working end (e.g., working end 1184) to engage the slider 2562, thereby advancing the slider 2562 to deploy a staple from the staple cartridge 2520. In various aspects, such as Figure 48 As shown, the slider reset member 2592 includes a protrusion 2597, which may be in the form of a ramp, positioned proximally to the catcher 2595. During the advancement of the drive member 2582, the working end 2584 may engage the protrusion 2597 before engaging the slider 2562, causing the catcher 2595 to move out of the firing path 2503 of the slider 2562. In at least one example, the working end 2584 causes the catcher 2595 to fall into a channel defined in the tray of the staple cartridge 2520, which allows the slider 3562 to advance further.

[0214] In various aspects, the setting of acceptable and / or unacceptable slider positions, or the distance of the slider from its original position along the firing path (also referred to herein as the function window), may depend at least in part on the cartridge size. Therefore, to accurately set such positions or distances, the surgical cartridge may include an identification code that, after the cartridge is attached to a surgical instrument (e.g., surgical instrument 1901), is communicated to control circuitry (e.g., control circuitry 1930). Communication may be via a wired or wireless connection to the cartridge.

[0215] In various aspects, the control circuitry can select an appropriate function window based on the transmitted cartridge identification code, given the intended position of the slider contact. In various aspects, the firing system can also adjust one or more parameters of the predetermined firing program, such as the force / velocity / stroke based on both the sensing area based on cartridge identification and / or the actuation area of ​​the sensed slider relative to its intended position (timing / position).

[0216] Now for reference Figures 52 to 56 Loading unit 2600 is similar in many respects to other loading units described elsewhere herein (such as loading units 1100, 1200). For example, loading unit 2600 includes a staple cartridge assembly 2650 and an anvil assembly 2630. At least one of the anvil assembly 2630 and the staple cartridge assembly 2650 is capable of receiving, relative to the other of the anvil assembly and the staple cartridge assembly, from... Figure 53 The open configuration shown is moved to, as Figure 54 The closed configuration shown is for gripping tissue. The staple is deployed into the tissue from a staple cavity 2621 within a cartridge 2622 of the staple cartridge 2620 defined in the staple cartridge assembly 2650. The anvil assembly 2630 includes a recess configured to deform the staple.

[0217] In addition to the above, the staple cartridge 2620 includes a tray 2658 configured to prevent staples from falling out of the staple cavity 2621. The cartridge body 2622 can be attached to the tray 2658 via a protrusion 2623 that can be received in a corresponding cut 2653 defined in the sidewall of the tray 2658. In various examples, the size and shape of the cut 26523 are set to receive the corresponding cut 2653 to secure the cartridge body 2622 to the tray 2657.

[0218] In use, the staple cartridge 2620 is inserted into the elongated channel 2657 to assemble with it. In various aspects, the staple cartridge 2620 and the elongated channel 2657 include corresponding locking features. In the illustrated example, when the staple cartridge 2620 is inserted into the elongated channel 2657, the disc protrusion 2656 defined in the sidewall of the cartridge 2658 is received in the L-shaped slot 2659.

[0219] The corresponding locking features of the staple cartridge 2620 and the elongated channel 2657 allow the tray 2658 to move proximally relative to the elongated channel 2658 to lock the staple cartridge 2620 into the elongated channel 2657, and allow the tray 2658 to move distally relative to the elongated channel 2658 to unlock the staple cartridge 2620 from the elongated channel 2657. In the illustrated example, the size and shape of the L-shaped slot 2659 are set to allow the corresponding protrusion 2656 to move proximally a distance “X” in the long arm of the L-shaped slot 2659, thereby locking the staple cartridge 2620 into the elongated channel 2657, and allowing the corresponding protrusion to move distally a distance “X” in the long arm of the L-shaped slot 2659, thereby unlocking the staple cartridge 2620 from the elongated channel 2657.

[0220] In other examples, the protrusion may be defined within an elongated channel, and the corresponding L-shaped slot may be defined within the cartridge tray. Furthermore, other suitable mating and locking mechanisms can be implemented to produce locking and unlocking configurations for the cartridge and the elongated channel. For example, slots with other suitable shapes can replace the L-shaped slot.

[0221] In addition to the above, a locking mechanism for the staple cartridge 2620 to the elongated channel 2657 is automatically implemented during the transition of the anvil assembly 2630 and the staple cartridge assembly 2650 to the closed configuration, such as... Figure 53 and Figure 54 As shown. In some examples, the anvil assembly 2630 is configured to allow the tray 2658 to translate proximally relative to the elongated channel 2657 into a locking configuration. In the illustrated example, the anvil assembly 2630 includes a cam-acting member 2631 configured to allow the loading unit 2600 to change into a closed configuration (as shown). Figure 54 At that time, the warehouse 2658 will be reduced back to the locked configuration.

[0222] In the illustrated example, tray 2658 includes a proximal tongue portion 2662 divided by tray slot 2663. The proximal tongue portion 2662 includes a cutout 2661 on the opposite side of tray slot 2663. A cam actuation member 2631 is configured to engage the proximal edge 2664 of the cutout 2661 during the closing movement of loading unit 2600. As loading unit 2600 transitions to a closed configuration, cam actuation member 2631 applies a cam force against the proximal edge 2664 of the cutout 2661, thereby causing tray 2658 to translate proximally into a locking configuration. Therefore, the closing movement of loading unit 2600 automatically transforms staple cartridge 2620 into a locking configuration with an elongated channel 2657.

[0223] In the illustrated example, to ensure proper engagement with the cam actuating member 2631, the proximal end of the proximal tongue portion 2662 bends toward the cutout 2661, thereby forming an edge 2664. The cam actuating member 2631 is configured to engage the edge 2664 as the cam actuating member 2631 pivots toward the staple cartridge 2620 together with the anvil assembly 2630. In other examples, the anvil assembly including the cam actuating member 2631 may be secured, and the elongated channel pivots toward the anvil assembly to create a closed configuration. In such examples, the edge 2664 moves toward the cam actuating member 2631. When the edge 2664 engages the cam actuating member 2641, the cam force causes the cartridge 2658 to translate proximally into a locking configuration.

[0224] In addition to the above, the elongated channel 2657 includes a proximal slot or cutout 2671 defined in the proximal portion of the base 2672 of the elongated channel 2657. The cutout 2671 is laterally or transversely aligned with, or at least partially aligned with, the cutout 2661. In the unlocking configuration, as... Figure 53 As shown, cut 2661 is located distal to cut 2671. However, in the locking configuration, as... Figure 54 As shown, cutout 2661 is longitudinally aligned with cutout 2671, or at least closer to longitudinal alignment with cutout 2671 than in the unlocked configuration. As the cam actuating member 1631 pivots between cutouts 2661 and 2671, the cam actuating member 2631 is configured to move cutout 2661 proximally a distance “X” to align with or at least partially align with cutout 2671, as... Figure 54 As shown.

[0225] After the firing stroke is completed, the used staple cartridge 2620 is removed from the elongated channel 2657 by translating the cartridge tray 2658 into the unlocked configuration. In the illustrated example, the cartridge tray 2658 includes a release feature 2655, which may be in the form of a finger-like tab. The release feature 2655 is capable of sliding distally within a corresponding slot 2620 defined in the nose-shaped portion 2626 of the cartridge body 2622 to convert the staple cartridge 2620 into the unlocked configuration, as... Figure 55 and Figure 56 As shown.

[0226] Now for reference Figures 57 to 61 The staple surgical assembly 2750 includes an elongated channel 2757, a staple cartridge 2758, and a retainer 2730. The staple surgical assembly 2750 is similar in many respects to other staple surgical assemblies described elsewhere herein. For example, the staple surgical assembly 2750 can be incorporated into any suitable surgical instrument described elsewhere herein.

[0227] exist Figure 57 In the example shown, the staple cartridge assembly 2750 is in a first configuration, wherein the retainer 2730 is assembled with the staple cartridge 2720 to prevent staples from accidentally falling out of the staple cavity of the staple cartridge 2720. In the first configuration, a long tab 2731 of the retainer 2730 defines a retainer arm that engages the tray 2758 of the staple cartridge 2720, and a short tab 2732 defines a retainer arm that engages the cartridge body 2721 of the staple cartridge 2720. The tabs 2731 and 2732 cooperate to hold the retainer 2730 against the platform 2722 of the cartridge body 2721 in the first configuration to retain the staples in their staple cavities. In the example shown, the cartridge body 2721 includes a protrusion 2723 extending laterally from the platform 2722. In the first configuration, the protrusion 2723 is engaged by the short tab 2732.

[0228] After the firing stroke is completed, the retainer 2730 removes the used pin cartridge 2720 from the narrow channel 2757, as follows. Figures 58 to 61 As shown. In the second configuration, the elongated tab 2731 of the retainer 2730 is inserted through a track or notch 2724 defined in the housing 2721, as... Figure 60 As best shown. The tab 2731 releases the foldable member 2755 of the tray 2558 from the corresponding aperture 2756 of the elongated channel 2757, allowing the staple cartridge 2720 to be removed from the elongated channel 2757 by the retainer 2730, as... Figure 61 As shown.

[0229] In the example shown, the foldable member 2755 is in the form of a leaf spring, which may be stamped or formed in the sidewall of the tray 2758. The tab 2731 includes a hook feature 2733 configured to fold the foldable member 2755 as the tab 2731 advances in the track 2724, thereby releasing the foldable member 2755 from the orifice 2756, and is further configured to form a movable locking engagement with the folded foldable member 2755 in a second configuration, such as... Figure 60 As shown.

[0230] Then the retainer 2730 is pulled away from the elongated channel 2757 to remove the staple cartridge 2720 from the elongated channel 2757, as follows. Figure 61 As shown, as the retainer 2730 is pulled away, the hook feature 2733 lifts the foldable member 2755 out of the track 2724, thereby releasing the staple cartridge 2720 from the elongated channel 2757.

[0231] In the illustrated example, orifice 2756 is defined in the sidewall of elongated channel 2757 in the form of a cutout. In other examples, orifice 2756 may be replaced by a recess or slot defined on the inner surface of the inner wall of elongated channel 2757. The shape and size of the recess or slot are set to correspond with... Figure 59 The foldable member 2755 is received in its natural state in a manner similar to that shown in the diagram with respect to the orifice 2756.

[0232] Still referencing Figures 59 to 61 This describes a method for removing a used staple cartridge 2720 from an elongated channel 2757 using a retainer 2730. The method includes disengaging the retainer 2730 from the staple cartridge assembly 2750. The method also includes inserting a tab 2731 into a track 2724, releasing a foldable member 2755 from an opening 2756 via a hook feature 2733 of the tab 2731, and forming a movable locking engagement between the folded foldable member 2755 and the hook feature 2733 in the track 2724. The method further includes pulling the retainer 2730 away from the elongated channel 2757 to remove the used staple cartridge 2720 from the elongated channel 2757.

[0233] Now for reference Figure 62 The staple surgical assembly 2850 includes a quick-release feature that facilitates removal of the staple cartridge 2820 from the elongated channel 2857 of the surgical instrument. The staple surgical assembly 2850 is similar in many respects to other staple surgical assemblies described elsewhere herein. For example, the staple surgical assembly 2850 can be incorporated into any suitable surgical instrument described elsewhere herein.

[0234] The staple cartridge 2820 includes a cartridge body 2821 and a cartridge tray 2858. Furthermore, the staple cartridge 2858 includes a cartridge release member 2822 movably disposed in a nose-shaped portion 2823 of the cartridge body 2821. In the illustrated example, the cartridge release member 2822 is capable of linearly moving from an unactuated configuration to an actuated configuration via a channel 2824 defined in the nose-shaped portion 2823. In the unactuated configuration, such as... Figure 62 As shown, a cartridge release member 2822 protrudes from the nose-shaped portion 2823 through one end of the channel 2824. When actuated, for example by applying external pressure to the cartridge release member 2822, the cartridge release member moves within the channel 2824 and protrudes through the other end of the channel 2824. The cartridge release member 2822 then presses against the elongated channel 2857 to release the cartridge 2820 from the elongated channel 2857. In the example shown, the channel 2824 defines the direction of movement of the cartridge release member 2822 at an acute angle to the elongated channel 2857.

[0235] The surgical instrument systems described herein are actuated by electric motors; however, the surgical instrument systems described herein can be actuated in any suitable manner. In some instances, the motors disclosed herein may include one or more parts of a robot control system. For example, U.S. Patent Application Serial No. 13 / 118,241 (now U.S. Patent No. 9,072,535), entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS,” discloses several examples of robotic surgical instrument systems in more detail, the entire disclosure of which is incorporated herein by reference. International Patent Publication No. WO 2017 / 083125, entitled "STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE", published on May 18, 2017; International Patent Publication No. WO 2017 / 083126, entitled "STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS", published on May 18, 2017; International Patent Publication No. 2015 / 153642, entitled "SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION", published on October 8, 2015; U.S. Patent Application Publication No. 2017 / 0265954, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS", filed on March 17, 2017; and U.S. Patent Application Publication No. WO 2017 / 083126, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS", filed on February 15, 2017. The full text of the publications of U.S. Patent Application Publication No. 2017 / 0265865 entitled “Advanced Clampingement and Distal Pulley” and U.S. Patent Application Publication No. 2017 / 0290586 entitled “Stapping Cartridge”, filed on March 29, 2017, are incorporated herein by reference.

[0236] The surgical instrument system described herein has been described in conjunction with the deployment and variations of the staples; however, the embodiments described herein are not limited thereto. For example, various embodiments are contemplated for deploying fasteners other than staples, such as clamps or pins. Furthermore, various embodiments utilizing any suitable means for sealing tissue are contemplated. For example, the end effector according to various embodiments may include electrodes configured to heat and seal tissue. Additionally, for example, the end effector according to some embodiments may apply vibrational energy to seal tissue.

[0237] Example

[0238] Various aspects of the subject matter described herein are set forth in the following numbered embodiments.

[0239] Example 1 - A surgical suturing instrument for use with a staple cartridge, the staple cartridge including a slider and staples. The surgical suturing instrument includes a firing system. The firing system includes a motor and a drive member operatively coupled to the motor. The motor is configured to enable the drive member to advance the slider to deploy the staples into tissue held by the surgical suturing instrument. The drive member is movable by the motor along a predetermined firing path. The surgical suturing instrument also includes control circuitry configured to detect the position of the slider along the firing path and adjust a motor control program based on the position of the slider.

[0240] Example 2 - A surgical suturing instrument according to Example 1, wherein the control circuit is configured to determine the position of the slider using a slider detection circuit.

[0241] Example 3 - A surgical suturing instrument according to Example 1 or 2, wherein the motor control program is selected based on the identification key of the staple cartridge.

[0242] Example 4 - A surgical suturing instrument according to Example 1, 2 or 3, wherein the control circuit is configured to detect the position of the slider by monitoring parameters indicating the electrical load of the motor.

[0243] Example 5 - A surgical suturing instrument according to Example 1, 2, 3 or 4, wherein the firing path includes a first segment defining an acceptable initial slider contact position and a second segment defining an acceptable initial nail contact position.

[0244] Example 6 - A surgical suturing instrument according to Example 5, wherein failure to detect the slider in the first segment of the firing path causes the control circuit to stop the motor.

[0245] Example 7 - A surgical suturing instrument according to Example 6, wherein failure to detect the slider in the first segment of the firing path also causes the control circuit to issue an alarm.

[0246] Example 8 - A surgical suturing instrument according to Examples 1, 2, 3, 4, 5, 6 or 7, wherein the control circuit is configured to detect initial nail contact between the nail and the firing system by monitoring parameters indicating the electrical load of the motor.

[0247] Example 9 - A surgical suturing instrument according to Example 8, wherein failure to detect the initial nail contact in the second segment causes the control circuit to stop the motor.

[0248] Example 10 - A surgical suturing instrument according to Example 8 or 9, wherein failure to detect the initial nail contact in the second segment causes the control circuit to issue an alarm.

[0249] Example 11 - A surgical suturing instrument according to Examples 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10, wherein the control circuit is configured to retract the sliding member when the position of the sliding member is outside its original position range.

[0250] Example 12 - A surgical suturing instrument according to Examples 5, 6, 7, 8, 9, 10 or 11, wherein the slider along the firing path is not detected outside the first and second segments until a predetermined threshold is reached, causing the control circuit to return the motor to the original position.

[0251] Example 13 - A loading unit for use with a surgical suture instrument. The loading unit includes a shaft and an end effector extending from the shaft. The end effector includes a first jaw including an anvil. The end effector also includes a second jaw. At least one of the first jaw and the second jaw is movable relative to the other to grasp tissue. The second jaw includes an elongated channel including channel electrical contacts spaced along the length of the elongated channel, the channel electrical contacts defining a firing path. The second jaw also includes a staple cartridge that can be inserted into the elongated channel for assembly with the elongated channel. The staple cartridge includes a cartridge disc and a slider that is translatable along the firing path through a position defined by the channel electrical contacts. The loading unit also includes a slider detection circuit that is configurable from an open configuration to a closed configuration when the slider is moved into the position.

[0252] Example 14 - The loading unit according to Example 13, wherein the slider detection circuit is configured to generate a unique electrical signal for each of the positions.

[0253] Example 15 - The loading unit according to Example 13 or 14, wherein the slider includes a slider electrical contact portion.

[0254] Example 16 - The loading unit according to Example 15, wherein the channel electrical contact is configured to engage the sliding member electrical contact via the tray.

[0255] Example 17 - The loading unit according to Example 13, 14, 15 or 16, wherein the channel electrical contact includes a biasing member.

[0256] Example 18 - A loading unit according to Examples 13, 14, 15, 16 or 17, wherein the tray includes a cutout configured to receive the bias member.

[0257] Example 19 - The loading unit according to Examples 13, 14, 15, 16, 17 or 18, wherein the position includes a first position defining a first resistor of the slider detection circuit and a second position defining a second resistor of the slider detection circuit that is different from the first resistor.

[0258] Example 20 - A loading unit for use with a surgical suture instrument. The loading unit includes a shaft and an end effector extending from the shaft. The end effector includes a first jaw, which includes an anvil. The end effector also includes a second jaw. At least one of the first jaw and the second jaw is movable relative to the other of the first jaw and the second jaw to grasp tissue. The second jaw includes: an elongated channel; and a staple cartridge, which is insertable into the elongated channel for assembly with the elongated channel. The staple cartridge includes a cartridge disc and a slider, which is translatable relative to the cartridge disc from its original position along a firing path during a firing motion to deploy staples from the staple cartridge. The loading unit also includes a slider position reset mechanism configured to return the slider from a position away from its original position to its original position before the firing motion.

[0259] Example 21 - The loading unit according to Example 20, wherein the slider position reset mechanism is configured to releasably engage the distal portion of the slider.

[0260] Although several forms have been illustrated and described, the applicant does not intend to limit or restrict the scope of the appended claims to such details. Many modifications, variations, alterations, substitutions, combinations, and equivalents of these forms can be made without departing from the scope of this disclosure, and those skilled in the art will recognize such modifications, variations, alterations, substitutions, combinations, and equivalents. Furthermore, alternatively, the structure of each element associated with a described form can be described as a device for providing the function performed by said element. Additionally, where materials for certain components are disclosed, other materials may also be used. Therefore, it should be understood that the foregoing detailed descriptions and the appended claims are intended to cover all such modifications, combinations, and variations falling within the scope of the forms disclosed in this invention. The appended claims are intended to cover all such modifications, variations, alterations, substitutions, modifications, and equivalents.

[0261] The specific embodiments described above have illustrated various forms of apparatus and / or methods using block diagrams, flowcharts, and / or examples. Wherever such block diagrams, flowcharts, and / or examples contain one or more functions and / or operations, those skilled in the art will understand that each function and / or operation in such block diagrams, flowcharts, and / or examples can be implemented individually and / or collectively by various hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein can be equivalently implemented in an integrated circuit, wholly or partially, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as any combination thereof, and that designing circuit systems and / or writing software and / or hardware code according to this disclosure will be within the skill of those skilled in the art. Furthermore, those skilled in the art will recognize that the mechanisms of the subject matter described herein can be distributed as one or more program products in various forms, and that the exemplary forms of the subject matter described herein apply regardless of the specific type of signal-bearing medium used for actual distribution.

[0262] Instructions used for programming logic to execute various disclosed aspects may be stored in the system's memory, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. Furthermore, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any means for storing or transmitting information in a machine-readable (e.g., computer-readable) form, but are not limited to floppy disks, optical disks, optical disc read-only memory (CD-ROM), and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage devices used for transmitting information over the Internet via electrical signals, optical signals, acoustic signals, or other forms of propagation signals (e.g., carrier waves, infrared signals, digital signals, etc.). Therefore, non-transitory computer-readable media include any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0263] As used in any aspect of this document, the term "control circuitry" may refer to, for example, hardwired circuitry systems, programmable circuitry systems (e.g., computer processors including one or more individual instruction processing cores, processing units, processors, microcontrollers, microcontroller units, controllers, digital signal processors (DSPs), programmable logic devices (PLDs), programmable logic arrays (PLAs), field-programmable gate arrays (FPGAs)), state machine circuitry systems, firmware storing instructions executed by the programmable circuitry system, and any combination thereof. Control circuitry can be implemented collectively or individually as part of a larger system, such as integrated circuits (ICs), application-specific integrated circuits (ASICs), system-on-a-chip (SoCs), desktop computers, laptop computers, tablet computers, servers, smartphones, etc. Therefore, as used herein, "control circuit" includes, but is not limited to, electronic circuits having at least one discrete circuit, electronic circuits having at least one integrated circuit, electronic circuits having at least one application-specific integrated circuit, electronic circuits forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that at least partially implements the methods and / or devices described herein, or a microprocessor configured by a computer program that at least partially implements the methods and / or devices described herein), electronic circuits forming a memory device (e.g., forming a random access memory), and / or electronic circuits forming a communication device (e.g., a modem, a communication switch, or an optoelectronic device). Those skilled in the art will recognize that the subject matter described herein can be implemented in analog or digital modes, or some combination thereof.

[0264] As used in any aspect of this document, the term "logic" can refer to an application, software, firmware, and / or circuit system configured to perform any of the foregoing operations. Software can be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware can be embodied as hard-coded (e.g., non-volatile) code, instructions, or instruction sets and / or data in a memory device.

[0265] As used in any part of this document, the terms “component,” “system,” “module,” etc., can refer to computer-related entities, hardware, combinations of hardware and software, software, or software in execution.

[0266] As used in any aspect of this document, "algorithm" refers to a systematic sequence of steps that leads to a desired result, where "step" refers to the manipulation of physical quantities and / or logical states, which may (but not necessarily) take the form of electrical or magnetic signals that can be stored, transferred, combined, compared, and otherwise manipulated. These signals are commonly referred to as bits, values, elements, symbols, characters, terms, numbers, etc. These and similar terms may be associated with appropriate physical quantities and are merely convenient labels applied to these quantities and / or states.

[0267] The network may include a packet-switched network. Communication devices may be able to communicate with each other using a selected packet-switched network communication protocol. An exemplary communication protocol may include an Ethernet communication protocol that may allow communication using Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol may conform to or be compatible with the Ethernet standard entitled "IEEE 802.3 Standard" published by the Institute of Electrical and Electronics Engineers (IEEE) in December 2008 and / or a higher version of this standard. Alternatively or additionally, communication devices may be able to communicate with each other using the X.25 communication protocol. The X.25 communication protocol may conform to or be compatible with standards published by the International Telecommunication Union Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, communication devices may be able to communicate with each other using the Frame Relay communication protocol. The Frame Relay communication protocol may conform to or be compatible with standards published by the International Telegraph and Telephone Consultative Committee (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, transceivers may be able to communicate with each other using the Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may conform to or be compatible with the ATM standard entitled "ATM-MPLS Network Interworking 2.0" and / or a higher version of that standard, published by the ATM Forum in August 2001. Of course, this document also envisions different and / or subsequently developed connectivity-oriented network communication protocols.

[0268] Unless otherwise expressly stated in the foregoing disclosure, it is understood that in the foregoing disclosure, discussions using terms such as “processing,” “estimating,” “calculating,” “determining,” and “displaying” refer to the actions and processes of a computer system or similar electronic computing device that manipulate data represented as physical (electronic) quantities in the registers and memories of the computer system and convert them into other data similarly represented as physical quantities in the memory or registers of the computer system or other such information storage, transmission, or display devices.

[0269] One or more components may be referred to herein as “configured to be,” “configurable to be,” “operable / operationally,” “suitable / adaptable,” “capable,” “adaptable / fittable,” etc. Those skilled in the art will recognize that, unless the context otherwise requires, “configured to be” generally encompasses components in an active state and / or in an inactive state and / or in a standby state.

[0270] 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.

[0271] Those skilled in the art will recognize that, in general, the terminology used herein, and particularly in the appended claims (e.g., the text of the appended claims), is typically intended to be “open” terms (e.g., the term “comprising” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “at least having,” the term “including” should be interpreted as “comprising but not limited to,” etc.). Those skilled in the art will also understand that if a specific number of statements in the introduced claims is intended, such an intention will be explicitly stated in the claims, and if no such statement is present, such an intention does not exist. For example, to aid understanding, the appended claims below may contain the use of the introductory phrases “at least one” and “one or more” to introduce the claims. However, the use of such phrases should not be construed as implying that introducing a claim statement with the indefinite article "a" or "an" limits any particular claim containing such an introductory claim statement to a claim containing only one such statement, even when the same claim includes the introductory phrase "one or more" or "at least one" and indefinite articles such as "a" or "an" (e.g., "a" and / or "an" should generally be interpreted as meaning "at least one" or "one or more"); this also applies to the use of definite articles used to introduce a claim statement.

[0272] Furthermore, even when a specific number of claims is explicitly stated, those skilled in the art should recognize that such a statement should generally be interpreted as referring to at least the number stated (e.g., in the absence of other modifiers, a bare statement of "two statements" generally means at least two statements, or two or more statements). Moreover, in cases where conventions such as "at least one of A, B, and C" are used, such constructions are generally intended to have a meaning that those skilled in the art will understand (e.g., "a system having at least one of A, B, and C" will include, but is not limited to, systems having only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). In cases where conventions such as "at least one of A, B, or C" are used, such constructions are generally intended to have a meaning that those skilled in the art will understand (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). Those skilled in the art should also understand that, generally, unless the context otherwise indicates, any transitional words and / or phrases presenting two or more alternative terms in the detailed description, claims, or drawings should be understood to cover the possibility of including one of the terms, any one of the terms, or both of the terms. For example, the phrase "A or B" will generally be understood to include the possibility of "A" or "B" or "A and B".

[0273] With respect to the appended claims, those skilled in the art will understand that the operations described herein can generally be performed in any order. Furthermore, although various operation flowcharts are shown in one or more sequences, it should be understood that the various operations may be performed in other orders than those shown, or may be performed simultaneously. Unless the context otherwise requires, examples of such alternative orderings may include overlapping, interleaving, interruption, reordering, incremental, preparatory, supplementary, simultaneous, reverse, or other altered orderings. Moreover, unless the context otherwise requires, terms such as “in response to,” “related,” or other past tense adjectives are generally not intended to exclude such variations.

[0274] It is worth noting that any reference to "one aspect," "one aspect," "one example," or "one example" means that the specific feature, structure, or characteristic described in connection with said aspect is included in at least one aspect. Therefore, the phrases "in one aspect," "in one aspect," "in one example," and "in one example" appearing in various places throughout the specification do not necessarily refer to the same aspect. Furthermore, specific features, structures, or characteristics may be combined in one or more aspects in any suitable manner.

[0275] In this specification, unless otherwise stated, the terms "about" or "approximately" as used herein refer to an acceptable error in a particular value as determined by one of ordinary skill in the art, depending in part on how the value is measured or determined. In some embodiments, the terms "about" or "approximately" mean within 1, 2, 3, or 4 standard deviations. In some embodiments, the terms "about" or "approximately" mean within 50%, 20%, 15%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, or 0.05% of a given value or range.

[0276] In this specification, unless otherwise specified, all numerical parameters should in all cases be understood to be referred to by or modified by the term "about," whereby the numerical parameters have inherent differences in the underlying measurement techniques used to determine the parameter values. To a minimum, and without attempting to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter described herein should be interpreted at least according to the significant digits of the reported value and by applying customary rounding methods.

[0277] Any numerical ranges listed herein include all subranges covered by the listed range. For example, the range “1 to 10” includes all subranges between the listed minimum value 1 and the listed maximum value 10 (inclusive), that is, a minimum value equal to or greater than 1 and a maximum value equal to or less than 10. Furthermore, all ranges listed herein include the endpoints of the listed range. For example, the range “1 to 10” includes the endpoints 1 and 10. Any upper limit value listed in this specification is intended to include all smaller limits covered therein, and any lower limit value listed in this specification is intended to include all larger limits covered therein. Therefore, the applicant reserves the right to amend this specification (including the claims) to expressly list any subranges covered by the expressly listed ranges. All such ranges are inherently described in this specification.

[0278] Any patent application, patent, non-patent publication, or other public material mentioned in this specification and / or listed in any application data sheet is incorporated herein by reference, provided that the incorporated material is inconsistent with this specification. Therefore, and to the extent necessary, the disclosures expressly listed herein replace any conflicting material incorporated herein by reference. Any material or portion thereof allegedly incorporated herein by reference that conflicts with existing definitions, statements, or other public materials listed herein will be incorporated only to the extent that the incorporated material does not conflict with existing public materials.

[0279] In summary, many beneficial effects resulting from employing the concepts described herein have been described. For illustrative and descriptive purposes, one or more of the specific embodiments described above have been provided. These embodiments are not intended to be exhaustive or limited to the precise forms disclosed in the invention. Modifications or variations may be made to the invention in accordance with the teachings above. The one or more forms chosen and described are intended to illustrate the principles and practical applications, thereby enabling those skilled in the art to utilize various forms and modifications suitable for the intended particular use. The claims filed herein are intended to define the full scope.

Claims

1. A surgical suturing instrument for use with a staple cartridge, the staple cartridge including a slider and staples, the surgical suturing instrument comprising: Firing system, the firing system comprising: Motor; and A drive member operably coupled to the motor, wherein the motor is configured to enable the drive member to advance the slider to deploy the staple into tissue held by the surgical suturing instrument, and wherein the drive member is movable by the motor along a predetermined firing path; Control circuit, the control circuit being configured to: Detecting the position of the slider along the firing path; and The motor control program is adjusted based on the position of the slider. The control circuit is configured to detect: The pin contacts the initial pin of the firing system. The initial contact between the driving member and the sliding member.

2. The surgical stapling instrument of Claim 1, wherein, The control circuit is configured to use a slider detection circuit to determine the position of the slider.

3. The surgical stapling instrument of Claim 1, wherein, The motor control program is selected based on the identification key of the staple cartridge.

4. The surgical stapling instrument of Claim 1, wherein, The control circuit is configured to detect the initial pin contact between the pin and the firing system and / or the initial contact between the drive member and the slider by monitoring parameters indicating the electrical load of the motor.

5. The surgical stapling instrument of Claim 1, wherein, The firing path includes: A first segment defining an acceptable initial slider contact position, wherein the drive member is configured to engage the slider first during advancement of the drive member; and A second segment defines an acceptable initial nail contact position, wherein the slider driven by the drive member is configured to engage the pusher of the nail first.

6. The surgical stapling instrument of Claim 5, wherein, The failure to detect the slider in the first segment of the firing path causes the control circuit to stop the motor.

7. The surgical stapling instrument of Claim 6, wherein, The failure to detect the slider in the first segment of the firing path also caused the control circuit to issue an alarm.

8. The surgical stapling instrument of Claim 5, wherein, The control circuit is configured to detect the initial pin contact between the pin and the firing system by monitoring parameters that indicate the electrical load of the motor.

9. The surgical stapling instrument of Claim 8, wherein, The failure to detect the initial nail contact in the second segment caused the control circuit to stop the motor.

10. The surgical stapling instrument of Claim 8, wherein, The failure to detect the initial nail contact in the second segment caused the control circuit to issue an alarm.

11. The surgical stapling instrument of Claim 5, wherein, The control circuit is configured to retract the firing system when the position of the slider is outside its original position range.

12. The surgical stapling instrument of Claim 11, wherein, Outside of the first and second segments, the slider along the firing path was not detected until a predetermined threshold was reached, causing the control circuit to return the motor to its original position.

13. The surgical suturing instrument according to claim 1, further comprising a loading unit, the loading unit comprising: axis; An end effector extending from the axis, the end effector comprising: A first jaw, the first jaw including an anvil; and A second jaw, wherein at least one of the first jaw and the second jaw is movable relative to the other of the first jaw and the second jaw to grasp tissue, the second jaw comprising: An elongated channel, the elongated channel including channel electrical contacts spaced apart along the length of the elongated channel, the channel electrical contacts defining a firing path; and Staple cartridge, the staple cartridge being insertable into the elongated channel for assembly with the elongated channel, wherein the staple cartridge comprises: Warehouses; and A slider, capable of translating along the firing path through a position defined by the channel electrical contact; and A slider detection circuit is capable of changing from an open configuration to a closed configuration when the slider is moved to the position.

14. The surgical suturing instrument according to claim 13, wherein, The slider detection circuit is configured to generate a unique electrical signal for each of the positions.

15. The surgical suturing instrument according to claim 13, wherein, The slider includes a slider electrical contact portion.

16. The surgical suturing instrument according to claim 15, wherein, The channel electrical contact is configured to engage the sliding member electrical contact via the tray.

17. The surgical suturing instrument according to claim 13, wherein, The channel electrical contact includes a biasing member.

18. The surgical suturing instrument according to claim 17, wherein, The tray includes a cutout configured to receive the bias member.

19. The surgical suturing instrument according to claim 13, wherein, The location includes: A first position, the first position defining a first resistance of the slider detection circuit; and The second position defines a second resistor in the slider detection circuit that is different from the first resistor.

20. The surgical suturing instrument according to claim 1, further comprising a loading unit, the loading unit comprising: axis; An end effector extending from the axis, the end effector comprising: A first jaw, the first jaw including an anvil; and A second jaw, wherein at least one of the first jaw and the second jaw is movable relative to the other of the first jaw and the second jaw to grasp tissue, the second jaw comprising: Slender channels; and Staple cartridge, the staple cartridge being insertable into the elongated channel for assembly with the elongated channel, wherein the staple cartridge comprises: Warehouses; and A slider that can translate relative to the cartridge from its original position along the firing path during the firing motion to deploy a pin from the pin cartridge; A slider position reset mechanism is configured to return the slider from a position within a predetermined range away from its original position to its original position before the firing motion.

21. The surgical suturing instrument according to claim 20, wherein, The slider position reset mechanism is configured to releasably engage the distal portion of the slider.

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