Surgical instrument for robot-assisted surgery and method of use thereof

Abstract

A surgical system and apparatus for use with a computerized surgical operating system, where the computerized surgical operating system includes a robotic arm and a support coupled to the robotic arm for receiving various instruments, the surgical system including a surgical apparatus, where the surgical apparatus includes an elongate shaft; and a control housing coupled to the elongate shaft, where the control housing is configured to be attached to a motor housing having a recess, where the motor housing is coupled to the support; and a trocar pivotably coupled to the support such that the trocar is pivotable away from axial alignment with the support, where the elongate shaft extends into the pivoted trocar, where the trocar containing the surgical device is pivotable in axial alignment with the support such that the recess receives the elongate shaft of the surgical device, where the elongate shaft extends into the pivotable trocar. And wherein the control housing engages the motor housing.

Description

Background Art

[0001] The disclosed technology relates generally to robotic-assisted surgical techniques, and more particularly to end effectors and stapling devices and methods of using the devices in robotic-assisted surgery.

[0002] Robotic surgery, also known as robot-assisted surgery, allows doctors to perform many types of complex surgeries with greater precision, flexibility, and control than traditional techniques. Robotic surgery is often associated with minimally invasive surgery, which is surgery performed through small incisions. It is also sometimes used in some traditional open surgical procedures.

[0003] An exemplary clinical robotic surgery system may include a camera arm and a robotic arm with a support for attaching surgical instruments. A doctor controls the robotic arm at a computer console near the operating table. The console provides the doctor with a high-definition, magnified, 3D view of the surgical site.

[0004] Minimally invasive surgical devices in the prior art are usually long (e.g., 35mm to 60mm) and thin (e.g., 5mm to 15mm diameter). Due to the limited space environment in minimally invasive surgery, traditional surgical devices may be too long or too thin to be used with certain robotic surgical systems. In addition, these traditional surgical devices may have mechanical problems due to their long and thin design. The formation of type B staples usually requires 5-25g / mm 2 The target pressure is 15g / mm 2 Therefore, due to its long and thin design, such conventional surgical stapling devices used with robotic surgical systems typically form small, less rigid staples with less pressure. Therefore, there is a continuing need for a surgical device and system suitable for use with existing computerized surgical operating systems such that the surgical device retains its mechanical functionality. Summary of the invention

[0005] An overview of certain exemplary embodiments of the disclosed technology is provided below. This overview is not an extensive overview and is not intended to identify key or critical aspects or elements of the disclosed technology, nor is it intended to describe its scope. However, it should be understood that the indefinite articles used in the language used to describe and claim the disclosed technology are not intended to limit the described technology in any way. On the contrary, the use of "a" or "an" should be interpreted to mean "at least one" or "one or more".

[0006] One embodiment of the disclosed technology provides a surgical system for use with a computerized surgical operating system, wherein the computerized surgical operating system includes a robotic arm and a support coupled to the robotic arm for accommodating various instruments, the surgical system includes a surgical device and a trocar, wherein the surgical device includes an elongated shaft having a proximal end and a distal end, and a control housing coupled to the proximal end of the elongated shaft. wherein the control housing is configured to be attached to a motor housing having a recess formed therein, wherein the motor housing is coupled to the support; the trocar is pivotally coupled to the support so that the trocar can be pivoted away from axial alignment with the support, wherein the distal end of the elongated shaft extends into the pivoted trocar, wherein the trocar containing the surgical device is pivoted into axial alignment with the support so that the recess accommodates the elongated shaft of the surgical device, and wherein the control housing engages the motor housing.

[0007] The surgical device may further include an end effector coupled to the distal end of the elongated shaft, wherein the end effector includes a clamping mechanism having an anvil and a staple cartridge for accommodating surgical staples. The system may further include a closing mechanism and a firing mechanism. The closing mechanism is used to open and close the anvil on the clamping mechanism, wherein the closing mechanism is contained within the elongated shaft of the surgical device. The firing mechanism is used to activate the staple cartridge, wherein the firing mechanism includes a laminated beam and a nut. The laminated beam has a proximal end and a distal end, wherein the blade is coupled to the distal end of the laminated beam, and wherein the proximal end of the laminated beam is located in a shunt channel within the elongated shaft of the surgical device. The nut is fixed to a rotating member, wherein the nut is coupled to the proximal end of the laminated beam. Wherein the firing mechanism moves the nut from the distal end of the surgical device toward the proximal end of the surgical device, and wherein the laminated beam is delaminated as it moves through the shunt channel. The trocar may include a retaining feature having an inner wall and an outer wall. The retention feature of the trocar is pivotally coupled to the support by a clamping member, wherein an angled gap is formed between the clamping member and the inner wall when the trocar is axially aligned with the support, and wherein a second angled gap is formed between the clamping member and the outer wall when the trocar is pivoted away from the axial alignment with the support. The elongated shaft has a diameter portion and a reduced diameter portion, wherein the reduced diameter portion engages a recess on the motor housing. The control housing has a control interface, wherein the motor housing has a motor interface, and wherein the control interface is selectively attached to the motor interface to engage the control housing and the motor housing. The control interface and the motor interface each include a plurality of discs associated with specific mechanical features of the surgical device, wherein the discs on the control interface are configured to match the discs on the motor interface. The system may further include a rescue mechanism configured to the control housing for manually controlling mechanical operation of the surgical device.

[0008] Another embodiment of the disclosed technology provides a surgical system for use with a computerized surgical operating system, wherein the computerized surgical operating system includes a robotic arm and a support coupled to the robotic arm for accommodating various instruments, the surgical system includes a surgical device and a trocar. The surgical device includes an elongated shaft having a proximal end and a distal end and a control housing coupled to the proximal end of the elongated shaft. The control housing is configured to be attached to a motor housing having a recess formed therein. The motor housing is coupled to the support. The trocar has a retaining feature, wherein the retaining feature has an inner wall and an outer wall. The retaining feature is pivotally coupled to the support so that the trocar can be pivoted away from axial alignment with the support. The distal end of the elongated shaft extends into the pivoted trocar, wherein the trocar containing the surgical device is pivoted to axially align with the support so that the recess accommodates the elongated shaft of the surgical device, and wherein the control housing engages the motor housing.

[0009] The surgical device may further include an end effector coupled to the distal end of the elongated shaft, wherein the end effector includes a clamping mechanism having an anvil and a staple cartridge for accommodating surgical staples. The system may further include a closing mechanism and a firing mechanism. The closing mechanism is used to open and close the anvil on the clamping mechanism, wherein the closing mechanism is contained within the elongated shaft of the surgical device. The firing mechanism is used to activate the staple cartridge, wherein the firing mechanism includes a laminated beam and a nut. The laminated beam has a proximal end and a distal end, wherein the blade is coupled to the distal end of the laminated beam, and wherein the proximal end of the laminated beam is located in a shunt channel within the elongated shaft of the surgical device. The nut is fixed to a rotating member, wherein the nut is coupled to the proximal end of the laminated beam. wherein the firing mechanism moves the nut from the distal end of the surgical device toward the proximal end of the surgical device, and wherein the laminated beam is delaminated as it moves through the shunt channel. The retention feature of the trocar is pivotally coupled to the support by a clamping member, wherein an angled gap is formed between the clamping member and the inner wall when the trocar is axially aligned with the support, and wherein a second angled gap is formed between the clamping member and the outer wall when the trocar is pivoted away from the axial alignment with the support. The elongated shaft has a diameter portion and a reduced diameter portion, wherein the reduced diameter portion engages a recess on the motor housing. The control housing has a control interface, wherein the motor housing has a motor interface, and wherein the control interface is selectively attached to the motor interface to engage the control housing and the motor housing. The control interface and the motor interface each include a plurality of discs associated with specific mechanical features of the surgical device, wherein the discs on the control interface are configured to match the discs on the motor interface. The system may further include a rescue mechanism configured to the control housing for manually controlling mechanical operation of the surgical device.

[0010] Another embodiment of the disclosed technology provides a surgical device suitable for use with a computerized surgical operating system, wherein the computerized surgical operating system includes a robotic arm and a support coupled to the robotic arm for accommodating various instruments and a motor housing coupled to the support, the surgical device includes an elongated shaft, a control housing, an end effector, and a trocar. The elongated shaft has a proximal end and a distal end. The control housing is coupled to the proximal end of the elongated shaft, wherein the control housing is configured to be attached to the motor housing. The end effector is coupled to the distal end of the elongated shaft, wherein the end effector includes a clamping mechanism having an anvil and a staple cartridge for accommodating surgical staples. The trocar is pivotally coupled to the support so that the trocar can be pivoted away from axial alignment with the support, wherein the distal end of the elongated shaft extends into the pivoted trocar, wherein the trocar is pivoted to axially align with the support, and wherein the control housing engages the motor housing.

[0011] The trocar includes a retention feature having an inner wall and an outer wall, wherein the retention feature of the trocar is pivotally coupled to the support by a clamping member, wherein when the trocar is axially aligned with the support, an angled gap is formed between the clamping member and the inner wall, and wherein when the trocar is away from axial alignment with the support, a second angled gap is formed between the clamping member and the outer wall. The control housing has a control interface having a plurality of disks, wherein the motor housing has a motor interface having a plurality of disks, and wherein the plurality of disks on the control interface selectively attach to the plurality of disks on the motor interface to engage the control housing and the motor housing.

[0012] It should be understood that all combinations of the above-mentioned concepts and additional concepts discussed in more detail below (as long as these concepts are not mutually contradictory) are considered to be part of the technology disclosed herein and can be implemented to achieve the benefits described herein. After reading and understanding the following detailed description of the example implementation, additional features and aspects of the disclosed systems, devices and methods will become apparent to those of ordinary skill in the art. As will be understood by those skilled in the art, further implementation is possible without departing from the scope and spirit disclosed herein. Therefore, the description provided herein should be considered illustrative, not restrictive. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and form a part of the specification, schematically illustrate one or more exemplary embodiments of the disclosed technology, and together with the general description given above and the detailed description given below, serve to explain the principles of the disclosed subject matter, and in which:

[0014] Figure 1 Describe the anatomy of the stomach;

[0015] Figure 2A surgical stapling device having an end effector and a control housing according to an exemplary embodiment of the disclosed technology is described;

[0016] Figure 3 Describes the coupling to Figure 2 An exemplary embodiment of a control housing of a surgical stapling apparatus;

[0017] Figure 4 An exemplary embodiment of a motor housing coupled to a support is described;

[0018] Figure 5 An assembled surgical system for use with a computerized surgical operating system according to an exemplary embodiment of the disclosed technology is described, wherein Figure 2 The control housing and Figure 4 The motor housing is engaged;

[0019] Figure 6 Describes Figure 4 A perspective view of a motor housing housing a surgical stapling device;

[0020] Figure 7 Describes Figure 5 An exemplary embodiment of a trocar component of a surgical system;

[0021] Figure 8A-B Is Figure 5 A schematic diagram of a trocar held by a clamping member is shown, wherein Fig. 8A A trocar is described which is axially aligned with a support member, and wherein Figure 8B A trocar is described that is pivoted away from axial alignment with a support;

[0022] Figure 9A-9C An exemplary process for inserting a surgical stapling device into a trocar is described, wherein Fig. 9A Insertion of a surgical stapling device into a trocar pivoted away from axial alignment with a support member is described, wherein Fig. 9B The trocar is described as being pivoted into axial alignment with the support so that the surgical device engages the motor housing, and wherein Fig. 9C A control housing is described that engages with the motor housing;

[0023] Fig.10 An exemplary embodiment of a closing mechanism for opening and closing an anvil on an end effector is described;

[0024] Fig.11 Describes Fig.10 A side view of a closure mechanism housed within a surgical device;

[0025] Fig.12 Describes Fig.10An exemplary embodiment of a follower nut component of a closing mechanism of the present invention, wherein the closing mechanism has a hollow cavity;

[0026] Fig.13 Describes Fig.10 a side view of an exemplary embodiment of a control member of a closing mechanism for opening and closing an anvil;

[0027] Fig.14 An exemplary embodiment of a launching mechanism is described;

[0028] Fig.15 Describes Fig.14 An exemplary embodiment of a beam component of a launching mechanism of , wherein the beam is shown in a flat configuration;

[0029] Fig.16 According to an exemplary embodiment, Fig.15 a perspective view of a beam of , wherein the beam is shown in a folded laminate configuration with a blade coupled to a distal end of the beam;

[0030] Fig.17 According to an exemplary embodiment, Figure 2 A top cross-sectional view of a surgical stapling device shown assembled in the surgical device Fig.14 The launching mechanism and Fig.16 of beams;

[0031] Fig.18 An exemplary embodiment of a strip separation portion housed within a surgical stapling apparatus is described, wherein a central channel and a shunt channel are shown according to an exemplary embodiment;

[0032] FIG. 19A to FIG. 19B An exemplary process of launching a mechanism is described, wherein Fig.19A An exemplary process of moving a firing mechanism in a surgical stapling device is described, and Fig.19B Describes Fig.16 An exemplary process of beam delamination;

[0033] Fig. 20 According to an exemplary embodiment, Figure 3 A perspective view of a control housing showing the control housing having a first rotatable disk, a second rotatable disk, and a third rotatable disk;

[0034] Fig.21 Describes the Fig. 20 An exemplary embodiment of a gear assembly in a control housing of;

[0035] Fig. 22 Describes Fig.21 The gear assembly of claim 1, wherein according to an exemplary embodiment the spring is included on the gear shaft;

[0036] Fig.23 yes Fig. 22 A perspective view of a gear assembly;

[0037] Fig.24 Described by Figure 4 An exemplary embodiment of a sun gear driven by a motor housing; and

[0038] FIG. 25A to FIG. 25B An exemplary embodiment of a rescue system is described, wherein Fig.25A Describes the engaged position Fig.21 The gear assembly, and Fig.25B Describes the disengaged position Fig.21 gear assembly. DETAILED DESCRIPTION

[0039] Exemplary embodiments are now described with reference to the accompanying drawings. Reference numerals are used throughout the detailed description to refer to various elements and structures. Although the following detailed description contains many details for illustration, it will be appreciated by those of ordinary skill in the art that many variations and modifications to the following details are within the scope of the disclosed technology. Therefore, the following embodiments are set forth without losing the generality of the claimed subject matter and without imposing limitations thereon.

[0040] The examples discussed herein are merely examples and are intended to help explain the devices, apparatus, systems, and methods described herein. Unless otherwise specified, any feature or component shown in the drawings or discussed below should not be considered necessary for any specific implementation of any of these devices, apparatus, systems, or methods. For ease of reading and clarity, certain components, modules, or methods may be described only in conjunction with specific drawings. Any behavior that fails to specifically describe a combination or sub-combination of components should not be understood to mean that any combination or sub-combination is impossible. In addition, for any method described, whether or not the method is described in conjunction with a flowchart, it should be understood that, unless otherwise specified or required by the context, any explicit or implicit order of steps performed during the execution of the method does not mean that the steps must be performed in the order presented, but can be performed in a different order or in parallel.

[0041] U.S. Patent No. 9,936,953 is related to the disclosed technology and is expressly incorporated herein in its entirety by reference and is a part of this patent application for all purposes. The reference discloses an end effector for use by a surgeon in stapled anatomical structures of a patient during minimally invasive surgery. The end effector includes: (a) an anvil including a first end, a second end, and a face positionable on a first side of an anatomical structure; (b) a staple cartridge configured to receive a plurality of staples and including a first end, a second end, and a face positionable on a second side of an anatomical structure; and (c) a flexible member movably coupling a first end of the anvil to a first end of the staple cartridge, wherein the anvil and the staple cartridge slidably receive the flexible member; wherein a second end of the anvil is movably coupled to the second end of the staple cartridge, each of the anvil and the staple cartridge being insertable through a trocar, and the end effector being remotely operable from outside the patient, wherein at least a portion of one of the anvil and the staple cartridge is movable toward the other to clamp the end effector to the anatomical structure.

[0042] Surgical instruments according to exemplary embodiments of the present invention may be used in conjunction with a computerized surgical operating system, or may also be referred to as a robotic surgical system. In certain exemplary embodiments, the computerized surgical operating system may include a doctor's console, a patient cart, and a vision cart, wherein the vision cart may include a camera system and a plurality of robotic arms with supports, each of which may selectively accommodate various surgical instruments. The arms of some robotic surgical systems have a series of joints to allow the arms to move throughout the entire range of the surgical procedure. An exemplary camera system may include, for example, a dual-lens optical system representing the left and right eyes. The spatial separation of these images may be projected onto the surgeon's glasses in a binocular viewer to allow for true 3D image perception at the console. Various instruments, such as surgical instruments according to the present disclosure, may be coupled to various arms and may be easily and quickly replaced by an assistant surgeon or a trained scrub nurse on the patient's side.

[0043] As described herein, surgical instruments and devices that can be used with a computerized surgical operating system may include a control housing, a drive system, and an end effector including a clamping mechanism. In one or more exemplary embodiments, the surgical instrument and device is a surgical stapling device, wherein the clamping mechanism includes a stapler and an anvil. During operation, through the surgical console and the interaction with the surgical stapling device, the surgeon can clamp the anvil and the stapler on the organ or other tissue to compress the organ therebetween. Once the organ is compressed, the surgeon can use a stapler to drive or launch staples through the organ. In an exemplary embodiment, multiple B-type staples can be formed. In another exemplary embodiment, the stapling device can use multiple staplers to launch multiple times, or in an alternative embodiment, a single stapler can be used with a single launch to complete the removal of the organ. It may be advantageous to reduce the number of launches and the number of staplers required, because the cost of the operation may increase with the use of the stapler and the longer surgical process associated with multiple stapler launches. It may also be advantageous to provide a single stapler stapling and / or resection of the organ to reduce the patient's time in surgery, which can improve clinical outcomes. For example, according to sleeve gastrectomy, a portion of the stomach is removed using a single stapler cartridge and a single stapler shot, which can improve patient outcomes and reduce complications associated with this type of surgery.

[0044] When such a staple configuration is required, the integrity of the staple line may depend in part on the correct formation of the B-type staples. Providing a single staple cartridge and a single-shot stapler device may improve the quality of staple formation compared to devices or systems that use multiple staple cartridges to complete the same procedure. For example, when the end effector is used multiple times to staple and resect tissue, previously deployed staples may come into contact with new staples and / or cutting blades during subsequent applications. Providing a single staple cartridge and a single stapler shot may help ensure that the shape of the staple line and staples is consistent.

[0045] Relative to the equipment and system that need to use multiple nail magazines, a single nail magazine and a single-shot anastomosis device can also provide compression benefits. It may be advantageous to provide a single-shot anastomosis device that provides the required compression along the length of the tissue to be excised, while also providing a single anastomosis line with correctly formed anastomosis staples. B-shaped staples are standard care for surgical tissue fastening devices in gastrointestinal tract, blood vessels, lungs and liver applications. On each side of the organ, each of the X, Y and Z axes of the clamping mechanism and its own alignment (e.g., anvil is aligned with the nail magazine) can improve the delivery and formation of anastomosis staples. It should be understood that any suitable structure or mechanism can be incorporated into the anastomosis device described herein to provide such alignment.

[0046] Exemplary embodiments of the disclosed technology may be used, for example, for sleeve gastrectomy or for resection of the stomach using a computerized surgical operating system. However, it should be understood that these devices and systems may be used for other surgeries involving other anatomical structures. For example, these devices and systems may be used for parenchymal resection, lung volume reduction surgery, or other surgeries involving the lungs. In addition, exemplary embodiments of the disclosed technology may be used for anatomical resections, such as lobectomies, anatomical parenchymal resections of the lungs, or other surgeries involving the liver, or for partial nephrectomies, total nephrectomies, or other surgeries involving the kidneys.

[0047] Figure 1 The anatomy of a stomach 10 and an exemplary resection line 12 for a vertical sleeve gastrectomy are described. The stomach 10 generally includes a lower end 14, an upper end 16, an anterior side 18, and a posterior side 20. The gastroesophageal junction 22 leads to the stomach 10 and is a common landmark in obesity surgery. The fundus 24 and the cross-section of the stomach 10 defined by the greater curvature 26 are generally the portion of the stomach 10 that is removed during a vertical sleeve gastrectomy. The remaining pouch or sleeve may generally be defined by the lesser curvature 28 and the resection line 12, which presents a significantly reduced volume of the stomach. The desired location of the resection line 12 may be approximately 0.5 cm to approximately 2 cm from the gastroesophageal junction 22 and approximately 2 cm to approximately 10 cm from the pylorus 30. According to an embodiment, a surgical stapling device 100 (such as described herein) is used to staple the stomach 10 to the gastroesophageal junction 22. Figure 5 A computerized surgical operating system 800 (shown) can be used to form a high-quality, consistent resection line during a vertical sleeve gastrectomy. Embodiments of the device may be advantageous because they can be easily positioned laparoscopically using robotic-assisted surgical techniques, can accommodate tissues of varying thickness along the length of the resection line, can provide uniform compression pressure on tissue along the resection line, and can achieve low staple firing forces.

[0048] refer to Figures 2 to 3 The surgical stapling device 100 includes an elongated shaft 110 having a distal end 120 and a proximal end 130, an end effector 200 positioned at the distal end 120 of the elongated shaft 110, and a control housing 300 positioned at the proximal end 130 of the elongated shaft 110, wherein the control housing 300 includes a fork 360 and a gear assembly 370. In some embodiments, the control housing 300 also includes a control interface 310 having a first rotatable disk 320, a second rotatable disk 330, and a third rotatable disk 340, wherein each of the rotatable disks (the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340) includes a recess 350 (such as Fig. 20). In an exemplary embodiment, the end effector 200 includes a clamping mechanism 210 having an anvil 220 and a staple cartridge 230 for holding a plurality of surgical staples. In an exemplary embodiment, the elongated shaft 110 includes a diameter portion 140 and a reduced diameter portion 150, wherein the diameter of the diameter portion 140 is greater than the diameter of the reduced diameter portion 150, and wherein the reduced diameter portion 150 of the elongated shaft 110 is coupled to a gear assembly 370 within the control housing 300.

[0049] refer to Figures 4 to 6 , the exemplary surgical system 50 is adapted for use with a computerized surgical manipulation system 800. In one embodiment, the surgical system 50 includes a surgical stapling device 100 and a trocar 500. In one embodiment, the computerized surgical manipulation system 800 includes a robotic arm 810 having a support 820 for holding a motor housing 400 and a clamping member 600, wherein the motor housing 400 has a recess 410, and wherein the clamping member 600 may be a spring-loaded clamp for holding the trocar 500. The motor housing 400 further includes a motor interface 420 having a slot 470 for receiving the prong 360 of the control housing 300, and having a first rotatable disk 430, a second rotatable disk 440, and a third rotatable disk 450, wherein each rotatable disk (the first rotatable disk 430, the second rotatable disk 440, and the third rotatable disk 450) includes a protrusion 460. A plurality of high-speed, low-torque motors may be positioned within motor housing 400 for driving the various mechanical functions of surgical stapling device 100 .

[0050] refer to Figure 6 , the recess 410 extends the length L2 of the motor housing 400 and is configured to accommodate the slender shaft 110 of the surgical stapling device 100. In the illustrated embodiment, the recess 410 has a width of approximately 12 mm, as shown by the diameter D1. The reduced diameter portion 150 extends distally from the control housing 300, wherein the reduced diameter portion 150 can be specifically sized to fit within the recess 410. In the illustrated embodiment, the reduced diameter portion 150 has a diameter D2 that is smaller than the diameter D1 of the recess 410, and the diameter portion 140 has a diameter D3 that is larger than the diameter D1 of the recess 410. The reduced diameter portion 150 allows an elongated shaft that is larger than the diameter D1 of the recess 410 to be installed in the surgical system 50 without reconfiguring the mechanical structure of the surgical stapling device 100 (the closing mechanism 1000 and the firing mechanism 1110 discussed below). In one embodiment, the length of the reduced diameter portion 150 ( Figure 3 The length L1 of the recess 140 is longer than the length L2 of the recess 140 to allow the control housing 300 to be attached to the motor housing 400 .

[0051] Figure 5 , Figure 7as well as FIG. 8A to FIG. 8B Trocar 500 for use with surgical system 50 is described. Figure 7 A trocar 500 is shown having a distal end 510, a proximal end 520, and a trocar surface 530 with a retaining feature 540 extending outwardly from the trocar surface 530. In the illustrated embodiment, the retaining feature 540 is positioned near the proximal end 520 of the trocar 500 and defines a pair of recesses 550 positioned on opposite sides of the retaining feature 540. The geometry of the recesses 550 allows for the desired pivoting motion of the trocar 500. More specifically, the geometry of the recesses 550 allows for slight movement or pivoting of the trocar 500 relative to the clamping member 600, the extent of movement being limited by the inner wall 560 and the outer wall 570 of the recess 550. Figure 5 as well as FIG. 8A to FIG. 8B The trocar 500 is shown pivotally coupled to the clamping member 600. When the trocar 500 is axially aligned with the support 820 of the robotic arm 810, an angled gap θ1 is formed between the clamping member 600 and the inner wall 560 of the recess 550 (eg, Fig. 8A ). In an exemplary embodiment, the retaining feature 540 can be biased to maintain the trocar 500 in a position where it is axially aligned with the support 820. Pivoting or tilting the trocar 500 away from the axial alignment with the support 820 causes the inner wall 560 to contact the clamping member 600 and form a second angled gap θ2 between the clamping member 600 and the outer wall 570 of the recess 550 (as shown in FIG. Figure 8B ). It should be appreciated that the amount of tilt provided by trocar 500 may vary based on the implementation, but in some exemplary implementations, trocar 500 may be tilted from 0 degrees to approximately 10 degrees, although the present disclosure is not limited in this regard.

[0052] 9A to 9C Schematically illustrates an exemplary process of inserting a surgical stapling device 100 having an end effector 200 into a trocar 500 while being slightly pivoted away from axial alignment. To insert the surgical stapling device 100 into the trocar 500, the trocar 500 may be pivoted outward to initially receive the stapling device 100 through the proximal end 520 (e.g., Fig. 9A 820) is coupled to the distal end 120 of the end effector 200. In the illustrated embodiment, the surgical stapling device 100 is advanced distally into the trocar 500 until the reduced diameter portion 150 can be received in the recess 410 of the motor housing 400. The trocar 500 containing the surgical stapling device 100 is then pivoted rearwardly in a direction axially aligned with the support member 820, and the reduced diameter portion 150 is secured in the recess 410 of the motor housing 400 (as shown). Fig. 9BDuring surgery, the trocar 500 may be coupled to the support 820 or the robotic arm 810 of the computerized surgical operating system 800, and advancement of the surgical stapling device 100 through the trocar 500 may be achieved, for example, by linear translation of the motor housing 400 relative to the trocar 500. The control housing 300 may then be lowered onto the motor housing 400 so that the control interface 310 and the motor interface 420 are mated (as shown in FIG. Fig. 9C 470 ), or the motor housing 400 can be raised onto the control housing 300. More specifically, the recesses 350 on the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340 of the control interface 310 accommodate the protrusions 460 on the first rotatable disk 430, the second rotatable disk 440, and the third rotatable disk 450 of the motor interface 420. It should be understood that the specific configuration of the control interface 310 can be changed based on the configuration of the motor interface 420. The prongs 360 then engage the slots 470 to secure the control housing 300 with the motor housing 400. It should be understood that the surgical system 50 and the surgical stapling device 100 can be used with a trocar that does not necessarily include a tilting feature.

[0053] Figures 10 to 13 An exemplary embodiment of a closing mechanism 1000 for opening and closing an anvil 220 on an end effector is described. The closing mechanism 1000 is housed within an elongated shaft 110 and includes a drive screw 1010 having a hollow cavity 1040 and a follower nut 1020 threadedly engaged with the hollow cavity 1040. Rotation of the drive screw 1010 causes the follower nut 1020 to translate proximally or distally through the elongated shaft 110, depending on the direction of rotation of the drive screw 1010. In the illustrated embodiment, one or more control members 1030 are coupled to the follower nut 1020 and the anvil 220. In another exemplary embodiment, the control member 1030 may include a rigid portion and a flexible portion, wherein the flexible portion may be captured within the conduit of the elongated shaft 110 to avoid or reduce undesirable bending. When the follower nut 1020 is translated distally by the drive screw 1010, the control member 1030 pushes the anvil 220 open. As follower nut 1020 is translated proximally by rotation of drive screw 1010, control member 1030 pulls anvil 220 closed.

[0054] refer to Fig.14, the firing mechanism 1100 of the surgical stapling device 100 includes a nut 1110 threadedly coupled to a rotating member 1120, wherein the rotating member 1120 is coaxial with the nut 1110. In the illustrated embodiment, the rotating member 1120 is positioned within the hollow cavity 1040 of the drive screw 1010, such that the drive screw 1010 and the rotating member 1120 are axially aligned and co-radially, while being able to rotate independently. During surgery, the nut 1110 may initially start from a distal position, and during firing of the surgical stapling device 100, the nut 1110 may be translated proximally by rotation of the rotating member 1120.

[0055] refer to Figure 15 to Figure 16 , the launching mechanism 1100 may further include a beam 1200 and a blade 1300 . Fig.15 An exemplary beam 1200 is depicted in a flat layout configuration, wherein the beam 1200 includes a band 1200, a distal end 1220, a proximal end 1230, and a hole 1240, wherein the proximal end 1230 defines a hole 1240 that receives the nut 1110. In one embodiment, the beam 1230 may be stamped, for example, from 1 / 2 to 3 / 4 of hard 300 series stainless steel, and then folded to form the desired operational shape. Fig.16 An exemplary beam 1200 is depicted in an exemplary elongated, folded, laminated configuration wherein a strip 1210 is mirrored and wherein a blade 1300 having a cutting edge 1310 is coupled to a distal end 1220 of the beam 1200. The blade 1300 may be coupled to the distal end 1220 via any suitable attachment technique, such as a seam weld, a spot weld, or a combination thereof.

[0056] Figure 17 to Figure 18 A firing mechanism 1100 is described as being configured within a surgical stapling device 100 according to an exemplary embodiment. The elongated shaft 110 of the surgical stapling device 100 may define a ribbon separation portion 1400 including a ribbon separator 1430 and two diversion channels 1410, each diverting laterally from a central channel 1420. A laminated portion of the beam 1200 is located in the central channel 1420 such that the blade 1300 is positioned at the distal end of the end effector 200. The ribbon separation portion 1400 is positioned adjacent to the proximal end of the rotating member 1120 such that the nut 1110 engages the hole 1240, thereby allowing the ribbon 1210 of the beam 1200 to be delaminated and diverted into the diversion channel 1410 as the nut 1110 travels along the rotating member 1120.

[0057] FIG. 19A to FIG. 19BThe delamination of the beam 1200 at three different operating positions 1700, 1800, 1900 during operation of the surgical stapling device 100 is described. When the surgical stapling device 100 is activated, the nut 1110 is pushed proximally along the rotating member 1120, causing the beam 1200 and the blade 1300 to move correspondingly in the proximal direction. When the blade 1300 is pushed proximally, the cutting edge 1310 can crosscut the tissue, and the surgical staples from the staple cartridge 230 can be inserted into the tissue. In the first operating position 1700, the nut 1110 and the blade 1300 are both in their most distal positions. In the second operating position 1800, the nut 1110 has been advanced proximally, causing a portion of the beam 1200 to pass through the belt separation portion 1400 and be shunted into the shunt channel 1410. In the third operating position 1900, the nut 1110 and the blade 1300 are both in their most proximal positions and the bands 1210 of the beam 1200 have been almost completely separated or delaminated by the band separator 1430. It should be appreciated that the beam 1200 may include a single band, rather than having mirrored bands 1210. In such an embodiment, the single band may be directed to one side of the nut 1110 through one of the diverter channels 1410.

[0058] Reference FIG. 19A to FIG. 19B In an emergency (such as FIG. 25A to FIG. 25B 1700), the direction of rotation of the rotating member 1120 may be reversed to cause the nut 1110 to translate distally. As the nut 1110 translates distally along the rotating member 1120, the beam 1200 will travel through the belt separation portion 1400 in the opposite direction (from the third operating position 1900 to the first operating position 1700) and return to its laminated configuration.

[0059] Figure 20 to Figure 21 An exemplary gear assembly 370 is depicted as being housed within the control housing 300. Fig. 20 As shown, each of the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340 affects the rotation of a specific mechanical feature of the surgical stapling device 100. In the illustrated embodiment, the first rotatable disk 320 corresponds to activating the firing mechanism 1100, the second rotatable disk 330 corresponds to rotating the elongated shaft 110, and the third rotatable disk corresponds to rotating the drive screw 1010 to open or close the anvil 220. Fig.21As shown, the gear assembly 370 is arranged in the control housing 300 to correspond to the first rotatable disc 320, the second rotatable disc 330, and the third rotatable disc 340. In the illustrated embodiment, the closing gear 372 is arranged to correspond to the third rotatable disc 340, the firing gear 374 is arranged to correspond to the first rotatable disc 320 (through the planetary gear 900), and the rotation gear 376 is arranged to correspond to the second rotatable disc 330. In the illustrated embodiment, the closing gear 372, the firing gear 374, and the rotation gear 376 are axially aligned. The gear assembly 370 allows the rotation of the elongated shaft 110 and the end effector 200 (through the rotation gear 376), the activation of the closing mechanism 1000 (through the closing gear 372), and the activation of the firing mechanism 1000 (through the firing gear 374) to be co-radial.

[0060] Figure 22 to Figure 23 A gear assembly 370 is depicted having a spring 380 on a gear shaft 390 according to an exemplary embodiment. As previously described, the recesses 350 on the first rotatable disc 320, the second rotatable disc 330, and the third rotatable disc 340 must align and receive the protrusions 460 on the first rotatable disc 430, the second rotatable disc 440, and the third rotatable disc 450 to engage the control housing 300 with the motor housing 400. To assist in the alignment of the recesses 350 and the protrusions 460, the spring 380 biases the first rotatable disc 320, the second rotatable disc 330, and the third rotatable disc 340 (operating position) and allows a slight linear translation into the control housing 300 (initialization position). In some exemplary embodiments, the linear translation is approximately 0.060 inches.

[0061] Further references Figure 22 to Figure 23Once the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340 of the control housing 300 are translated to the initialization position, the control software of the computerized surgical operating system 800 may rotate the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340 of the motor housing 400 to align the protrusions 460 with the recesses 350. The amount of rotation depends on the number of protrusions 460 and recesses 350. For example, if there are four corresponding protrusions 460 and recesses 350, the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340 of the motor housing 400 may be rotated clockwise and counterclockwise along a 90° arc to allow the protrusions 460 and recesses 350 to engage. In contrast, if there are two corresponding protrusions 460 and recesses 350, the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340 of the motor housing 400 can be rotated clockwise and counterclockwise along a 180° arc to allow the protrusions 460 and recesses 350 to engage. In some exemplary implementations, upon detecting that the control housing 300 is in close proximity to the motor housing 400, such as via a Hall effect sensor or other suitable proximity sensor, initialization of the first rotatable disk 320, the second rotatable disk 330, and the third rotatable disk 340 of the control housing 300 is automatically performed. In addition, during operation of the surgical stapling device 100, various encoders associated with the motors in the motor housing 400 can provide feedback for use by the computerized surgical operating system 800 to request the operating status of the surgical stapling device 100. Due to the relatively small amount of linear translation of the first rotatable disc 320, the second rotatable disc 330, and the third rotatable disc 340, the closing gear 372 and the rotating gear 376 remain in a meshing arrangement even when the first rotatable disc 320, the second rotatable disc 330, and the third rotatable disc 340 are in the initialization position. However, in some embodiments, in order to achieve the desired gear reduction and torque with respect to the launching mechanism 1100, the planetary gear head 900 can be used to drive the launching gear 374. According to these embodiments, the planetary gear head 900 provides a gear reduction of approximately 104:1.

[0062] Fig.24 An exemplary sun gear 1500 driven by the motor housing 400 is described for driving the planetary gear head 900. When the first rotatable disc 320 associated with the launch gear 374 is moved to its initialization position, it may be desirable to prevent the sun gear 1500 from reengaging with the planetary gear head 900. Therefore, a spring 380 may be positioned on an axis 390 external to the planetary gear head 900, and the first rotatable disc 320 may travel along the axis 390. The spring 380 may bias the first rotatable disc 320 to the operating position, but allow the first rotatable disc 320 to translate linearly along the axis 390 for initialization.

[0063] FIG. 25A to FIG. 25B An exemplary embodiment of a rescue mechanism 1600 included in a control housing 300 is described, wherein the rescue mechanism 1600 allows for manual control of various mechanical operations of the surgical stapling device 100. The rescue mechanism 1600 includes a first knob 1610 for manually controlling the firing gear 374 (firing mechanism 1100) and a second knob 1620 for manually controlling the closing gear 372 (closing mechanism 1000). In the illustrated embodiment, the second knob 1620 is a finger wheel. It should be understood that additional knobs may be provided for manually controlling the rotation gear 376 (rotation of the elongated shaft 110 and the end effector 200). In the illustrated embodiment, the first knob 1610 is fixedly coupled to the firing gear 374. In an emergency situation, the user may press downward on the first knob 1610 to force the firing gear 374 from the engaged position 1630 ( Fig.25A shown) to the disengaged position 1640 ( Fig.25B As shown in FIG. 25A to FIG. 25B As shown, the launch gear 374 can be biased toward the engaged position 1630 and can be disengaged from the planetary gear head 900 by a spring 1650 or other suitable biasing element. Once the launch gear 374 is pushed into the disengaged position 1640, the pawl 1660 can be used to hold the launch gear 374 in the disengaged position 1640. In addition, in some embodiments, when the launch gear 374 is in the disengaged position 1640, the ratchet system can be engaged to only allow the launch gear 374 and the first knob 1610 to rotate in the first direction (i.e., only allow the launch mechanism 1100 to move in the reverse direction). Fig.25B As shown, the second knob 1620 can be used to selectively rotate the closing gear 372 to manually open or close the anvil 220 of the end effector 200 .

[0064] All references and similar materials cited in this application, including but not limited to patents, patent applications, articles, books, papers, and web pages, regardless of their format, are expressly incorporated herein by reference in their entirety. If one or more of the incorporated references and similar materials differs from or contradicts this application, including but not limited to defined terms, term usage, described techniques, etc., this application shall prevail.

[0065] As described above and used herein, the singular forms "a", "an" and "the" refer to both the singular and the plural, unless the context clearly indicates otherwise. The term "comprising" as used herein is synonymous with "including", "comprising" or "characterized by", and is inclusive or open-ended, and does not exclude additional, uncited elements or method steps. Although many methods and materials similar or equivalent to the methods and materials described herein can be used, specific suitable methods and materials are described herein. Unless the context indicates otherwise, the numerical ranges listed by endpoints include all numbers contained in the range. In addition, reference to "an embodiment" does not mean the exclusion of the existence of other implementations that also include the features. In addition, unless clearly to the contrary, the implementation of "including" or "having" one or more elements with a specific attribute may include additional elements, whether or not they have the attribute.

[0066] The terms "substantially" and "about" (if or when used in this specification) describe and account for small fluctuations, such as due to process variations. For example, these terms can refer to less than or equal to ±5%, such as less than or equal to ±2%, such as less than or equal to ±1%, such as less than or equal to ±0.5%, such as less than or equal to ±0.2%, such as less than or equal to ±01%, such as less than or equal to ±0.05%, and / or 0%.

[0067] Underlined and / or italicized headings and subheadings are used for convenience only, do not limit the disclosed subject matter, and do not involve the interpretation of the description of the disclosed subject matter. All structural and functional equivalents of the elements of the various embodiments described throughout the present disclosure are known or known to those of ordinary skill in the art, and these structural and functional equivalents are expressly incorporated herein by reference and are intended to be covered by the disclosed subject matter. In addition, regardless of whether such disclosure is explicitly stated in the above description, nothing disclosed herein is intended to be dedicated to the public.

[0068] There may be many alternatives to implement the disclosed technology. Without departing from the scope of the disclosed technology, the various functions and elements described herein may be divided differently from the functions and elements shown. The general principles defined herein may be applied to other implementations. Different numbers of given modules or units may be used, different types of given modules or units may be used, given modules or units may be added, or given modules or units may be omitted.

[0069] With respect to the present disclosure, the term "plurality" refers to two or more. Unless otherwise expressly defined, the directions or positional relationships indicated by terms such as "upper" and "lower" are based on the directions or positioning relationships shown in the figures, and are only used to facilitate the description and simplify the description of the disclosed technology, rather than indicating or implying that the referenced device or element must be in a specific direction or constructed or operated in a specific direction, and therefore should not be interpreted as limiting the disclosed technology. The terms "connected", "installed", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; for example, a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the disclosed technology can be understood according to the specific circumstances.

[0070] Specific details are given in the above description to provide a thorough understanding of the disclosed technology. However, it should be understood that the disclosed embodiments and implementations can be practiced without these specific details. For example, circuits can be shown in block diagrams so as not to obscure the disclosed implementations with unnecessary details. In other examples, well-known circuits, processes, algorithms, structures, and techniques can be shown without unnecessary details so as to avoid obscuring the disclosed embodiments.

[0071] The disclosed technology can be described as a process of a flow chart, a flowchart, a data flow diagram, a structure diagram, or a block diagram. Although a flow chart can describe the operations as a sequential process, many operations can be performed in parallel or simultaneously. In addition, the order of the operations can be rearranged. When its operations are completed, the processing is terminated, but there may be additional steps not included in the figure. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When the process corresponds to a function, its termination corresponds to returning the function to the calling function or the main function.

[0072] In addition, the disclosed technology can be implemented by hardware, software, scripting language, firmware, middleware, microcode, hardware description language and / or any combination thereof. When implemented in software, firmware, middleware, scripting language and / or microcode, the program code or code segment that performs the necessary tasks can be stored in a machine-readable medium (such as a storage medium). The code segment or machine-executable instruction can represent any combination of a process, function, subroutine, program, routine, subroutine, module, software package, script, class or instruction, data structure and / or program statement. By transmitting and / or receiving information, data, independent variables, parameters and / or memory contents, a code segment can be coupled to another code segment or hardware circuit. Information, parameters, parameters, data, etc. can be transmitted, forwarded or transmitted by any suitable means, including memory sharing, message transmission, ticket transmission, network transmission, etc.

[0073] It should be understood that all combinations of the aforementioned concepts and the additional concepts discussed in more detail herein (assuming that such concepts are not inconsistent with each other) are contemplated as part of the disclosed technology. In particular, all combinations of the claimed subject matter appearing at the end of this disclosure are contemplated as part of the technology disclosed herein. Although the disclosed technology has been shown by the description of the example implementation, and although the example implementation has been described in detail, it is not intended to limit the scope of the attached claims or limit them in any way to such details. Additional advantages and modifications will be apparent to those skilled in the art. Therefore, the disclosed technology is not limited to any of the specific details, representative devices and methods, and / or illustrative examples shown and described in its broader aspects. Therefore, these details may be deviated from without departing from the spirit or scope of the general concept of the present invention.

Claims

1. A surgical system for use with a computerized surgical operating system, wherein: The computerized surgical operating system includes a robotic arm and a support coupled to the robotic arm for accommodating various instruments, the surgical system comprising: A surgical device, wherein the surgical device comprises: an elongated shaft having a proximal end and a distal end; and a control housing coupled to the proximal end of the elongated shaft, wherein the control housing is configured to attach to a motor housing having a recess, wherein the motor housing is coupled to the support; and a trocar pivotally coupled to the support such that the trocar is pivotable away from axial alignment with the support; wherein the distal end of the elongated shaft extends into the pivoted trocar; wherein a trocar containing the surgical device is pivoted into axial alignment with the support member such that the recess receives the elongated shaft of the surgical device; and Wherein, the control housing engages with the motor housing.

2. The system according to claim 1, wherein: The surgical device further includes an end effector coupled to the distal end of the elongated shaft, wherein the end effector includes a clamping mechanism having an anvil and a staple cartridge for receiving surgical staples.

3. The system according to claim 2, further comprising: a closing mechanism for opening and closing an anvil on the clamping mechanism, wherein the closing mechanism is housed within the elongated shaft of the surgical device; and A firing mechanism, which is used to activate the nail cartridge, wherein the firing mechanism comprises: a laminate beam having a proximal end and a distal end, wherein the blade is coupled to the distal end of the laminate beam and the proximal end of the laminate beam is positioned in a shunt channel within the elongated shaft of the surgical device; and a nut secured to a rotating member, wherein the nut is coupled to a proximal end of the laminated beam; wherein the launching system moves the nut from the distal end of the surgical device toward the proximal end of the surgical device; and Therein, the laminated beam delaminates as it moves through the diverter channel.

4. The system of claim 1, wherein the trocar comprises a retention feature having an inner wall and an outer wall.

5. The system of claim 4 wherein the retention feature of the trocar is pivotally coupled to the support member via a clamping member, wherein when the trocar is axially aligned with the support member, an angled gap is formed between the clamping member and the inner wall, and wherein when the trocar is pivoted away from axial alignment with the support member, a second angled gap is formed between the clamping member and the outer wall.

6. The system of claim 1, wherein the elongated shaft has a diameter portion and a reduced diameter portion, wherein the reduced diameter portion engages a notch on the motor housing.

7. The system of claim 1, the control housing having a control interface, wherein the motor housing having a motor interface, and wherein the control interface is selectively attached to the motor interface to engage the control housing and the motor housing.

8. The system of claim 7, wherein the control interface and the motor interface each include a plurality of disks associated with specific mechanical features of the surgical device, wherein the disks on the control interface are configured to mate with the disks on the motor interface.

9. The system of claim 1, further comprising a rescue mechanism configured to the control housing for manually controlling mechanical operation of the surgical device.

10. A surgical system for use with a computerized surgical operating system, wherein the computerized surgical operating system includes a robotic arm and a support coupled to the robotic arm for accommodating various instruments, the surgical system comprising: A surgical device, wherein the surgical device comprises: an elongated shaft having a proximal end and a distal end; and a control housing coupled to the proximal end of the elongated shaft, wherein the control housing is configured to attach to a motor housing having a recess, wherein the motor housing is coupled to the support; as well as a trocar having a retention feature, wherein the retention feature has an inner wall and an outer wall, wherein the retention feature is pivotably coupled to the support such that the trocar can be pivoted away from axial alignment with the support; wherein the distal end of the elongated shaft extends into the pivoted trocar; wherein a trocar containing the surgical device is pivoted into axial alignment with the support member such that the recess receives the elongated shaft of the surgical device; and Wherein, the control housing engages with the motor housing.

11. The system of claim 10, wherein the surgical device further comprises an end effector coupled to the distal end of the elongated shaft, wherein the end effector comprises a clamping mechanism having an anvil and a staple cartridge for receiving surgical staples.

12. The system according to claim 11, further comprising: a closing mechanism for opening and closing an anvil on the clamping mechanism, wherein the closing mechanism is housed within the elongated shaft of the surgical device; as well as A firing mechanism, which is used to activate the nail cartridge, wherein the firing mechanism comprises: a laminate beam having a proximal end and a distal end, wherein a blade is coupled to the distal end of the laminate beam, and wherein the proximal end of the laminate beam is positioned in a shunt channel within the elongated shaft of the surgical device; and a nut secured to a rotating member, wherein the nut is coupled to a proximal end of the laminated beam; wherein the launching system moves the nut from the distal end of the surgical device toward the proximal end of the surgical device; and Therein, the laminated beam delaminates as it moves through the diverter channel.

13. The system of claim 10 wherein the retention feature of the trocar is pivotally coupled to the support member via a clamping member, wherein when the trocar is axially aligned with the support member, an angled gap is formed between the clamping member and the inner wall, and wherein when the trocar is pivoted away from axial alignment with the support member, a second angled gap is formed between the clamping member and the outer wall.

14. The system of claim 10, wherein the elongated shaft has a diameter portion and a reduced diameter portion, wherein the reduced diameter portion engages a notch on the motor housing.

15. The system of claim 1, wherein: The control housing has a control interface, wherein the motor housing has a motor interface, and wherein the control interface is selectively attached to the motor interface to engage the control housing and the motor housing.

16. The system of claim 15, the control interface and the motor interface each comprising a plurality of disks associated with specific mechanical features of the surgical device, wherein the disks on the control interface are configured to mate with the disks on the motor interface.

17. The system of claim 10, further comprising a rescue mechanism configured to the control housing for manually controlling mechanical operation of the surgical device.

18. A surgical device adapted for use with a computerized surgical operating system, wherein: The computerized surgical operating system includes a robotic arm, a support coupled to the robotic arm for accommodating various instruments, and a motor housing coupled to the support; the surgical device includes: an elongated shaft having a proximal end and a distal end; a control housing coupled to the proximal end of the elongated shaft, wherein the control housing is configured to be attached to the motor housing; an end effector coupled to the distal end of the elongated shaft, wherein the end effector includes a clamping mechanism having an anvil and a staple cartridge for receiving surgical staples; and a trocar pivotally coupled to the support such that the trocar is pivotable away from axial alignment with the support; wherein the distal end of the elongated shaft extends into the pivoted trocar; wherein the trocar is pivoted into axial alignment with the support member; and Wherein, the control housing engages with the motor housing.

19. The surgical device according to claim 18, wherein: The trocar has a retention feature having an inner wall and an outer wall, wherein the retention feature of the trocar is pivotally coupled to the support member via a clamping member, wherein when the trocar is axially aligned with the support member, an angled gap is formed between the clamping member and the inner wall, and wherein when the trocar is pivoted away from axial alignment with the support member, a second angled gap is formed between the clamping member and the outer wall.

20. The surgical device according to claim 18, wherein: The control housing has a control interface having a plurality of disks, wherein the motor housing has a motor interface having a plurality of disks, and wherein the plurality of disks on the control interface are selectively attached to the plurality of disks on the motor interface to join the control housing and the motor housing.

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