Adapting tissue therapy motion parameters based on contextual parameters

Abstract

A surgical instrument for treating tissue in a surgical procedure is disclosed. The surgical instrument includes an end effector that includes an anvil and a staple cartridge. The surgical instrument also includes a driveline operably coupled to the end effector, a motor configured to actuate the driveline to affect tissue treatment motion of the end effector based on a default control algorithm, and a sensor configured to monitor independent parameters of the surgical procedure. The independent parameter is independent of the movement of the end effector. The surgical instrument also includes a control circuit coupled to the motor and the sensor. The control circuit is configured to receive an input from the sensor indicative of the independent parameter and adjust the default control algorithm based on the independent parameter.

Description

[0001] Cross - Reference to Related Applications

[0002] This patent application claims the benefit of U.S. Provisional Patent Application No. 63 / 411,445, filed on September 29, 2022, entitled "METHOD FOR CONTROLLING SURGICAL SYSTEM DURING TISSUE TREATMENT MOTION", under 35 U.S.C. § 119(e). The entire disclosure of the U.S. Provisional Patent Application is incorporated herein by reference. BACKGROUND OF THE INVENTION

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

[0004] The various features of the embodiments described herein, along with their advantages, can be understood from the following description in conjunction with the accompanying drawings:

[0005] Figure 1 A perspective view of an electrosurgical suturing system;

[0006] Figure 2 For Figure 1 A perspective view of an interchangeable surgical shaft assembly of the electrosurgical suturing system;

[0007] Figure 3 For Figure 1 An exploded assembly view of multiple parts of the handle assembly of the electrosurgical suturing system;

[0008] Figure 4 For Figure 2 An exploded assembly view of the interchangeable surgical shaft assembly;

[0009] Figure 5 For Figure 4 Another partial exploded assembly view of a portion of the interchangeable surgical shaft assembly;

[0010] Figure 6 A perspective view of a shaft assembly according to at least one embodiment;

[0011] Figure 7 For Figure 6 An exploded view of the distal end of the shaft assembly;

[0012] Figure 8 A perspective view of a surgical instrument assembly including a proximal control interface, a shaft assembly, and an end effector assembly;

[0013] Figure 9 ForFigure 8 Bottom perspective view of a surgical instrument assembly;

[0014] Figure 10 Perspective view of an example of a form of a robotic controller according to one aspect of the present disclosure;

[0015] Figure 11 Perspective view of an example of a form of a robotic surgical arm cart / manipulator of a robotic surgical system operably supporting a plurality of surgical tools according to one aspect of the present disclosure;

[0016] Figure 12 According to one aspect of the present disclosure Figure 11 Side view of the robotic surgical arm cart / manipulator depicted in

[0017] Figure 13 Block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems according to one or more aspects of the present disclosure;

[0018] Figure 14 Block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems according to one or more aspects of the present disclosure;

[0019] Figure 15 Flowchart depicting a process for controlling tissue treatment movement according to at least one aspect of the present disclosure.

[0020] Figure 16 Illustrates the joint movement angles of the end effector of a surgical instrument according to at least one aspect of the present disclosure.

[0021] Figure 17 Flowchart depicting a process for controlling tissue treatment movement according to at least one aspect of the present disclosure.

[0022] Figure 18 Diagram showing a method for determining the joint movement angles of the end effector of a surgical instrument according to at least one aspect of the present disclosure.

[0023] Figure 19 Flowchart depicting a process for controlling tissue treatment movement according to at least one aspect of the present disclosure.

[0024] Figure 20 Illustrates an RFID scanner and an end effector wirelessly connected to the RFID scanner according to at least one aspect of the present disclosure.

[0025] Figure 21 Flowchart depicting a process for controlling tissue treatment movement according to at least one aspect of the present disclosure.

[0026] Figure 22 A flowchart depicting a process for controlling tissue treatment motion according to at least one aspect of the present disclosure.

[0027] Figure 23 A flowchart depicting a process for controlling tissue treatment motion according to at least one aspect of the present disclosure.

[0028] Figure 24 A flowchart depicting a process for controlling tissue treatment motion according to at least one aspect of the present disclosure.

[0029] Figure 25 A flowchart depicting a process for controlling tissue treatment motion according to at least one aspect of the present disclosure.

[0030] In several views, corresponding reference numerals indicate corresponding parts. The examples described herein illustrate various embodiments of the present invention in one form, and such examples should not be construed as limiting the scope of the present invention in any way. Detailed Description

[0031] The applicant of the present application owns the following U.S. patent applications filed on the same date as the present application and each incorporated herein by reference in its entirety:

[0032] · U.S. patent application titled "METHOD FOR CONTROLLING SURGICAL SYSTEM DURING TISSUE TREATMENT MOTION"; Attorney Docket No. END9440USNP1 / 220061-1M;

[0033] · U.S. patent application titled "ADAPTIVE FIRING CONTROL ALGORITHM BASED ON MECHANICAL ACTUATION OF USER CONTROLS"; Attorney Docket No. END9440USNP3 / 220061-3;

[0034] · U.S. patent application titled "ADAPTATION OF INDEPENDENT FIRING AND CLOSURE POWERED STAPLING SYSTEMS"; Attorney Docket No. END9440USNP4 / 220061-4;

[0035] · U.S. patent application titled "MONITORING ONE DRIVE SYSTEM TO ADAPT THE MOTOR DRIVEN ASPECT OF A SECOND DRIVE SYSTEM"; Attorney Docket No. END9440USNP5 / 220061-5;

[0036] · U.S. patent application titled "ADJUSTMENT OF THE MOTOR CONTROL PROGRAM BASED ON DETECTION OF INDIVIDUAL DEVICE DRIVE TRAIN PROPERTIES"; Attorney Docket No. END9440USNP6 / 220061-6;

[0037] · U.S. patent application titled "ADJUSTMENT OF A MOTOR CONTROL COMMAND SIGNAL TO ADAPT TO SYSTEM CHANGES"; Attorney Docket No. END9440USNP7 / 220061-7;

[0038] · U.S. patent application titled "MOTOR ADJUSTMENTS IN ABSENCE OF MOTOR DRIVE SIGNAL"; Attorney Docket No. END9440USNP8 / 220061-8;

[0039] · U.S. patent application titled "SURGICAL SYSTEMS WITH SYNCHRONIZED DISTRIBUTED PROCESSING CAPABILITIES"; Attorney Docket No. END9440USNP9 / 220061-9;

[0040] · U.S. patent application titled "SURGICAL SYSTEM WITH MOTOR RELATIVE CAPACITY INTERROGATIONS"; Attorney Docket No. END9440USNP10 / 220061-10;

[0041] · U.S. patent application titled "MOTOR CONTROL OF SURGICAL INSTRUMENT SYSTEMS"; Attorney Docket No. END9440USNP11 / 220061-11;

[0042] · U.S. patent application titled "SURGICAL SYSTEM WITH AMPLITUDE AND PULSE WIDTH MODULATION ADJUSTMENTS"; Attorney Docket No. END9440USNP12 / 220061-12;

[0043] · U.S. patent application titled "SURGICAL ALGORITHMS WITH INCREMENTAL SENSORY ACTIONS"; Attorney Docket No. END9440USNP13 / 220061-13;

[0044] · U.S. patent application titled "UTILIZING LOCAL FIRING PARAMETERS TO INITIATE MOTOR CONTROL ADJUSTMENTS IN SURGICAL SYSTEMS"; Attorney Docket No. END9440USNP14 / 220061-14; and

[0045] · U.S. patent application titled "SURGICAL SYSTEMS WITH DYNAMIC FORCE TO FIRE ADJUSTMENTS"; Attorney Docket No. END9440USNP15 / 220061-15.

[0046] Numerous specific details are set forth herein to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and shown in the drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and shown herein are non-limiting examples, and thus it can be recognized that the specific structural and functional details disclosed herein can be representative and illustrative. Variations and changes can be made to these embodiments without departing from the scope of the claims.

[0047] The terms "comprise" (and any form of "comprise", such as "comprises" and "comprising"), "have" (and any form of "have", such as "has" and "having"), "include" (and any form of "include", such as "includes" and "including"), and "contain" (and any form of "contain", such as "contains" and "containing") are open-ended linking verbs. Thus, a surgical system, device, or apparatus that "comprises", "has", "includes", or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Similarly, an element of a system, device, or apparatus that "comprises", "has", "includes", or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

[0048] The terms "proximal" and "distal" are used herein relative to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located away from the clinician. It should also be understood that, for simplicity and clarity, spatial terms such as "vertical", "horizontal", "up", and "down" may be used herein in connection with the figures. However, surgical instruments are used in many orientations and positions, and these terms are not restrictive and / or absolute.

[0049] A variety of exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices disclosed herein can be used in a variety of surgical procedures and applications, including, for example, in combination with open surgery. Continuing to refer to this detailed description, the reader will further understand that the various instruments disclosed herein can be inserted into the body in any manner, such as through natural body 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 can be inserted through an access device having a working channel, through which the end effector and the elongate shaft of the surgical instrument can be advanced.

[0050] A surgical stapling system may include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge is not removable from the first jaw or is at least readily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are contemplated in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes an articulation joint configured to permit rotation or articulation of the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

[0051] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of tissue to be sutured, and the anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress and clamp the tissue against the platform. Then, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes a staple cavity defined within the cartridge body, where the 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 a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples are possible.

[0052] The staples are supported by staple drivers within the cartridge body. The drivers are movable between a first or non-firing position and a second or firing position to eject the staples from the staple cavities. The drivers are retained within the cartridge body by a retainer that extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their non-firing position and their firing position by a slider. The slider is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The slider includes a plurality of ramp surfaces configured to slide beneath the drivers and lift the drivers toward the anvil, and the staples are supported on the drivers.

[0053] In addition to the above, the slider may also be moved distally by a firing member. The firing member is configured to contact the slider and push the slider toward the distal end. A longitudinal slot defined in the cartridge housing is configured to receive the firing member. The anvil further includes a slot configured to receive the firing member. The firing member further includes a first cam that engages the first jaw and a second cam that engages the second jaw. As the firing member is advanced distally, the first cam and the second cam may control the distance or tissue gap between the platform of the staple cartridge and the anvil. The firing member further includes a blade configured to cut tissue captured between the staple cartridge and the anvil. It is desirable for the blade to be positioned at least partially adjacent to the ramp surface such that the staple is ejected prior to the blade.

[0054] Figure 1 A surgical instrument 1010 is shown including an interchangeable shaft assembly 1200 operably coupled to a housing 1012. Figure 2 An interchangeable shaft assembly 1200 is shown detached from the housing 1012 or the handle 1014. As Figure 3 can be seen, the handle 1014 may include a pair of interconnectable handle housing segments 1016 and 1018 that may be interconnected by screws, snap features, adhesives, etc. In the illustrated arrangement, the handle housing segments 1016, 1018 cooperate to form a pistol grip portion 1019. Figure 1 and Figure 3A motor-driven surgical cutting and fastening instrument 1010 that can be reused or not is shown. In the illustrated embodiment, the instrument 1010 includes a proximal housing 1012 that includes a handle 1014 configured to be grasped, manipulated, and actuated by a clinician. The housing 1012 is configured for operable attachment to an interchangeable shaft assembly 1200 that has a surgical end effector 1300 operably coupled thereto, the surgical end effector being configured to perform one or more surgical tasks or procedures. Continuing to refer to this detailed description, it will be understood that the various forms of interchangeable shaft assemblies disclosed herein can also be effectively used in conjunction with robotically controlled surgical systems. Thus, the term "housing" can also encompass the housing or similar portion of a robotic system that houses or otherwise operably supports at least one drive system configured to generate and apply at least one control action that can be used to actuate the interchangeable shaft assemblies and their corresponding equivalents disclosed herein. Additionally, various components can be "housed" or contained within the housing, or various components can be "associated" with the housing. In such cases, the components may not be housed within the housing or directly supported by the housing. The term "frame" can refer to a portion of a hand-held surgical instrument. The term "frame" can also denote a portion of a robotically controlled surgical instrument and / or a portion of a robotic system that can be used to operably control the surgical instrument. For example, the interchangeable shaft assemblies disclosed herein can be used with the various robotic systems, instruments, components, and methods disclosed in U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," which is hereby incorporated by reference in its entirety.

[0055] Figure 1 The depicted front housing 1012 is shown in combination with the interchangeable shaft assembly 1200 Figure 2 、 Figure 4 and Figure 5) The interchangeable shaft assembly includes an end effector 1300, which includes surgical cutting and fastening means configured to operably support a surgical staple cartridge 1301 therein. The housing 1012 can be configured for use in combination with an interchangeable shaft assembly that includes an end effector adapted to support staple cartridges of different sizes and types, and the interchangeable shaft assembly has different shaft lengths, sizes, types, etc. In addition, the housing 1012 can also be effectively used with a variety of other interchangeable shaft assemblies, including those configured to apply other actions and forms of energy (such as, for example, radio frequency (RF) energy, ultrasonic energy, and / or actions) to end effector arrangements suitable for use in combination with various surgical applications and procedures. In addition, the end effector, shaft assembly, handle, surgical instrument, and / or surgical instrument system can utilize any suitable fastener that can be grasped and manipulated by a clinician. As will be discussed in further detail below, the handle 1014 operably supports a plurality of drive systems therein, which are configured to generate various control actions and apply these control actions to corresponding portions of the interchangeable shaft assembly operably attached thereto.

[0056] Now referring to Figure 3 , the handle 1014 may also include a frame 1020 that operably supports a plurality of drive systems. For example, the frame 1020 is capable of operably supporting a "first" or closing drive system, generally labeled 1030, which can be used to apply closing and opening actions to an interchangeable shaft assembly 1200 operably attached or coupled thereto. In at least one form, the closing drive system 1030 may include an actuator in the form of a closing trigger 1032 pivotally supported by the frame 1020. More specifically, as Figure 3 shown, the closing trigger 1032 is pivotally coupled to the handle 1014 via a pin 1033. Such an arrangement enables the closing trigger 1032 to be manipulated by a clinician such that when the clinician grasps the pistol grip portion 1019 of the handle 1014, the closing trigger 1032 can be easily pivoted by the clinician from an initial or "unactuated" position to an "actuated" position, and more specifically, to a fully compressed or fully actuated position. The closing trigger 1032 can be biased to the unactuated position by a spring or other biasing arrangement (not shown). In various forms, the closing drive system 1030 also includes a closing link assembly 1034 pivotally coupled to the closing trigger 1032. As Figure 3 can be seen, the closing link assembly 1034 may include a first closing link 1036 and a second closing link 1038 pivotally coupled to the closing trigger 1032 via a pin 1035. The second closing link 1038 may also be referred to herein as an "attachment member" and includes a lateral attachment pin 1037.

[0057] Still referring to Figure 3 it can be observed that the first closure connector 1036 may have a locking wall or locking end 1039 thereon, which is configured to cooperate with a closure release assembly 1060 pivotally coupled to the frame 1020. In at least one form, the closure release assembly 1060 may include a release button assembly 1062 having a locking pawl 1064 projecting distally formed thereon. The release button assembly 1062 may be pivotable counterclockwise by a release spring (not shown). When the clinician presses the closure trigger 1032 from its unactuated position toward the pistol grip portion 1019 of the handle 1014, the first closure connector 1036 pivots upward to a point where the locking pawl 1064 drops into engagement with the locking wall 1039 on the first closure connector 1036, thereby preventing the closure trigger 1032 from returning to the unactuated position. Thus, the closure release assembly 1060 is used to lock the closure trigger 1032 in the fully actuated position. When the clinician desires to unlock the closure trigger 1032 to allow it to be biased to the unactuated position, the clinician simply pivots the closure release button assembly 1062 such that the locking pawl 1064 moves out of engagement with the locking wall 1039 on the first closure connector 1036. When the locking pawl 1064 has moved out of engagement with the first closure connector 1036, the closure trigger 1032 can pivot back to the unactuated position. Other closure trigger locking arrangements and release arrangements may also be employed.

[0058] An arm 1061 may extend from the closure release button assembly 1062. A magnetic element 1063 (such as a permanent magnet) may be mounted to the arm 1061, for example. When the closure release button assembly 1062 rotates from its first position to its second position, the magnetic element 1063 may move toward the circuit board 1100. The circuit board 1100 may include at least one sensor configured to detect the movement of the magnetic element 1063. In at least one embodiment, for example, a "Hall effect" sensor (not shown) may be mounted to the bottom surface of the circuit board 1100. The Hall effect sensor may be configured to detect a change in the magnetic field surrounding the Hall effect sensor caused by the movement of the magnetic element 1063. The Hall effect sensor may communicate signals with, for example, a microcontroller that may determine whether the closure release button assembly 1062 is in its first position associated with the unactuated position of the closure trigger 1032 and the open configuration of the end effector, its second position associated with the actuated position of the closure trigger 1032 and the closed configuration of the end effector, and / or any position between the first position and the second position.

[0059] In at least one form, the handle 1014 and the frame 1020 are operatively supported by another drive system herein referred to as the firing drive system 1080, which is configured to be able to apply a firing action to a corresponding portion of an interchangeable shaft assembly attached thereto. The firing drive system 1080 may also be referred to herein as the "second drive system". The firing drive system 1080 may employ an electric motor 1082 positioned in the pistol grip portion 1019 of the handle 1014. In various forms, the motor 1082 may be a DC brushed drive motor having a maximum rotational speed of, for example, about 25,000 RPM. In other arrangements, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 1082 may be powered by a power source 1090, which in one form may include a removable power pack 1092. As Figure 3 visible, for example, the power pack 1092 may include a proximal housing portion 1094 configured for attachment to a distal housing portion 1096. The proximal housing portion 1094 and the distal housing portion 1096 are configured to be able to operatively support a plurality of batteries 1098 therein. The batteries 1098 may each include, for example, a lithium ion ("LI") or other suitable battery. The distal housing portion 1096 is configured for operatively attaching in a removable manner to a handle circuit board 1100 that is also operatively coupled to the motor 1082. The plurality of batteries 1098 may be connected in series and may serve as a power source for the surgical instrument 1010. Additionally, the power source 1090 may be replaceable and / or rechargeable.

[0060] As outlined above with respect to other various forms, the electric motor 1082 may include a rotatable shaft (not shown) operatively interfacing with a gear reducer assembly 1084, which is mounted on a longitudinally movable drive member 1120 in meshing engagement with a set of drive teeth 1122 of a rack. In use, the voltage polarity provided by the power source 1090 may operate the electric motor 1082 in a clockwise direction, where the voltage polarity applied to the electric motor by the battery may be reversed in order to operate the electric motor 1082 in a counterclockwise direction. When the electric motor 1082 rotates in one direction, the drive member 1120 will be axially driven in the distal direction "DD". When the motor 1082 is driven in the opposite rotational direction, the drive member 1120 will be axially driven in the proximal direction "PD". The handle 1014 may include a switch that may be configured to be able to reverse the polarity applied to the electric motor 1082 by the power source 1090. As with other forms described herein, the handle 1014 may also include a sensor configured to be able to detect the position of the drive member 1120 and / or the direction in which the drive member 1120 is moving.

[0061] Actuation of the motor 1082 can be controlled by a firing trigger 1130 pivotally supported on the handle 1014. The firing trigger 1130 can pivot between an unactuated position and an actuated position. The firing trigger 1130 can be biased to the unactuated position by a spring 1132 or other biasing arrangement such that when the clinician releases the firing trigger 1130, the firing trigger can be pivoted or otherwise returned to the unactuated position by the spring 1132 or biasing arrangement. In at least one form, the firing trigger 1130 can be positioned "outside" the closure trigger 1032 as discussed above. In at least one form, a firing trigger safety button 1134 can be pivotally mounted to the closure trigger 1032 by a pin 1035. The safety button 1134 can be positioned between the firing trigger 1130 and the closure trigger 1032 and has a pivot arm 1136 protruding therefrom. When the closure trigger 1032 is in the unactuated position, the safety button 1134 is received within the handle 1014 where it may not be easily accessible to the clinician and cannot be moved between a safety position that prevents actuation of the firing trigger 1130 and a firing position where the firing trigger 1130 can be fired. When the clinician depresses the closure trigger 1032, the safety button 1134 and the firing trigger 1130 pivot downward and can then be manipulated by the clinician.

[0062] As described above, in at least one form, the longitudinally movable drive member 1120 has teeth 1122 formed thereon in a rack for meshing engagement with a corresponding drive gear 1086 of the gear reducer assembly 1084. At least one form also includes a manually actuatable "emergency" assembly 1140 configured to enable a clinician to manually retract the longitudinally movable drive member 1120 in the event that the motor 1082 becomes inoperative. The emergency assembly 1140 can include a lever or emergency handle assembly 1142 configured to be manually pivoted into ratchet engagement with teeth 1124 also provided in the drive member 1120. Thus, the clinician can manually retract the drive member 1120 by using the emergency handle assembly 1142 to cause the drive member 1120 to move in a ratcheting manner in the proximal direction "PD". U.S. Patent No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", discloses an emergency arrangement and other components, arrangements, and systems that can also be used with the various instruments disclosed herein. U.S. Patent No. 8,608,045 is hereby incorporated by reference in its entirety.

[0063] Now turning to Figure 2 andFigure 5 , the interchangeable shaft assembly 1200 includes a surgical end effector 1300 that includes an elongate channel 1310 configured to operably support a staple cartridge 1301 therein. The end effector 1300 may further include an anvil 2000 pivotally supported relative to the elongate channel 1310. The interchangeable shaft assembly 1200 may further include an articulation joint 3020 and an articulation lock 2140 that may be configured to releasably hold the end effector 1300 in a desired position relative to the shaft axis SA. Examples of various features of at least one form of the end effector 1300, the articulation joint 3020, and the articulation lock can be seen in U.S. Patent Application Serial No. 13 / 803,086, filed on March 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (now U.S. Patent Application Publication 2014 / 0263541). The entire disclosure of U.S. Patent Application Serial No. 13 / 803,086, filed on March 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (now U.S. Patent Application Publication 2014 / 0263541) is hereby incorporated by reference herein. As Figure 4 seen, the interchangeable shaft assembly 1200 may further include a proximal housing or nozzle 1201 consisting of nozzle portions 1202 and 1203.

[0064] The interchangeable shaft assembly 1200 may further include a closure system or closure member assembly 3000 that may be used to close and / or open the anvil 2000 of the end effector 1300. The shaft assembly 1200 may include a ridge 1210 that is configured to: first, slidably support a firing member therein; second, slidably support a closure member assembly 3000 that extends around the ridge 1210. As Figure 5As can be seen, the distal end 1212 of the ridge 1210 terminates at an upper lug mounting feature 1270 and a lower lug mounting feature 1280. The upper lug mounting feature 1270 has a lug slot 1272 formed therein, and the lug slot is adapted to mount a support upper mounting connector 1274 therein. Similarly, the lower lug mounting feature 1280 has a lug slot 1282 formed therein, and the lug slot is adapted to mount a support lower mounting connector 1284 therein. The upper mounting connector 1274 includes a pivot bearing socket 1276, and the pivot bearing socket is adapted to rotatably receive a pivot pin 1292 therein. The pivot pin is formed on a channel cover or anvil holder 1290 attached to the proximal end portion 1312 of the elongated channel 1310. The lower mounting connector 1284 includes a lower pivot pin 1286, and the lower pivot pin is adapted to be received in a pivot hole 1314 formed in the proximal end portion 1312 of the elongated channel 1310. Refer to Figure 5 . The lower pivot pin 1286 is vertically aligned with the pivot bearing socket 1276 to define a joint motion axis AA, about which the surgical end effector 1300 can articulate relative to the shaft axis SA. Refer to Figure 2 .

[0065] In the illustrated example, the surgical end effector 1300 can be selectively articulated about the joint motion axis AA by a joint motion system 2100. In one form, the joint motion system 2100 includes a proximal joint motion driver 2102 pivotally coupled to a joint motion link 2120. As Figure 5As can be seen most specifically, a biasing attachment lug 2114 is formed on the distal end 2110 of the proximal articulation drive 2102. A pivot hole 2116 is formed in the biasing attachment lug 2114 and is configured to pivotally receive therein a proximal attachment pin 2124 formed on the proximal end 2122 of the articulation link 2120. The distal end 2126 of the articulation link 2120 includes a pivot hole 2128 that is configured to pivotally receive therein a channel pin 1317 formed on the proximal end portion 1312 of the elongate channel 1310. Thus, axial movement of the proximal articulation drive 2102 will thereby impart articulation to the elongate channel 1310, causing the surgical end effector 1300 to articulate relative to the spine 1210 about an articulation axis AA. More details regarding the construction and operation of the articulation system 2100 can be seen in various references incorporated herein by reference, including U.S. Patent Application Serial No. 15 / 635,631, filed Jun. 28, 2017, entitled “SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER,” now U.S. Patent Application Publication 2019 / 0000464, the entire disclosure of which is hereby incorporated herein by reference. In various cases, when the proximal articulation drive 2102 is not moving in the proximal or distal direction, the proximal articulation drive 2102 can be held in place by an articulation lock 2140. Additional details regarding examples of the articulation lock 2140 can be seen in U.S. Patent Application Serial No. 15 / 635,631 (now U.S. Patent Application Publication 2019 / 0000464) and other references incorporated herein by reference.

[0066] In various cases, the spine 1210 can include a proximal end 1211 that is rotatably supported within the base 1240. In one arrangement, for example, the proximal end 1211 of the spine 1210 has threads 1214 formed thereon for threaded attachment to a spine bearing 1216 that is configured to be supported within the base 1240. See Figure 4 This arrangement facilitates the rotatable attachment of the spine 1210 to the base 1240 such that the spine 1210 can be selectively rotated relative to the base 1240 about an axis SA.

[0067] Primarily see Figure 4 , the interchangeable shaft assembly 1200 includes a closure shuttle 1250 that is slidably supported within the base 1240 such that the closure shuttle is axially movable relative to the base. The closure shuttle 1250 includes a pair of proximally projecting hooks 1252 that are configured for attachment to an attachment pin 1037 ( Figure 3), the attachment pin is attached to the second closing connector 1038, as will be discussed in further detail below. In at least one example, the closure member assembly 3000 includes a proximal closure member segment 3010 having a proximal end 3012 that is coupled to the closure shuttle 1250 for rotation relative to the closure shuttle. For example, a U-shaped connector 1263 is inserted into an annular slot 3014 in the proximal end 3012 of the proximal closure member segment 3010 and retained within a vertical slot 1253 in the closure shuttle 1250. Such an arrangement is used to attach the proximal closure member segment 3010 to the closure shuttle 1250 to axially travel with the closure shuttle, while enabling the proximal closure member segment 3010 to rotate about an axis SA relative to the closure shuttle 1250. A closure spring 1268 is journaled on the proximal closure member segment 3010 and is used to bias the proximal closure member segment 3010 in the proximal direction "PD", which can be used to pivot the closure trigger 1032 to an unactuated position when the shaft assembly is operatively coupled to the handle 1014.

[0068] In at least one form, the interchangeable shaft assembly 1200 may also include a gimbal joint 3020. However, other interchangeable shaft assemblies may not be gimbaled. As Figure 5 can be seen, for example, a distal closure member or a distal closure tube segment 3030 is coupled to the distal end of the proximal closure member segment 3010. The gimbal joint 3020 includes a double-pivot closure sleeve assembly 3022. According to various forms, the double-pivot closure sleeve assembly 3022 includes an end effector closure tube 3050 having an upper shank 3052 and a lower shank 3054 that project distally. The upper double-pivot connector 3056 includes a distally projecting distal pivot pin and a proximal pivot pin that respectively engage an upper distal pin hole in the proximally projecting upper shank 3052 on the distal closure tube segment 3030 and an upper proximal pin hole in the distally projecting upper shank 3032. The lower double-pivot connector 3058 includes a distally projecting distal pivot pin and a proximal pivot pin that respectively engage a lower distal pin hole in the proximally projecting lower shank 3054 and a lower proximal pin hole in the distally projecting lower shank 3034. See Figure 4 and Figure 5 . As will be discussed in further detail below, the closure member assembly 3000 translates distally (direction "DD") to close the anvil 2000, for example, in response to actuation of the closure trigger 1032. The anvil 2000 is opened by translating the closure member assembly 3000 proximally, which causes the end effector closure sleeve to interact with the anvil 2000 and pivot it to an open position.

[0069] As described above, the interchangeable shaft assembly 1200 also includes a firing member 1900 that is supported for axial travel within the ridge 1210. The firing member 1900 includes an intermediate firing shaft portion 1222 that is configured to attach to a distal cutting portion or knife bar 1910. The intermediate firing shaft portion 1222 may include a longitudinal slot 1223 in its distal end that is configured to receive a tab 1912 on the proximal end of the distal knife bar 1910. The longitudinal slot 1223 and the proximal end tab 1912 may be sized and configured to allow relative movement between the longitudinal slot and the proximal end tab and may include a slip joint 1914. The slip joint 1914 may allow movement of the intermediate firing shaft portion 1222 of the firing member 1900 to articulate the end effector 1300 without movement or at least substantially without movement of the knife bar 1910. Once the end effector 1300 has been properly oriented, the intermediate firing shaft portion 1222 may be advanced distally until the proximal sidewall of the longitudinal slot 1223 contacts the tab 1912 to advance the knife bar 1910 and fire a staple cartridge 1301 positioned within the channel 1310. The knife bar 1910 includes a knife portion 1920 and includes an upper anvil engagement tab 1924 and a lower channel engagement tab 1926, and the knife portion includes a blade or tissue cutting edge 1922. Various firing member configurations and operations are disclosed in various other references incorporated herein by reference.

[0070] Embodiments are also contemplated in which a shifter assembly may be used instead of the slip joint 1914. Details of such shifter assemblies and corresponding components, assemblies, and systems can be found in U.S. Patent Application No. 15 / 635,521, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", the entire content of which is incorporated herein by reference.

[0071] As Figure 4As can be seen, the shaft assembly 1200 also includes a switching cylinder 1500 rotatably received on the proximal closure member segment 3010. The switching cylinder 1500 includes a hollow shaft segment 1502 having a shaft boss formed thereon for receiving a projecting actuation pin therein. In various cases, the actuation pin extends through a slot into a longitudinal slot provided in the locking sleeve to facilitate axial movement of the locking sleeve when the locking sleeve engages the articulation drive. A rotational torsion spring 1420 is configured to engage a boss on the switching cylinder 1500 and a portion of the nozzle housing 1203 to apply a biasing force to the switching cylinder 1500. The switching cylinder 1500 may also include at least partially peripheral openings 1506 defined therein, which are configured to receive peripheral mounts extending from the nozzle portions 1202, 1203 and to allow relative rotation rather than relative translation between the switching cylinder 1500 and the nozzle 1201. The mounts also extend through an opening 3011 in the proximal closure member segment 3010 to be received in a recess 1219 to be disposed in the ridge 1210. Rotation of the switching cylinder 1500 about the axis SA will ultimately cause rotation of the actuation pin and the locking sleeve between their engaged and disengaged positions. In one arrangement, rotation of the switching cylinder 1500 may be associated with axial advancement of the closure tube or closure member. Thus, in essence, actuation of the closure system can operatively engage and disengage the articulation drive system and the firing drive system in various ways, which are described in more detail in U.S. Patent Application Serial No. 13 / 803,086 (now U.S. Patent Application Publication 2014 / 0263541) entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and U.S. Patent No. 9,913,642 entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", the entire disclosures of which are hereby incorporated by reference herein. For example, when the closure tube is in its most proximal position corresponding to the "jaw open" position, the closure member segment 3010 will have positioned the switching cylinder 1500 to connect the articulation system to the firing drive system. When the closure tube has moved to its distal position corresponding to the "jaw closed" position, the closure tube has rotated the switching cylinder 1500 to a position where the articulation system is disconnected from the firing drive system.

[0072] Also as Figure 4As shown, the shaft assembly 1200 can include a slip ring assembly 1600, which can be configured, for example, to conduct electricity to and / or from the end effector 1300 and / or transmit signals to and / or receive signals from the end effector 1300. The slip ring assembly 1600 can include a proximal connector flange 1604 and a distal connector flange. The proximal connector flange is mounted to a base flange 1242 extending from the base 1240, and the distal connector flange is positioned within a slot defined in the shaft housing. The proximal connector flange 1604 can include a first face, and the distal connector flange can include a second face that is positioned adjacent to and movable relative to the first face. The distal connector flange can rotate relative to the proximal connector flange 1604 about the shaft axis SA. The proximal connector flange 1604 can include a plurality of concentric or at least substantially concentric conductors defined in its first face. Connectors can be mounted on the proximal side faces of the connector flanges and can have a plurality of contacts, where each contact corresponds to and is in electrical contact with one of the conductors. Such an arrangement allows relative rotation between the two flanges while maintaining electrical contact between the proximal connector flange 1604 and the distal connector flange. For example, the proximal connector flange 1604 can include an electrical connector 1606 that can enable signal communication between the conductors and a shaft circuit board 1610 mounted to the shaft base 1240. In at least one case, a wire harness including a plurality of conductors can extend between the electrical connector 1606 and the shaft circuit board 1610. The electrical connector 1606 can extend proximally through a connector opening 1243 defined in the base flange 1242. See Figure 4 . More details regarding the slip ring assembly 1600 can be found, for example, in U.S. Patent Application Serial No. 13 / 803,086 (now U.S. Patent Application Publication 2014 / 0263541) entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", U.S. Patent Application Serial No. 13 / 800,067 (now U.S. Patent Application Publication 2014 / 0263552) entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" filed on March 13, 2013, and U.S. Patent 9,345,481 entitled "STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM". U.S. Patent Application Serial No. 13 / 803,086 (now U.S. Patent Application Publication 2014 / 0263541), U.S. Patent Application Serial No. 13 / 800,067 (now U.S. Patent Application Publication 2014 / 0263552), and U.S. Patent 9,345,481 are hereby incorporated by reference in their entireties.

[0073] As discussed above, the shaft assembly 1200 can include a proximal portion and a distal portion. The proximal portion can be fixedly mounted to the handle 1014, and the distal portion is capable of rotating about a longitudinal axis. The rotatable distal shaft portion can rotate relative to the proximal portion about the slip ring assembly 1600 as discussed above. The distal connector flange of the slip ring assembly 1600 can be positioned within the rotatable distal shaft portion. Moreover, in addition to the above, the switching cylinder 1500 can also be positioned within the rotatable distal shaft portion. When the rotatable distal shaft portion rotates, the distal connector flange and the switching cylinder 1500 can rotate synchronously with each other. Additionally, the switching cylinder 1500 can rotate between a first position and a second position relative to the distal connector flange. When the switching cylinder 1500 is in its first position, the articulation drive system can be operably disengaged from the firing drive system, and thus, the operation of the firing drive system may not cause the end effector 1300 of the shaft assembly 1200 to articulate. When the switching cylinder 1500 is in its second position, the articulation drive system can be operably engaged with the firing drive system, and thus, the operation of the firing drive system can cause the end effector 1300 of the shaft assembly 1200 to articulate. When the switching cylinder 1500 moves between its first position and its second position, the switching cylinder 1500 moves relative to the distal connector flange. In various cases, the shaft assembly 1200 can include at least one sensor configured to be able to detect the position of the switching cylinder 1500.

[0074] Referring again Figure 4 to, the base 1240 includes at least one, and preferably two, tapered attachment portions 1244 formed thereon, which tapered attachment portions are adapted to be received within corresponding dovetail slots 1702 formed within the distal attachment flange portion 1700 of the frame 1020. See Figure 3 . Each dovetail slot 1702 can be tapered, or in other words, can be slightly V-shaped, so as to receive the attachment portion 1244 therein in a seated manner. As further visible in Figure 4 , a shaft attachment lug 1226 is formed on the proximal end of the intermediate firing shaft portion 1222. As will be discussed in further detail below, when the interchangeable shaft assembly 1200 is coupled to the handle 1014, the shaft attachment lug 1226 is received within a firing shaft attachment bracket 1126 formed in the distal end 1125 of the longitudinal drive member 1120. See Figure 3 .

[0075] Various shaft assembly embodiments employ a latching system 1710 to removably couple the shaft assembly 1200 to the housing 1012 and more particularly to the frame 1020. As Figure 4As can be seen, for example, in at least one form, the latch system 1710 includes a locking member or locking yoke 1712 movably coupled to the base 1240. In the illustrated embodiment, for example, the locking yoke 1712 is U-shaped and has two spaced-apart and downwardly extending legs 1714. Each of the legs 1714 has a pivot lug 1715 formed thereon, and these pivot lugs are adapted to be received in corresponding holes 1245 formed in the base 1240. Such an arrangement facilitates pivotally attaching the locking yoke 1712 to the base 1240. The locking yoke 1712 may include two proximally projecting locking lugs 1716 that are configured to releasably engage corresponding locking ratchets or grooves 1704 in the distal attachment flange portion 1700 of the frame 1020. See Figure 3 . In various forms, the locking yoke 1712 is biased in the proximal direction by a spring or biasing member (not shown). Actuation of the locking yoke 1712 can be achieved by a latch button 1722 that is slidably mounted on a latch actuator assembly 1720 mounted to the base 1240. The latch button 1722 can be biased in the proximal direction relative to the locking yoke 1712. As will be discussed in further detail below, the locking yoke 1712 can be moved to an unlocked position by biasing the latch button in the distal direction, which also pivots the locking yoke 1712 out of engagement with the distal attachment flange portion 1700 of the frame 1020. When the locking yoke 1712 is "in engagement" with the distal attachment flange portion 1700 of the frame 1020, the locking lugs 1716 remain seated within corresponding locking ratchets or grooves 1704 in the distal attachment flange portion 1700.

[0076] When using an interchangeable shaft assembly that includes an end effector of the type described herein adapted to cut and fasten tissue, as well as other types of end effectors, it may be advantageous to prevent the interchangeable shaft assembly from inadvertently disengaging from the housing during end effector actuation. For example, in use, a clinician may actuate the closure trigger 1032 to grasp target tissue and manipulate it into a desired position. Once the target tissue is positioned within the end effector 1300 in a desired orientation, the clinician may fully actuate the closure trigger 1032 to close the anvil 2000 and clamp the target tissue in place for cutting and suturing. In this case, the first drive system 1030 has been fully actuated. After the target tissue has been clamped in the end effector 1300, it may be advantageous to prevent the shaft assembly 1200 from inadvertently disengaging from the housing 1012. One form of the latch system 1710 is configured to prevent such inadvertent disengagement.

[0077] As Figure 4As can be seen most specifically, the locking yoke 1712 includes at least one, and preferably two, locking hooks 1718 that are adapted to engage corresponding locking lug portions 1256 formed on the closure shuttle 1250. When the closure shuttle 1250 is in the unactuated position (i.e., the first drive system 1030 is unactuated and the anvil 2000 is open), the locking yoke 1712 is pivotable in the distal direction to unlock the interchangeable shaft assembly 1200 from the housing 1012. In this position, the locking hooks 1718 do not engage the locking lug portions 1256 on the closure shuttle 1250. However, when the closure shuttle 1250 is moved to the actuated position (i.e., the first drive system 1030 is actuated and the anvil 2000 is in the closed position), the locking yoke 1712 is prevented from pivoting to the unlocked position. In other words, if a clinician attempts to pivot the locking yoke 1712 to the unlocked position, or if, for example, the locking yoke 1712 is inadvertently bumped or contacted in a manner that would otherwise cause it to pivot distally, the locking hooks 1718 on the locking yoke 1712 will engage the locking lug portions 1256 on the closure shuttle 1250 and prevent the locking yoke 1712 from moving to the unlocked position.

[0078] The attachment of the interchangeable shaft assembly 1200 to the handle 1014 will now be described. To begin the coupling process, a clinician may position the base 1240 of the interchangeable shaft assembly 1200 above or near the distal attachment flange portion 1700 of the frame 1020 such that the tapered attachment portion 1244 formed on the base 1240 is aligned with the dovetail slot 1702 in the frame 1020. The clinician may then move the shaft assembly 1200 along an installation axis that is perpendicular to the shaft axis SA to seat the attachment portion 1244 into "operable engagement" with the corresponding dovetail receiving slot 1702. In doing so, the shaft attachment lug 1226 on the intermediate firing shaft portion 1222 will also seat in the bracket 1126 in the longitudinally movable drive member 1120, and a portion of the pin 1037 on the second closure link 1038 will seat in the corresponding hook 1252 in the closure shuttle 1250. As used herein, the term "operable engagement" in the context of two components means that the two components are sufficiently engaged with each other such that once an actuation action is applied to them, the components can perform their intended actions, functions, and / or procedures.

[0079] At least five systems of the interchangeable shaft assembly 1200 can be operably coupled to at least five corresponding systems of the handle 1014. The first system can include a frame system that couples and / or aligns the frame 1020 or spine 1210 of the shaft assembly 1200 with the frame 1020 of the handle 1014. Another system can include a closure drive system 1030 that can operably connect the closure trigger 1032 of the handle 1014 to the closure tube of the shaft assembly 1200. As outlined above, the closure shuttle 1250 of the shaft assembly 1200 can engage a pin 1037 on the second closure link 1038. Another system can include a firing drive system 1080 that can operably connect the firing trigger 1130 of the handle 1014 to the intermediate firing shaft portion 1222 of the shaft assembly 1200. As outlined above, the shaft attachment lug 1226 can be operably connected to the bracket 1126 of the longitudinal drive member 1120. Another system can include an electrical system that is capable of: sending a signal that the shaft assembly (such as shaft assembly 1200) has been operably engaged with the handle 1014 to a controller (such as a microcontroller) in the handle 1014, and / or conducting power and / or communication signals between the shaft assembly 1200 and the handle 1014. For example, the shaft assembly 1200 can include an electrical connector 1810 that is operably mounted to a shaft circuit board 1610. The electrical connector 1810 is configured to mate with a corresponding electrical connector 1800 on the control circuit board 1100. More details regarding the circuitry and control systems can be found in U.S. Patent Application Serial No. 13 / 803,086, now U.S. Patent Application Publication 2014 / 0263541, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and U.S. Patent Application Serial No. 14 / 226,142, now U.S. Patent 9,913,642, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", the entire disclosures of which are hereby incorporated by reference. The fifth system can consist of a latch system for releasably locking the shaft assembly 1200 to the handle 1014.

[0080] In the illustrated example, the anvil 2000 includes an anvil body 2002 that terminates in an anvil mounting portion 2010. The anvil mounting portion 2010 is movably or pivotally supported on the elongate channel 1310 for selective pivotal travel about a fixed anvil pivot axis PA that is transverse to the shaft axis SA relative to the elongate channel. In the illustrated arrangement, pivot members or anvil trunnions 2012 extend laterally out of each lateral side of the anvil mounting portion 2010 to be received in corresponding trunnion brackets 1316 formed in the upright walls 1315 of the proximal end portion 1312 of the elongate channel 1310. The anvil trunnions 2012 are pivotally held in their corresponding trunnion brackets 1316 by a channel cover or anvil retainer 1290. The channel cover or anvil retainer 1290 includes a pair of attachment lugs that are configured to be retainingly received within corresponding lug recesses or notches formed in the upright walls 1315 of the proximal end portion 1312 of the elongate channel 1310. See Figure 5 。

[0081] Still referring to Figure 5 , in at least one arrangement, the distal closure member or end effector closure tube 3050 employs two axially offset proximal positive jaw opening features 3060 and distal positive jaw opening features 3062. The positive jaw opening features 3060, 3062 are configured to interact with corresponding release areas and stepped portions formed on the anvil mounting portion 2010, as further described in detail in U.S. Patent Application Serial No. 15 / 635,631, now U.S. Patent Application Publication 2019 / 0000464, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSUREMEMBER", the entire disclosure of which is incorporated herein by reference. Other jaw opening arrangements may be employed.

[0082] Figure 6 and Figure 7 Illustrated is a shaft assembly 100. The shaft assembly 100 includes an attachment portion 110, a shaft 120 that extends distally from the attachment portion 110, and an end effector 130 that is attached to the shaft 120. The shaft assembly 100 is configured to clamp, suture, and cut tissue. The attachment portion 110 is configured to be attached to, for example, a handle of a surgical instrument and / or an arm of a surgical robot.

[0083] See Figure 7 , the shaft assembly 100 includes cooperating articulation levers 144, 145 that are configured to articulate the end effector 130 relative to the shaft 120 about an articulation joint 160. The shaft assembly 100 further includes an articulation lock lever 148, an outer shaft tube 162, and a ridge portion 123.

[0084] See Figure 7 , the firing assembly 100 includes a firing shaft 150, which includes a firing member 156 attached to the distal end of the firing shaft 150. The firing member 156 includes an upper cam flange configured to engage the anvil jaw 133 and a lower cam member configured to engage the cartridge jaw 132. The firing shaft 150 is configured to be advanced distally through a closing stroke to clamp the anvil jaw 133 against the cartridge jaw 132 using the cam member. The firing shaft 150 is further advanced through a firing stroke and is configured to cause the firing member 156 to be advanced through the cartridge jaw 132 to deploy a staple from the cartridge jaw 132 and cut tissue during the firing stroke. More details of the shaft assembly 100 can be found in U.S. Patent Application No. 15 / 385,887, entitled "METHOD FOR ATTACHING ASHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND,ALTERNATIVELY,TO A SURGICALROBOT", which is hereby incorporated by reference in its entirety.

[0085] Figure 8 and Figure 9 depicts a surgical instrument assembly 200 configured to be used with a surgical robot. The surgical instrument assembly 200 is configured to suture and cut tissue, but the surgical instrument assembly 200 can be adapted to handle tissue in any suitable manner, such as, for example, by applying thermal, electrical, and / or vibrational energy to the tissue. The surgical instrument assembly 200 includes a proximal control interface 210 configured to be coupled to the robotic arm of a surgical robot and a shaft assembly 220 configured to be attached to the proximal control interface 210. The shaft assembly 220 includes an end effector 230 configured to grasp, cut, and suture tissue. The proximal control interface 210 includes a plurality of drive disks 211, each drive disk for actuating one or more functions of the surgical instrument assembly 200. Each drive disk 211 can be independently driven by one or more motors of the surgical robot and / or the robotic arm of the surgical robot and / or driven in cooperation with one or more other drive disks 211. More details regarding the surgical instrument assembly 200 can be found in U.S. Patent Application No. 15 / 847,297, entitled "SURGICAL INSTRUMENTS WITH DUAL ARTICULATION DRIVERS", which is hereby incorporated by reference in its entirety.

[0086] The various embodiments disclosed herein can be employed, for example, in conjunction with Figures 10 to 12 a robotic system 300 of the type depicted in Figure 10 depicts that can be combined with Figure 11One type of master controller 301 used by the robotic arm of the type depicted from the moving cart 310. The master controller 301 and the robotic arm moving cart 310, as well as their respective components and control systems, are collectively referred to herein as the robotic system 300. Examples of such systems and devices are disclosed in U.S. Patent No. 7,524,320, entitled "MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS," and U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," the entire disclosures of which are incorporated herein by reference. Accordingly, various details of such devices will not be described in detail herein, except as may be necessary to understand the various embodiments and forms of the present disclosure. As is well known, the master controller 301 generally includes a master controller (generally designated 303 in Figure 10 ), which is grasped and manipulated in the air by the surgeon while the surgeon observes the surgery via the stereoscopic display 302. The master controller 301 generally includes manual input devices that preferably move in multiple degrees of freedom and typically also have an actuatable handle for actuating tools (e.g., for closing grasping jaws, applying electrical potential to electrodes, etc.).

[0087] As Figure 11As can be seen, in one form, the robotic arm cart 310 can be configured to be capable of actuating one or more surgical tools generally designated 330. Various robotic surgical systems and methods employing a master controller and robotic arm cart arrangement are disclosed in U.S. Patent No. 6,132,368, entitled "MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD", the entire disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart 310 includes a base 312, which in the illustrated embodiment can support the surgical tool. In various forms, the surgical tool can be supported by a series of manually articulated links (generally designated device joints 314) and a robotic manipulator 316. In various embodiments, the link and joint arrangement can facilitate rotation of the surgical tool about a spatial point, as more fully described in U.S. Patent No. 5,817,084, entitled "REMOTE CENTER POSITIONING DEVICE WITH FLEXIBLE DRIVE", the entire disclosure of which is incorporated herein by reference. The parallelogram arrangement constrains the rotation to pivot about an axis 322a (sometimes referred to as the pitch axis). The connecting member supporting the parallelogram link is pivotally mounted to the device joint 314( Figure 11) such that the surgical tool also rotates about an axis 322b (sometimes referred to as the yaw axis). The pitch axis 322a and the yaw axis 322b intersect at a remote center 324 that is aligned along the elongate axis of the surgical tool. When supported by the manipulator 316, the surgical tool can have additional degrees of freedom of actuation, including a sliding motion of the surgical tool along the longitudinal axis “LT-LT”. When the surgical tool slides relative to the manipulator 316 (arrow 322c) along the tool axis LT-LT, the remote center 324 remains fixed relative to the base 326 of the manipulator 316. Accordingly, the entire manipulator is moved generally to reposition the remote center 324. The linkages 318 of the manipulator 316 can be driven by a series of motors 340. These motors move the linkages 318 actively in response to commands from a processor of the control system. Motors 340 can also be employed to manipulate the surgical tool. Alternative joint structures and device arrangement structures are also contemplated. Examples of other joint and device arrangement structures are disclosed, for example, in U.S. Patent No. 5,878,193, entitled “AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING”, the entire disclosure of which is incorporated herein by reference. Additionally, although data communication between robotic components and the processor of a robotic surgical system has been described herein primarily in connection with communication between a surgical tool and the master controller 301, it should be understood that similar communication can occur between the circuitry of a manipulator, a device joint, an endoscope, or other image capture device, etc., and the processor of a robotic surgical system for component compatibility confirmation, component type identification, component calibration (such as offset, etc.) communication, component and robotic surgical system connection confirmation, etc. According to at least one aspect, the various surgical instruments disclosed herein can be used in conjunction with other robotically controlled or automated surgical systems and are not necessarily limited to use with Figures 10 to 12 the specific robotic system components shown and described in the above references.

[0088] Figure 13 FIG. shows a block diagram of a surgical system 1930 for use with one or more surgical instruments, tools, and / or robotic systems in accordance with one or more aspects of the present disclosure. System 1930 includes control circuitry 1932. Control circuitry 1932 includes a microcontroller 1933 that includes a processor 1934 and a storage medium (such as, for example, memory 1935).

[0089] The motor assembly 1939 includes one or more motors driven by a motor driver. The motor assembly 1939 is operatively coupled to a drive assembly 1941 to drive or effect one or more motions at the end effector 1940. The drive assembly 1941 can include any number of components suitable for transferring motion to the end effector 1940, such as, for example, one or more linkages, rods, tubes, and / or cables.

[0090] For example, one or more sensors 1938 provide real-time feedback to the processor 1934 regarding one or more operating parameters monitored during a surgical procedure performed by the surgical system 1930. For example, the operating parameters can be associated with the user performing the surgical procedure, the tissue being treated, and / or one or more components of the surgical system 1930. The sensors 1938 can include any suitable sensors, such as, for example, magnetic sensors (such as Hall effect sensors), strain gauges, pressure sensors, inductive sensors (such as eddy current sensors), resistive sensors, capacitive sensors, optical sensors, and / or any other suitable sensors.

[0091] In addition to the above, in various arrangements, the sensors 1938 can include any suitable sensors for detecting one or more conditions at the end effector 1940, including but not limited to tissue thickness sensors (such as Hall effect sensors or reed switch sensors), optical sensors, magnetic sensors, force sensors, pressure sensors, piezoresistive membrane sensors, ultrasonic sensors, eddy current sensors, accelerometers, pulse oximeters, temperature sensors, sensors configured to be able to detect electrical characteristics of a tissue passageway (such as capacitance or resistance), or any combination thereof. As another example, but not limited to, the sensors 1938 can include one or more sensors located at or around a joint movement joint extending proximally from the end effector 1940. Such sensors can include, for example, potentiometers, capacitive sensors (slide potentiometers), piezoresistive membrane sensors, pressure sensors, or any other suitable sensor type. In some arrangements, the sensors 1938 can include multiple sensors located at multiple positions within the end effector 1940.

[0092] In certain aspects, the system 1930 can include a feedback system 1952 that includes one or more devices for providing sensory feedback to the user. Such devices can include, for example, visual feedback devices (such as LCD displays, touchscreens, LED indicators), audio feedback devices (such as speakers, buzzers), or tactile feedback devices (such as tactile actuators).

[0093] The microcontroller 1933 can be programmed to perform various functions, such as precise control of the speed and position of the drive component 1941. In one aspect, the microcontroller 1933 can be any single-core or multi-core processor, such as those known commercially as ARM Cortex produced by Texas Instruments. In one aspect, the main microcontroller 1933 can be the LM4F230H5QR ARM Cortex-M4F processor core purchased from, for example, Texas Instruments, which includes on-chip memory of 256KB single-cycle flash memory or other non-volatile memory (up to 40MHz), a prefetch buffer for improving performance above 40MHz, 32KB single-cycle SRAM, an internal ROM loaded with software, 2KB EEPROM, one or more PWM modules, one or more QEI analogs and / or one or more 12-bit ADCs with 12 analog input channels, the details of which can be seen in the product data sheet.

[0094] The microcontroller 1933 can be configured to be capable of calculating a response in the software of the microcontroller 1933. The calculated response is compared with the measured response of the actual system to obtain an "observed" response, which is used for actual feedback decisions. The observed response is a favorable tuning value that equalizes the smooth and continuous nature of the simulated response with the measured response, which can detect external influences on the system.

[0095] The motor assembly 1939 includes one or more electric motors and one or more motor drivers. The electric motor can be in the form of a brushed direct current (DC) motor, which has a gearbox and a mechanical connection to the drive component 1941. In one aspect, the motor driver can be the A3941 purchased from Allegro Microsystems, Inc.

[0096] In various forms, the motor assembly 1939 includes a brushed DC drive motor with a maximum rotational speed of approximately 25,000 RPM. In other arrangements, the motor assembly 1939 can include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver can include, for example, an H-bridge driver including field effect transistors (FETs).

[0097] The motor assembly 1939 can be powered by a power source 1942. The power source 1942 can include one or more batteries, and the one or more batteries can include a plurality of battery cells connected in series that can be used as a power source to power the motor assembly 1939. In some cases, the battery cells of the power assembly can be replaceable and / or rechargeable. In at least one example, the battery cell can be a lithium-ion battery, which can be capable of being connected to and separated from the power assembly.

[0098] In addition to the above, the end effector 1940 includes a first jaw 1921 and a second jaw 1931. During a closing motion that transitions the end effector 1940 from an open configuration toward a closed configuration, at least one of the first jaw 1921 and the second jaw 1931 is capable of rotating relative to the other. The closing motion can cause the jaws 1921, 1931 to grasp tissue therebetween. In some arrangements, sensors (such as, for example, strain gauges or microstrain gauges) can be configured to measure one or more parameters of the end effector 1940, such as, for example, the magnitude of the strain applied to one or both of the jaws 1921, 1931 during the closing motion, which magnitude can indicate the closing force applied to the jaws 1921, 1931. The measured strain is converted into a digital signal and provided to, for example, the processor 1934. Additionally or alternatively, sensors (such as, for example, load sensors) can measure the closing force and / or the firing force applied to the jaws 1921, 1931.

[0099] In various arrangements, a current sensor can be employed to measure the current drawn by the motor of the motor assembly 1939. The force required to drive the drive assembly 1941 can correspond to, for example, the current drawn by the motor. The measured force is converted into a digital signal and provided to the processor 1934.

[0100] In one form, a strain gauge sensor can be used to measure, for example, the force applied to tissue by the end effector 1940. The strain gauge can be coupled to the end effector 1940 to measure the force on the tissue being treated by the end effector 1940. In one aspect, the strain gauge sensor can measure the magnitude or amount of strain applied to the jaws of the end effector 1940 during the closing motion, which can indicate tissue compression. The measured strain is converted into a digital signal and provided to the processor 1934.

[0101] The measurements of tissue compression, tissue thickness, and / or the force required to close the end effector on the tissue, respectively measured by the sensor 1938, can be used by the microcontroller 1933 to characterize corresponding values of the selected position and / or the speed of one or more components of the drive assembly 1941. In one case, a memory (such as, for example, the memory 1935) can store techniques, formulas, and / or look-up tables that can be employed by the microcontroller 1933 in the evaluation.

[0102] System 1930 may include wired or wireless communication circuitry to communicate with, for example, a surgical hub (e.g., surgical hub 1953), a communication hub, and / or a robotic surgical hub. Additional details regarding the proper interaction between system 1930 and surgical hub 1953 are disclosed in U.S. Patent Application Serial No. 16 / 209,423 (now U.S. Patent Application Publication No. 2019 / 0200981) entitled "METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS", the entire disclosure of which is incorporated herein by reference in its entirety.

[0103] In various aspects, control circuit 1932 may be configured to be capable of implementing the various processes described herein. In certain aspects, control circuit 1932 may include a microcontroller that includes one or more processors (e.g., a microprocessor, a microcontroller) coupled to at least one memory circuit. The memory circuit stores machine-executable instructions that, when executed by the processor, cause the processor to execute machine instructions to implement the various processes described herein. The processor may be any of a variety of single-core or multi-core processors known in the art. The memory circuit may include volatile storage media and non-volatile storage media. The processor may include an instruction processing unit and an arithmetic unit. The instruction processing unit may be configured to be capable of receiving instructions from the memory circuit of the present disclosure.

[0104] Alternatively, in certain cases, control circuit 1932 may be in the form of a combinational logic circuit configured to be capable of implementing the various processes described herein. The combinational logic circuit may include a finite state machine that includes combinational logic configured to be capable of receiving data, processing the data by the combinational logic, and providing an output.

[0105] Alternatively, in certain cases, control circuit 1932 may be in the form of a sequential logic circuit. The sequential logic circuit may be configured to be capable of implementing the various processes described herein. The sequential logic circuit may include a finite state machine. The sequential logic circuit may include, for example, combinational logic components, at least one memory circuit, and a clock. The at least one memory circuit may store the current state of the finite state machine. In certain cases, the sequential logic circuit may be synchronous or asynchronous. In other cases, control circuit 1932 may include a combination of a processor (e.g., processor 1934) and a finite state machine to implement the various processes herein. In other aspects, the finite state machine may include, for example, a combination of a combinational logic circuit and a sequential logic circuit.

[0106] Figure 14 FIG. 600 is a block diagram of a surgical system for use with one or more surgical instruments, tools, and / or robotic systems in accordance with one or more aspects of the present disclosure. Surgical system 600 is similar in many respects to surgical system 1930 and will not be repeated herein in the same detail for the sake of brevity. For example, similar to surgical system 1930, surgical system 600 includes control circuitry that includes a microcontroller 620 having a processor 622 and a memory 624, sensors 630, and a power source 628, which are respectively similar to microcontroller 1933, processor 1934, memory 1935, and power source 1942. Additionally, surgical system 600 includes a plurality of motors and corresponding drive assemblies that can be activated to perform various functions.

[0107] In some cases, a first motor can be activated to perform a first function, a second motor can be activated to perform a second function, a third motor can be activated to perform a third function, and a fourth motor can be activated to perform a fourth function, and so on. In some cases, the plurality of motors can be individually activated to cause, for example, a firing motion, a closing motion, and / or an articulation motion in end effector 1940. The firing motion, closing motion, and / or articulation motion can be transmitted to end effector 1940, for example, via a shaft assembly.

[0108] In some cases, system 600 can include a firing motor 602. Firing motor 602 can be operably coupled to a firing motor drive assembly 604 that can be configured to transmit a firing motion generated by motor 602 to the end effector, specifically for displacing an I-beam element. In some cases, the firing motion generated by motor 602 can cause, for example, a staple to be deployed from a staple cartridge into tissue captured by end effector 1940 and / or cause a cutting edge of the I-beam element to be advanced to cut the captured tissue. The I-beam element can be retracted by reversing the direction of motor 602.

[0109] In some cases, system 600 can include a closing motor 603. Closing motor 603 can be operably coupled to a closing motor drive assembly 605 that is configured to transmit a closing motion generated by motor 603 to end effector 1940, specifically for displacing a closing tube to close an anvil and compress tissue between the anvil and the staple cartridge. The closing motion can cause, for example, end effector 1940 to transition from an open configuration to a closed configuration to grasp tissue. End effector 1940 can be transitioned to an open position by reversing the direction of motor 603.

[0110] In some cases, system 600 may include, for example, one or more articulation motors 606a, 606b. Motors 606a, 606b may be operably coupled to respective articulation motor drive assemblies 608a, 608b that may be configured to transmit the articulation motion generated by motors 606a, 606b to the end effector. In some cases, the articulation motion may, for example, articulate the end effector relative to the shaft.

[0111] As described above, system 600 may include multiple motors that may be configured to perform various independent functions. In some cases, multiple motors of a surgical instrument or tool may be individually or independently activated to perform one or more functions while other motors remain inactive. For example, articulation motors 606a, 606b may be activated to articulate the end effector while firing motor 602 remains inactive. Alternatively, firing motor 602 may be activated to fire multiple staples and / or advance the cutting blade while articulation motors 606 remain inactive. Additionally, closure motor 603 may be activated simultaneously with firing motor 602 to advance the closure tube and I-beam element distally, as described in more detail below.

[0112] In some cases, system 600 may include a common control module 610 that may be used with multiple motors of a surgical instrument or tool. In some cases, common control module 610 may adjust one of the multiple motors at a time. For example, common control module 610 may be individually coupled to and decoupled from multiple motors of the surgical instrument. In some cases, multiple motors of a surgical instrument or tool may share one or more common control modules such as common control module 610. In some cases, multiple motors of a surgical instrument or tool may independently and selectively engage common control module 610. In some cases, common control module 610 may switch from interfacing with one of the multiple motors of a surgical instrument or tool to interfacing with another of the multiple motors of a surgical instrument or tool.

[0113] In at least one example, common control module 610 may selectively switch between operably engaging articulation motors 606a, 606b and operably engaging firing motor 602 or closure motor 603. In at least one example, as Figure 14As shown, switch 614 can move or transition between multiple positions and / or states. For example, in a first position 616, switch 614 can electrically couple the common control module 610 to the firing motor 602; in a second position 617, switch 614 can electrically couple the common control module 610 to the closing motor 603; in a third position 618a, switch 614 can electrically couple the common control module 610 to the first joint movement motor 606a; and in a fourth position 618b, switch 614 can electrically couple the common control module 610 to the second joint movement motor 606b. In some cases, the separate common control module 610 can be electrically coupled to the firing motor 602, the closing motor 603, and the joint movement motors 606a, 606b simultaneously. In some cases, switch 614 can be a mechanical switch, an electromechanical switch, a solid state switch, or any suitable switching mechanism.

[0114] Each of motors 602, 603, 606a, 606b can include a torque sensor to measure the output torque on the shaft of the motor. Force on the end effector can be sensed in any conventional manner, such as by a force sensor on the outer side of the jaws or by a torque sensor of the motor used to actuate the jaws.

[0115] In various cases, as Figure 14 shown, the common control module 610 can include a motor driver 626, which can include one or more H-bridge FETs. The motor driver 626 can modulate the power transmitted from a power source 628 to the motors coupled to the common control module 610 based on inputs received from, for example, a microcontroller 620 (“controller”). In some cases, when a motor is coupled to the common control module 610, the microcontroller 620 can be employed, for example, to determine the current consumed by the motor, as described above.

[0116] In various cases, the processor 622 can control the motor driver 626 to control the position, rotational direction, and / or speed of the motors coupled to the common controller 610. In some cases, the processor 622 can signal the motor driver 626 to stop and / or deactivate the motors coupled to the common controller 610.

[0117] In some cases, the memory 624 can include program instructions for controlling each of the motors of the surgical instrument 600 that can be coupled to the common controller 610. For example, the memory 624 can include program instructions for controlling the firing motor 602, the closing motor 603, and the joint movement motors 606a, 606b. Such program instructions can cause the processor 622 to control the firing function, the closing function, and the joint movement function in accordance with inputs from an algorithm or control program of the surgical instrument or tool.

[0118] In some cases, one or more mechanisms and / or sensors such as sensor 630 can be used to alert the processor 622 as to which program instructions should be used in a particular setting. For example, sensor 630 can alert processor 622 to use program instructions associated with firing, closing, and articulating the end effector. In some cases, sensor 630 can include, for example, a position sensor that can be used to sense the position of switch 614. Thus, processor 622 can use program instructions associated with the I-beam of the firing end effector when, for example, switch 614 is detected by sensor 630 to be in the first position 616; processor 622 can use program instructions associated with closing the anvil when, for example, switch 614 is detected by sensor 630 to be in the second position 617; and processor 622 can use program instructions associated with articulating the end effector when, for example, switch 614 is detected by sensor 630 to be in the third position 618a or the fourth position 618b.

[0119] As discussed above, the surgical system can include a motor that, during the tissue treatment movement of the end effector, actuates a firing member to effect deployment of staples from a staple cartridge into tissue grasped by the jaws of the end effector. The tissue treatment movement can also include simultaneous advancement of a cutting member to sever the sutured tissue. In some aspects, the tissue treatment movement of the end effector includes a closing movement of the jaws of the end effector to grasp tissue.

[0120] The firing force is a key parameter of the tissue treatment movement of the firing member. Too high or too low a firing force can interfere with proper staple formation and surgical outcome. There are a variety of parameters that can affect the firing force. Tissue thickness, tissue compression, articulation angle, staple type, and firing speed are just a few parameters. Some parameters can be related to the tissue treatment movement of the end effector, such as closing speed, firing speed, etc., while other parameters can be unrelated to the tissue treatment movement of the firing member, such as staple cartridge configuration, tissue thickness, articulation angle, etc. Adapting the parameters of the tissue treatment movement (such as, for example, firing speed, closing speed, or wait time) based on the monitored factors that are unrelated to the tissue treatment movement can improve the surgical outcome.

[0121] Figure 15 depicts a diagram showing that can be performed by a control circuit (such as control circuit 1932( Figure 13 )、surgical hub 1953( Figure 13 ) or control circuit 620( Figure 14))Flowchart 17000 of a process for controlling tissue treatment movement of an end effector during a surgical procedure. At 17002, a control circuit determines a default control algorithm to affect the tissue treatment movement of the end effector. For example, the default control algorithm may be selected based on the surgical procedure being performed. In another case, the default control algorithm may be selected based on the type of tissue to be treated by the end effector. The default control algorithm may have default values or distributions for a default speed of a motor, a default current of the motor, a default maximum load of a drivetrain, a default travel distance of the drivetrain, and other possible parameter settings of the tissue treatment movement.

[0122] At 17004, the control circuit receives an input indicating a situational parameter associated with the surgical procedure or an aspect of the surgical site that is unrelated to the tissue treatment movement of the end effector. For example, the parameter may be unrelated to parameters associated with a firing member or other parts of a firing train. In some aspects, the situational parameter is an articulation movement angle of the end effector, the presence of a support on a staple cartridge, the configuration of the staple cartridge, the shelf life of the staple cartridge, the tissue thickness, or any suitable parameter that is unrelated to the tissue treatment movement of the end effector. In various cases, the control circuit may receive the situational parameter from a sensor coupled to the control circuit. For example, sensor 1938( Figure 13 ) or sensor 630( Figure 14 ) may provide an input to the control circuit indicating the situational parameter. In an alternative case, the control circuit may receive image data and the parameter may be calculated by the control circuit based on the image data. In yet another case, the parameter may be directly input by a user, for example, through a user interface.

[0123] Once the control circuit receives the situational parameter, the control circuit may adjust 17006 various parameters of the default control algorithm that implements the tissue treatment movement of the end effector based on the situational parameter. In various cases, the control circuit may adjust, for example, the speed, rate of change of speed, stroke, load limit, or delay time of the default control algorithm based on the situational parameter. For example, the speed of a firing member or other parts of a firing train may be decreased or increased based on the situational parameter to improve surgical outcomes.

[0124] After the default control algorithm is adjusted, the control circuit may control 17008 a motor of the surgical system based on the adjusted control algorithm to implement the tissue treatment movement of the end effector. In various cases, the adjustment of the default control algorithm may occur preoperatively. In other cases, the adjustment of the default control algorithm may occur intraoperatively. Using the adjusted control algorithm is beneficial for the surgical procedure because it takes into account the effects on the tissue treatment movement caused by the situational parameter.

[0125] In various situations, the situational parameter is the joint movement angle of the end effector of the surgical system. Although the joint movement angle of the end effector is not related to the tissue treatment movement, in some cases, the joint movement angle affects one or more parameters that can affect the tissue treatment movement, such as, for example, the firing force (FTF). A larger joint movement angle results in a non-linear increase in losses in the firing drive system because the firing drive system is pushed around the joint movement joint that defines the larger joint movement angle. Moving the firing drive system around the joint movement joint can cause a larger force on the motor based on the joint movement angle. For example, when the joint movement angle is zero (straight configuration), then due to the joint movement angle, the additional force on the motor is minimal or even non-existent. On the other hand, when the end effector undergoes joint movement through the joint movement joint, the FTF increases, for example, based on the joint movement angle of the end effector. Therefore, adjusting the default control algorithm that implements the tissue treatment movement in response to the joint movement angle can mitigate the impact of joint movement on the firing system load.

[0126] The default control algorithm can be configured for the joint movement joint in the straight configuration. For example, the default control algorithm has a threshold force set for the joint movement joint in the straight configuration. However, the joint movement joint may need to undergo joint movement to reach the tissue area that needs to be treated. The joint movement joint that undergoes joint movement increases the force on the motor required to close and fire the end effector. The control circuit can identify that the end effector undergoes joint movement before closing and firing the end effector. The control circuit can use the current joint movement angle and calculate the increase in force that "should" be required to maintain the same force on the tissue if the joint movement joint were in the straight configuration. The closing force and the firing force are directly related to the joint movement angle, and therefore the force boundary values on the motor must be adjusted higher due to the joint movement angle.

[0127] In various aspects, the default control algorithm defines a threshold force associated with the tissue treatment movement of the end effector. The threshold force ensures that the FTF remains within a safe operating range, for example, by triggering a change in the tissue treatment movement, such as a pause or at least a deceleration of the tissue treatment movement, so that the tissue being treated can reach a better compression state. As previously explained, although the joint movement angle of the end effector is not related to the tissue treatment movement, it may interfere with the force transmission of the end effector and, therefore, cause the threshold force set by the default control algorithm to be inaccurate.

[0128] To compensate for the joint movement angle, the default control algorithm can be adjusted to change the threshold force, or different threshold forces can be selected based on the joint movement angle of the end effector. Other parameters associated with the tissue treatment movement can also be adjusted based on the joint movement angle of the end effector, such as the closing speed, pause time (e.g., the pause between clamping and firing), and the initial speed of the firing member. For example, the initial speed of the firing member may need to be reduced as the joint movement angle increases to ensure that an appropriate force is applied to the cutting member.

[0129] In various aspects, the default control algorithm can be adjusted to change the speed of the motor, thereby controlling the impact force acting on the motor within a desired range. The impact force acting on the motor is also affected by the joint movement angle. The force loss due to the joint movement angle can cause the motor to work harder to achieve the desired FTF. In some cases, the control circuit can pause the tissue treatment movement to provide additional time for tissue relaxation through fluid outflow, for example, to reduce the FTF desired to complete the tissue treatment movement.

[0130] Figure 16 A diagram depicting a surgical instrument 17010 shown at three different joint movement angles is provided. The joint movement angle is measured at the joint movement joint 17014 between the shaft 17012 and the end effector 17016. The diagram shows an end effector 17016 having two jaws 17018, 17020. The joint movement angle σ2 shows the surgical instrument 17010 in a straight or substantially straight configuration. The joint movement angles σ1 and σ3 show the surgical instrument jointed in two different directions. The greater the degree to which the surgical instrument joints away from the straight configuration, the greater the force required for the motor drive train to achieve the tissue treatment movement through the joint movement joint 17014. This additional force increases the impact force acting on the motor. One way to reduce the impact force acting on the motor is to drive the motor at different speeds based on the joint movement angle. For example, as shown in Table 17022, when the joint movement joint 17014 joints away from the straight configuration, the speed of the motor can be reduced. Thus, the joint movement angle can be used as an input to the control circuit to adjust the firing speed of the default control algorithm.

[0131] Figure 17 A flowchart 17030 depicting a process executable by a control circuit (e.g., control circuit 1932( Figure 13 ), surgical hub 1953( Figure 13 ), or control circuit 620( Figure 14 )) in accordance with at least one aspect of the present disclosure to adjust the tissue treatment movement of a surgical procedure is provided. In the illustrated example, the control circuit determines 17032 the default control algorithm to affect the tissue treatment movement of the end effector, as described in connection with Figure 15as described in the process.

[0132] At 17034, the control circuit determines the joint movement angle of the surgical instrument, as Figure 16 shown. In at least one aspect, the control circuit receives data indicative of the joint movement angle, and the control circuit uses this data to determine the joint movement angle. In one aspect, the control circuit determines the joint movement angle from image data. In another aspect, the control circuit determines the joint movement angle from sensor data. In yet another aspect, the control circuit determines the joint movement angle based on the linear movement of the joint movement actuator that effects the joint movement of the end effector. The movement of the joint movement actuator can be measured by any suitable sensor. Additionally or alternatively, the linear movement of the joint movement actuator can be calculated based on the speed of the motor that drives the linear movement of the joint movement actuator and the time to operate the motor to effect the linear movement of the joint movement actuator. The present disclosure contemplates other suitable mechanisms for determining the joint movement angle of the surgical instrument, but they are not described for the sake of brevity.

[0133] At 17036, the control circuit adjusts the default control algorithm based on the joint movement angle. The default control algorithm can be configured for a joint movement joint in a straight configuration. The control circuit can adjust one or more parameters of the default control algorithm, such as, for example, a force threshold based on the joint movement angle. In at least one aspect, the target magnitude of the compression applied by the jaws of the end effector to the tissue can be adjusted based on the joint movement angle. The control circuit can also adjust the speed of the tissue treatment movement based on the joint movement angle. In at least one example, the control circuit reduces the clamping speed and / or the firing speed in the default control algorithm to reduce the impact force acting on the motor. The control circuit can also adjust the delay time in the default control algorithm based on the determined joint movement angle. In at least one case, the delay time is a firing delay time, which represents the time between the completion of the closing of the end effector and the start of the firing stroke. The firing delay time allows fluid to flow out of the grasped tissue before the firing stroke is initiated. In at least one example, the firing delay time is based on the joint movement angle of the end effector. In at least one example, for a first angle α1, a first delay time t1 is selected, and for a second angle α2 greater than the first angle α1, a second delay time t2 is selected, where the second delay time is greater than the first delay time. In some cases, the control circuit selects the firing delay time based on a proportional relationship between the firing delay time and the joint movement angle. In other cases, the control circuit selects the firing delay time based on an inverse proportional relationship between the firing delay time and the joint movement angle. The relationship between the firing delay time and the joint movement angle can be defined by a formula, a look-up table, or any suitable format accessible to the control circuit.

[0134] Once the default control algorithm is adjusted based on the joint movement angle, the control circuit can continue to control the motor at an appropriate time during the surgery. In various aspects, the adjustment of the default control algorithm can occur preoperatively or intraoperatively. At 17038, the control circuit controls a motor (e.g., motor assembly 1939( Figure 13 ), closing motor 603, or firing motor 602) to perform a tissue treatment movement based on the adjusted control algorithm. Using the adjusted control algorithm is beneficial for the surgical procedure as it takes into account the effect of the joint movement angle on the tissue treatment movement.

[0135] The control circuit can determine the joint movement angle in a variety of ways. In one aspect, the joint movement angle is calculated based on the distance that a motor (such as motor 606a, 606b, or motor assembly 1939) drives a drivetrain member (such as drive assembly 1941). In one aspect, the joint movement angle is determined based on the movement of a joint movement drive member. The movement of the longitudinally movable drive member can be tracked by a positioning system, where the joint movement drive is driven by a motor. As a result of tracking the movement of the joint movement system, the control circuit can track, for example, the joint movement angle of the end effector. In various cases, as a result, the joint movement angle can be determined based on the longitudinal displacement of the joint movement drive member. Thus, the position signal provided to the control circuit by the positioning system can be used as an input for calculating the joint movement angle.

[0136] In another aspect, the joint movement angle can be determined by positioning a sensor on the joint movement joint. The sensor can be configured to be able to sense the rotation of the joint movement joint using a positioning system adapted to measure the absolute rotation of the joint movement joint. For example, the sensor arrangement can include a position sensor, magnet 1202, and a magnet retainer adapted to sense the rotation of the joint movement joint. The position sensor includes one or more magnetic sensing elements (such as Hall elements) and is arranged adjacent to the magnet. The position sensor can be adapted to measure the rotation angle of the joint movement joint. Thus, as the magnet rotates, the magnetic sensing elements of the position sensor determine the angular position of the magnet located on the joint movement joint. This information is provided to the control circuit to calculate the joint movement angle of the joint movement joint. Thus, the joint movement angle of the end effector can be determined by a positioning system adapted to measure the absolute rotation of the joint movement joint.

[0137] In another aspect, the joint movement angle can be determined from visual data of the surgical site. See Figure 18, the surgical instrument 17010 is shown in the view 17042 of the surgical site. A camera 17040 located on a different surgical device can be used to view the surgical instrument 17010 at the surgical site. For example, the camera 17040 can provide image data of the shaft 17012 relative to the end effector 17016. In some aspects, the image data is video data. In some other aspects, the image data is a static image of the surgical site. The control circuit can receive the image data from the camera 17040 and then use the image data to determine the joint movement angle. In at least one example, the control circuit performs image analysis to locate the shaft 17012 and the end effector 17016 in the image. Then, the control circuit determines the orientation of the shaft 17012 and the orientation of the end effector 17016. Then, the control circuit determines the joint movement angle based on the orientation of the shaft 17012 and the orientation of the end effector 17016. Then, the control circuit adjusts the default control algorithm based on the joint movement angle.

[0138] Figure 19 Depicts a flowchart 17070 showing a process that can be performed by a control circuit (e.g., control circuit 1932( Figure 13 ), surgical hub 1953( Figure 13 ), or control circuit 620( Figure 14 )) to control tissue treatment movement. In the illustrated example, the control circuit determines 17072 a default control algorithm to affect the tissue treatment movement of the end effector, as described in the process associated with Figure 15 .

[0139] The control circuit receives 17074 image data from a camera 17040 at the surgical site. In at least one case, image data is received from one camera 17040. In other cases, three-dimensional images of the joint movement joint are obtained using multiple cameras. Then, the control circuit performs 17076 image analysis on the image data to determine the orientation of the shaft and the orientation of the end effector. Once the orientations of the shaft and the end effector are known, the control circuit determines 17078 the joint movement angle based on the image analysis. This process of calculating the joint movement angle from the image data is described in more detail in conjunction with Figure 18 . In at least one aspect, the image analysis occurs on a remote server or a surgical hub (e.g., surgical hub 1953( Figure 13 ). In at least one example, the remote server receives the image data directly from the camera 17040 or from the control circuit. Then, the remote server performs image analysis to determine the joint movement angle, as described above in conjunction with Figure 18 . After determining the joint movement angle, the remote server transmits the joint movement angle to the control circuit.

[0140] Once the joint movement angle is determined, the control circuit adjusts the 17080 default control algorithm based on the joint movement angle, as described in the process associated with Figure 17 . For example, the control circuit can adjust the speed of the tissue treatment movement, the force generated at the motor driving the tissue treatment movement, the delay time during the tissue treatment movement, etc. In various aspects, the adjustment of the default control algorithm can occur preoperatively or intraoperatively. At 17082, the control circuit controls a motor (e.g., motor assembly 1939( Figure 13 ), closure motor 603, or firing motor 602) to perform the tissue treatment movement based on the adjusted control algorithm. Using the adjusted control algorithm is beneficial for surgery because it takes into account the impact on the tissue treatment movement caused by the joint movement angle.

[0141] There are many situational parameters that are unrelated to the tissue treatment movement and can be used to adjust the default control algorithm to benefit surgery. As described above, the joint movement angle is one of these parameters. Tissue parameters, staple cartridge configuration, and / or bolster parameters are also examples of situational parameters that are unrelated to the tissue treatment movement and can be used, for example, to adjust the default control algorithm of the surgical system.

[0142] The staple cartridge configuration includes one or more of staple cartridge type, staple cartridge life (e.g., time since manufacture or production), slider type, staple type, staple height, and / or staple material composition (e.g., stainless steel, magnesium, etc.). Tissue parameters include tissue type (e.g., stomach, liver, lung), tissue thickness, tissue disease state, and / or tissue compressibility. Bolster parameters include bolster type, bolster material composition, bolster thickness, bolster compressibility, bolster position (e.g., on the anvil, on the staple cartridge, on both the anvil and the staple cartridge), and / or type of attachment of the bolster. In some aspects, the control circuit (e.g., control circuit 1932( Figure 13 ), surgical hub 1953( Figure 13 ), or control circuit 620( Figure 14 )) adjusts the default control algorithm based on, for example, one or more of tissue parameters, bolster parameters, joint movement angle, and / or staple cartridge configuration.

[0143] In some aspects, the control circuit adjusts the default control algorithm to change the maximum speed and / or maximum load of staple firing to correspond to the requirements of the staples in the staple cartridge. In another aspect, the control circuit takes into account the life of the staples in the staple cartridge and slows down the actuation speed of the staple firing stroke to fire the staples more slowly due to the life of the staples. In yet another aspect, the control circuit detects the presence of the bolster and adjusts the speed of the firing stroke based on the materials of the bolster and the staples. The control circuit can also adjust the default control algorithm based on all the information determined according to the cartridge configuration.

[0144] The control circuit can determine the cartridge configuration in a variety of ways. In one aspect, for example, the staple cartridge configuration can be directly input by the user through a user interface after or before inserting the staple cartridge into the elongate channel of the end effector. In another aspect, the cartridge configuration can be determined by the control circuit. In at least one aspect, the control circuit receives image data of the staple cartridge after or before inserting the staple cartridge into the elongate channel of the end effector jaws. In some cases, the image data is received from a camera at the surgical site. In such cases, the control circuit determines the cartridge configuration based on the image data. In at least one aspect, the control circuit determines the cartridge configuration based on the visual recognition features of the staple cartridge identified from the image data. For example, the visual recognition features can be recognition color, recognition number, and / or recognition shape. In certain cases, the control circuit retrieves the cartridge configuration from a memory storing a look-up table that lists, for example, visual recognition features (e.g., color) and corresponding cartridge configurations.

[0145] Another way for the control circuit to determine the staple cartridge configuration is, for example, through an RFID chip located inside the staple cartridge.

[0146] Figure 20 An end effector 17054 is shown having two jaws 17056, 17058. Jaw 17058 includes an elongate channel configured to receive a staple cartridge having an RFID chip 17060. In one aspect, the control circuit (e.g., control circuit 1932( Figure 13 ), surgical hub 1953( Figure 13 ), or control circuit 620( Figure 14 )) can be coupled to an RFID scanner 17050. The RFID scanner 17050 can wirelessly 17052 read the RFID chip 17060 when the staple cartridge is inserted to determine the cartridge configuration of the inserted staple cartridge. For example, the insertion of the staple cartridge can activate a switch. The control circuit activates the RFID scanner 17050 to scan the RFID chip 17060 inside the inserted staple cartridge when receiving a signal from the switch. In one aspect, the RFID chip 17060 provides an identification number of the staple cartridge to the RFID scanner 17050 and the control circuit. In this aspect, the control circuit uses the identification number to determine the staple cartridge configuration. For example, the identification number can be compared with a look-up table to determine information regarding the staple cartridge configuration.

[0147] Figure 21 A flowchart 17090 is depicted showing a process that can be performed by a control circuit (e.g., control circuit 1932( Figure 13 ), surgical hub 1953( Figure 13 ), or control circuit 620( Figure 14 )) to control tissue treatment movement in accordance with at least one aspect of the present disclosure. In the illustrated example, the control circuit determines 17092 a default control algorithm to affect the tissue treatment movement of the end effector, as described in connection withFigure 15 as described in the process.

[0148] At 17094, the control circuit detects the presence of the staple cartridge. In at least one aspect, the control circuit receives data indicative of the presence of the staple cartridge. For example, insertion of the staple cartridge activates a switch or proximity sensor that sends a signal to the control circuit, enabling the control circuit to determine that the staple cartridge has been inserted. In an alternative aspect, the control circuit may receive image data and the presence of the staple cartridge may be determined by the control circuit based on the image data. For example, the control circuit, a remote server, or a surgical hub (e.g., surgical hub 1953( Figure 13 )) may perform image analysis on the image data to determine the presence of the staple cartridge, similar to the process described in connection with Figure 19 In yet another aspect, the presence of the staple cartridge is directly input by the user via a user interface.

[0149] Once the presence of the staple cartridge is detected, the control circuit determines the configuration of the staple cartridge at 17096. In at least one aspect, the control circuit receives data indicative of the configuration of the staple cartridge. As discussed above, the control circuit may determine the configuration of the staple cartridge in a variety of ways, including, for example, via an RFID signal, as described in connection with Figure 20 as described.

[0150] After the control circuit determines the staple cartridge configuration, the control circuit adjusts the default control algorithm at 17098 based on the staple cartridge configuration. In at least one aspect, the control circuit adjusts one or more parameters of the tissue treatment motion based on the staple cartridge configuration. In one aspect, the control circuit adjusts the default control algorithm to change the maximum speed and / or maximum load during the tissue treatment motion, thereby corresponding to the requirements of the staple material composition in the staple cartridge. Different material compositions require different tissue treatment motions to achieve optimal staple formation or deformation. The parameters of the tissue treatment motion may be selected to optimize the tissue treatment motion based on the material composition of the staples to be deployed into the tissue via the tissue treatment motion. Such aspects include, for example, firing speed, FTF, delay or pause during firing, and / or firing acceleration.

[0151] In one aspect, the memory stores tissue treatment motion parameters and corresponding staple material compositions. In such aspects, the control circuit selects the tissue treatment motion parameters based on the detected staple material composition. In one aspect, the material of the staple requires a certain amount of force to properly form the staple, and having too much force may cause the staple to break. By reducing the speed and / or maximum load, the control circuit may mitigate this problem.

[0152] In another aspect, the control circuit reduces the initial acceleration of the motor during the tissue treatment movement based on the cartridge configuration. In yet another aspect, the control circuit may consider the life of the staples in the staple cartridge and adjust the default control algorithm to slow the actuation speed of the staple firing stroke to fire the staples more slowly due to the life of the staples. For example, as the staples age in the staple cartridge, they may slightly deteriorate, which can reduce their ability to withstand the forces associated with staple formation without breaking. The control circuit can slow the actuation speed, which in turn can apply less force to the staples during firing to prevent any damage to the staples.

[0153] In yet another aspect, the control circuit determines the presence of a support from the staple cartridge configuration and adjusts the tissue treatment movement based on the presence of the support, as detailed in Figure 22 . In yet another aspect, the control circuit adjusts the delay time in the default control algorithm based on the staple cartridge configuration, similar to the delay time adjustment described in the process associated with Figure 17 . For example, the firing delay time can be based on the staple cartridge configuration rather than or in addition to the joint movement angle. In at least one case, the delay time occurs during the application of the staples to the tissue. For example, the control circuit applies a delay after a certain percentage of the staples in the staple cartridge have been applied to allow for a reduction in the expected forces during suturing and cutting. In some aspects, the delay is determined based on the staple cartridge configuration.

[0154] In some aspects, the control circuit uses multiple parameters determined based on the staple cartridge configuration to adjust the default control algorithm. For example, the control circuit can adjust the default control algorithm based on the life of the staples in the staple cartridge and the material of the staples in the staple cartridge. However, any number of parameters from the staple cartridge configuration can be used to determine the adjustment to the tissue treatment movement of the end effector.

[0155] At 17100, the control circuit controls a motor (e.g., motor assembly 1939 ( Figure 13 ), closure motor 603, or firing motor 602) to perform the tissue treatment movement based on the adjusted control algorithm. Using the adjusted control algorithm is beneficial for the surgical procedure because it takes into account the effects on the tissue treatment movement caused by the staple cartridge configuration.

[0156] Figure 22 Illustrated is a flowchart 17110 depicting a process that can be performed by a control circuit (e.g., control circuit 1932 ( Figure 13 ), surgical hub 1953 ( Figure 13 ), or control circuit 620 ( Figure 14 )) to adjust the tissue treatment movement of a surgical procedure. In the illustrated example, the control circuit determines 17112 the default control algorithm to affect the tissue treatment movement of the end effector, as described in the process associated with Figure 15 .

[0157] At 17114, the control circuit detects the presence of the support. In at least one aspect, the control circuit receives data indicating the presence of the support. In one aspect, the control circuit may detect the support from a sensor that detects light located on the staple cartridge. For example, when it is darker above the sensor, there is a support covering the sensor. The sensor may transmit a signal to the control circuit, and the control circuit determines the presence of the support on the staple cartridge based on this signal. In another aspect, the control circuit receives image data and the presence of the support may be determined by the control circuit from the image data, as described in the process associated with Figure 23 In yet another aspect, the presence of the support may be directly input by the user through the user interface. In yet another aspect, during the process of identifying the configuration of the staple cartridge inserted into the end effector, the control circuit may receive data indicating the presence of the support, as described in the process associated with Figure 21 In this aspect, the staple cartridge configuration indicates that the support is attached to the staple cartridge.

[0158] Once the presence of the support is detected, the control circuit determines the configuration of the support at 17116. The configuration of the support includes all the support parameters as described above. In at least one aspect, the control circuit receives data indicating the configuration of the support. The control circuit can determine the configuration of the support in a variety of ways. In one aspect, the configuration of the support is directly input by the user through the user interface. For example, the user may input the identification number of the support and / or the staple cartridge by directly entering the number or scanning the code on the support, the support package, the staple cartridge, or the staple cartridge package. Then, the control circuit compares the identification data with a look-up table to determine, for example, the configuration of the support. In another aspect, the control circuit receives image data from a camera at the surgical site, and the configuration of the support can be determined from the image data. For example, the control circuit, a remote server, or a surgical hub (e.g., surgical hub 1953( Figure 13 )) may perform image analysis on the image data to determine the configuration of the support, similar to the process described in the process associated with Figure 19 For example, the support may have an identification number, a color, or other indicators that can be detected by the control circuit from the analysis of the image data. In one aspect, the control circuit compares the identification data with a look-up table to determine the support parameters. Additionally, depending on the type of support, the attachment type of the support may be determined by the identification number on the sleeve of the support or the identification number on the thread of the support. In yet another aspect, the control circuit receives the support configuration from an RFID scanner, similar to the process described in the process associated with Figure 20

[0159] ​After the control circuit determines the bolster configuration, the control circuit adjusts the 17118 default control algorithm based on the bolster configuration. In at least one aspect, the control circuit adjusts one or more parameters of the tissue treatment motion based on the bolster configuration. In one aspect, when a bolster is present, the control circuit adjusts the default control algorithm to change the motor speed profile to have a slower initial speed, thereby minimizing issues associated with initiating the tissue treatment motion. In another aspect, the control circuit adjusts the speed of the motor (e.g., motor assembly 1939( Figure 13 )) or the closing motor 603( Figure 14 )) during the clamping portion of the tissue treatment motion to clamp the tissue more slowly. In another aspect, the control circuit may adjust the speed of the motor (e.g., motor assembly 1939( Figure 13 )) or the firing motor 602( Figure 14 )) during the firing stroke based on the bolster configuration to increase the cutting ability when a bolster is present. For example, the control circuit may adjust the firing speed to slow down or speed up based on the elasticity of the bolster and how much the bolster is compressed. In yet another aspect, the control circuit adjusts the delay time in the default control algorithm based on the bolster configuration, similar to the delay time adjustment described in the process associated with Figure 17 . In one aspect, the firing delay time may be based on the bolster configuration rather than or in addition to the joint motion angle.

[0160] As discussed above, the control circuit may use the presence of the bolster, the configuration of the bolster, and / or the thickness of the bolster as inputs to adjust the default control algorithm. This process may allow the control circuit to adjust the default control algorithm to adapt the device speed and delay period based on the bolster. In addition to the bolster, the control circuit also detects the presence of a higher stiffness appendage that is part of the bolster. For example, the control circuit obtains this information from the bolster configuration. The higher stiffness appendage may be a meltblown nonwoven, a mesh-based reinforcement, or some other type of reinforcement. The control circuit adjusts the default control algorithm to change the device speed and delay time based on the higher stiffness appendage. In at least one aspect, the control circuit adjusts the default control algorithm to reduce the firing speed when moving through the higher stiffness appendage.

[0161] At 17120, the control circuit controls the motor (e.g., motor assembly 1939( Figure 13 ), the closing motor 603, or the firing motor 602) to perform the tissue treatment motion based on the adjusted control algorithm. Using the adjusted control algorithm is beneficial for the surgical procedure as it takes into account the effects on the tissue treatment motion caused by the bolster configuration.

[0162] Figure 23 Illustrated depicts that according to at least one aspect of the present disclosure, it can be performed by a control circuit (e.g., control circuit 1932( Figure 13)), surgical hub 1953( Figure 13 ) or control circuit 620( Figure 14 )) executes the process flow diagram 17130 of the process for adjusting the tissue treatment movement of a surgical procedure. In the illustrated example, the control circuit determines 17132 a default control algorithm to affect the tissue treatment movement of the end effector, as described in the process in conjunction with Figure 15 .

[0163] At 17134, the control circuit receives image data from a camera at the surgical site where the tissue treatment movement is to be performed, as described in the process in conjunction with Figure 19 . Then, the control circuit detects 17136 the presence of a support on the staple cartridge, as described in the process in conjunction with Figure 22 . In one aspect, the control circuit performs image analysis on the image data to determine the presence of the support. Once the presence of the support is detected, the control circuit performs 17138 image analysis on the image data to determine the compression of the support after the clamping movement of the end effector. In one aspect, the imaging analysis determines the compression of the support by comparing the thickness of the support after the clamping movement with the thickness of the support before clamping the tissue. In at least one example, the imaging data collected during the surgical procedure provides image data of a side view of the support before clamping the tissue and image data after clamping the tissue. In one aspect, the imaging analysis can extract the thickness of the support from the image by using a known length or distance on the image to give the dimensions of the object. For example, the imaging analysis can use the length of the end effector or some markings on a surgical instrument of known size to extract the thickness of the support. In one aspect, the control circuit then determines the compression of the support based on the thickness of the support before and after clamping. As described above in conjunction with Figure 19 , the image analysis can be performed on a remote server or a surgical hub (e.g., surgical hub 1953( Figure 13 ))

[0164] At 17140, the control circuit adjusts the default control algorithm based on the support compression. In at least one aspect, the control circuit adjusts the motor speed during the tissue treatment movement to improve the cutting ability through the compressed support. For example, the control circuit adjusts the motor speed based on the compression to slow down or speed up. At 17142, the control circuit controls a motor (e.g., motor assembly 1939( Figure 13 ), closing motor 603 or firing motor 602) to perform the tissue treatment movement based on the adjusted control algorithm. Using the adjusted control algorithm is beneficial for the surgical procedure because it takes into account the impact on the tissue treatment movement caused by the compression of the support in the cartridge configuration.

[0165] Figure 24Illustrates a flowchart 17150 depicting a process executable by a control circuit (e.g., control circuit 1932( Figure 13 ), surgical hub 1953( Figure 13 ), or control circuit 620( Figure 14 )) to adjust a tissue treatment motion of a surgical procedure. In the illustrated example, the control circuit determines 17152 a default control algorithm to affect the tissue treatment motion of the end effector, as described in the process associated with Figure 15 . At 17154, the control circuit receives a first input indicative of a first situational parameter associated with the surgical procedure or an aspect of the surgical site that is unrelated to the tissue treatment motion of the end effector. At 17156, the control circuit receives a second input indicative of a second situational parameter associated with the surgical procedure or an aspect of the surgical site that is unrelated to the tissue treatment motion of the end effector. For example, the first situational parameter and the second situational parameter may be similar to the situational parameters described in the process associated with Figure 15 .

[0166] After the control circuit receives the first situational parameter, the control circuit performs 17158 a first adjustment to the default control algorithm based on the first situational parameter. In some aspects, the first adjustment occurs before the control circuit receives a second input indicative of the second situational parameter. After the control circuit receives the second situational parameter, the control circuit performs 17158 a second adjustment to the default control algorithm based on the second situational parameter. In various cases, the control circuit may adjust the speed, rate of change of speed, stroke, load limit, or delay time of the default control algorithm based on the first situational parameter or the second situational parameter. For example, the speed of a firing member or other part of the firing train may be decreased or increased based on the first situational parameter or the second situational parameter to improve surgical outcomes. In some aspects, the control circuit performs the first adjustment to the default control algorithm before performing the second adjustment. In some aspects, the first adjustment and the second adjustment occur simultaneously.

[0167] After all adjustments to the default control algorithm have been made, the control circuit may then continue to control the motor at an appropriate time during the surgery. In at least one aspect, both adjustments to the default control algorithm occur preoperatively. In at least one alternative aspect, both adjustments to the default control algorithm occur intraoperatively. In at least one other aspect, one adjustment to the default control algorithm occurs preoperatively and the other adjustment occurs intraoperatively. Once the time to perform the tissue treatment is reached, the control circuit controls 17162 the motor (e.g., motor assembly 1939( Figure 13 ), closure motor 603, or firing motor 602) to perform the tissue treatment motion based on the adjusted control algorithm. Using the adjusted control algorithm is beneficial for the surgical procedure because it takes into account the effects on the tissue treatment motion caused by the first situational parameter and the second situational parameter.

[0168] Following the same process described in flow chart 17150, any number of adjustments can be made to the default control algorithm. For example, 3, 4, 5, or any number of adjustments can be made to the default control algorithm based on different context parameters.

[0169] Figure 25 Flow chart 17170 is illustrated depicting a process that can be performed by a control circuit to adjust a tissue treatment motion of a surgical procedure according to at least one aspect of the present disclosure. In the illustrated example, the control circuit determines 17172 a default control algorithm to affect the tissue treatment motion of the end effector, as described in the process associated with Figure 15 the process described.

[0170] The control circuit detects 17174 the presence of a staple cartridge and determines 17176 the configuration of the staple cartridge, as described in the process associated with Figure 21 the process described. At 17178, the control circuit determines the joint motion angle of the surgical instrument, as described in the process associated with Figure 17 the process described.

[0171] After the control circuit determines the staple cartridge configuration, the control circuit performs 17182 a first adjustment to the default control algorithm based on the staple cartridge configuration, as described in the process associated with Figure 21 the process described. After the control circuit determines the joint motion angle, the control circuit performs 17180 a first adjustment to the default control algorithm based on the joint motion angle, as described in the process associated with Figure 17 the process described. In some aspects, the first adjustment to the default control algorithm can occur before the control circuit determines the joint motion angle. In one aspect, a user inserts a staple cartridge into the end effector such that the control circuit detects the presence of the staple cartridge, and then the control circuit determines the configuration of the staple cartridge. Then, the control circuit adjusts the default control algorithm based on the configuration of the staple cartridge. After this process, the user moves the end effector to the surgical site and articulates the joint motion joint to reach the desired position. Then, the control circuit can determine the joint motion of the joint motion joint and perform a second adjustment to the default control algorithm based on the joint motion angle. In some aspects, the control circuit can perform a first adjustment to the default control algorithm before the second adjustment. In some aspects, the first adjustment and the second adjustment can occur simultaneously before performing the tissue treatment motion. As described in the process associated with Figure 24 In some aspects, the adjustment to the default control algorithm can occur preoperatively, intraoperatively, or both preoperatively and intraoperatively.

[0172] After all adjustments to the default control algorithm have been made, the control circuit controls 17184 a motor (e.g., motor assembly 1939( Figure 13) Close the motor 603 or the firing motor 602) to perform tissue treatment movement based on the adjusted control algorithm. Using the adjusted control algorithm is beneficial for surgery because it takes into account the impact on tissue treatment movement caused by joint movement angles and cartridge configurations.

[0173] Embodiment

[0174] Aspects of the subject matter described herein are set forth in the following embodiments.

[0175] Example 1 - A surgical instrument for treating tissue during surgery. The surgical instrument includes an end effector that includes an anvil and a cartridge. The surgical instrument further includes a drive train operably coupled to the end effector, a motor configured to actuate the drive train based on a default control algorithm to affect the tissue treatment movement of the end effector, and a sensor configured to monitor an independent parameter of the surgery. The independent parameter is independent of the movement of the end effector. The surgical instrument further includes a control circuit coupled to the motor and the sensor. The control circuit is configured to receive an input indicating the independent parameter from the sensor and adjust the default control algorithm based on the independent parameter.

[0176] Example 2 - The surgical instrument according to Example 1, wherein the independent parameter includes a first independent parameter, wherein the surgical instrument further includes a second sensor configured to monitor a second independent parameter of the surgery, and wherein the second independent parameter is different from the first independent parameter. The control circuit is further configured to receive an input indicating the second independent parameter from the second sensor and adjust the default control algorithm based on the first independent parameter and the second independent parameter.

[0177] Example 3 - The surgical instrument according to Example 1 or 2, wherein the movement is a closing movement of the end effector to grasp tissue between the anvil and the cartridge.

[0178] Example 4 - The surgical instrument according to Example 1 or 2, wherein the movement is a firing movement of the end effector to deploy staples into the tissue.

[0179] Example 5 - The surgical instrument according to any one of Examples 1 to 4, wherein the default control algorithm includes at least one of the group consisting of: a default speed of the motor, a default current of the motor, a default maximum load of the drive train, and a default travel distance of the drive train.

[0180] Example 6 - The surgical instrument according to any one of Examples 1 to 5, the surgical instrument further comprising a shaft and a joint movement joint extending between the shaft and the end effector. The end effector is capable of articulating relative to the shaft about the joint movement joint.

[0181] Example 7 - The surgical instrument according to Example 6, wherein the independent parameter is the articulation angle of the end effector relative to the shaft.

[0182] Example 8 - The surgical instrument according to Example 7, wherein the control circuit is configured to be able to adjust the default control algorithm based on the articulation angle.

[0183] Example 9 - The surgical instrument according to Example 8, wherein the control circuit reduces the speed of the motor as the articulation angle increases.

[0184] Example 10 - The surgical instrument according to any one of Examples 1 to 6, wherein the independent parameter is based on the presence of a support.

[0185] Example 11 - The surgical instrument according to any one of Examples 1 to 6, wherein the independent parameter is based on the type of staple cartridge.

[0186] Example 12 - The surgical instrument according to Example 11, wherein the staple cartridge type provides a staple material composition, and wherein the control circuit is further configured to be able to set the maximum speed of the motor based on the staple material composition.

[0187] Example 13 - The surgical instrument according to any one of Examples 1 to 6, wherein the independent parameter is based on the staple cartridge life, and wherein the control circuit reduces the motor speed based on the staple cartridge life.

[0188] Example 14 - The surgical instrument according to any one of Examples 1 to 13, wherein the sensor includes a radio frequency scanner.

[0189] Example 15 - A surgical instrument for treating tissue during a surgical procedure. The surgical instrument includes an end effector that includes an anvil and a staple cartridge. The surgical instrument further includes a drive train assembly coupled to the end effector, a motor assembly configured to be able to actuate the drive train based on default control instructions to affect the tissue treatment movement of the end effector, and a control circuit coupled to the motor. The control circuit is configured to be able to receive an input indicating a context parameter associated with the surgical procedure. The context parameter is independent of the drive train. The context parameter is independent of the motor. The control circuit is further configured to be able to adjust the default control instructions based on the context parameter.

[0190] Example 16 - The surgical instrument according to Example 15, wherein the input is received from a user.

[0191] Example 17 - The surgical instrument according to Example 15, wherein the input is the result of image processing analysis.

[0192] Example 18 - The surgical instrument according to any one of Examples 15 to 17, wherein the default control instructions include at least one of a group comprising: a default speed of the motor assembly, a default current of the motor assembly, a default maximum load of the drivetrain assembly, and a default travel distance of the drivetrain assembly.

[0193] Example 19 - A surgical instrument for treating tissue during a surgical procedure. The surgical instrument includes an end effector that includes a first jaw and a second jaw, the second jaw being movable relative to the first jaw to grasp the tissue between the first jaw and the second jaw. The surgical instrument further includes a drivetrain assembly coupled to the end effector, a motor assembly configured to actuate the drivetrain based on default control instructions to affect the tissue treatment movement of the end effector, and a control circuit coupled to the motor assembly. The control circuit is configured to receive an input indicative of a parameter associated with the surgical procedure. The parameter is independent of the drivetrain assembly. The parameter is independent of the motor assembly. The control circuit is further configured to adjust the default control instructions based on the parameter.

[0194] Example 20 - The surgical instrument according to Example 19, wherein adjusting the default control instructions based on the parameter includes adjusting the default control instructions prior to performing the tissue treatment movement.

[0195] Many of the surgical instrument systems described herein are actuated by an electric motor; however, the surgical instrument systems described herein can be actuated in any suitable manner. In various cases, for example, the surgical instrument systems described herein can be actuated by a manually operated trigger. In certain cases, the motors disclosed herein can include a part or parts of a robotic control system. Additionally, any end effector and / or tool assembly disclosed herein can be used with a robotic surgical instrument system. For example, U.S. Patent Application Serial No. 13 / 118,241 (now U.S. Patent 9,072,535), entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", discloses several examples of robotic surgical instrument systems in more detail and is incorporated herein by reference in its entirety.

[0196] The surgical instrument system described herein has been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not limited thereto. For example, various embodiments are envisioned for deploying fasteners other than staples, such as clamps or tacks. In addition, various embodiments are also envisioned that utilize any suitable device for sealing tissue. For example, the end effector according to various embodiments may include electrodes configured to heat and seal tissue.

[0197] Additionally, for example, the end effector according to certain embodiments may apply vibrational energy to seal tissue.

[0198] The entire disclosures of the following patents are hereby incorporated herein by reference:

[0199] - U.S. Patent 5,403,312, titled "ELECTROSURGICAL HEMOSTATIC DEVICE", published on April 4, 1995;

[0200] - U.S. Patent 7,000,818, titled "SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS", published on February 21, 2006;

[0201] - U.S. Patent 7,422,139, titled "MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", published on September 9, 2008;

[0202] - U.S. Patent 7,464,849, titled "ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", published on December 16, 2008;

[0203] - U.S. Patent 7,670,334, titled "SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR", published on March 2, 2010;

[0204] - U.S. Patent 7,753,245, titled "SURGICAL STAPLING INSTRUMENTS", published on July 13, 2010;

[0205] - U.S. Patent 8,393,514, titled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", published on March 12, 2013;

[0206] - U.S. Patent Application Serial No. 11 / 343,803, titled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES", now U.S. Patent 7,845,537;

[0207] - U.S. Patent Application Serial No. 12 / 031,573, titled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", filed on February 14, 2008;

[0208] - U.S. Patent Application Serial No. 12 / 031,873, titled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", filed on February 15, 2008, now U.S. Patent 7,980,443;

[0209] - U.S. Patent Application Serial No. 12 / 235,782, titled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now U.S. Patent 8,210,411;

[0210] - U.S. Patent Application Serial No. 12 / 235,972, titled "MOTORIZED SURGICAL INSTRUMENT", now U.S. Patent 9,050,083.

[0211] - U.S. Patent Application Serial No. 12 / 249,117, titled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now U.S. Patent 8,608,045;

[0212] - U.S. Patent Application Serial No. 12 / 647,100, filed on December 24, 2009, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY", now U.S. Patent 8,220,688;

[0213] - U.S. Patent Application Serial No. 12 / 893,461, filed on September 29, 2012, entitled "STAPLE CARTRIDGE", now U.S. Patent 8,733,613;

[0214] - U.S. Patent Application Serial No. 13 / 036,647, filed on February 28, 2011, entitled "SURGICAL STAPLING INSTRUMENT", now U.S. Patent 8,561,870;

[0215] - U.S. Patent Application Serial No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", now U.S. Patent 9,072,535;

[0216] - U.S. Patent Application Serial No. 13 / 524,049, filed on June 15, 2012, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now U.S. Patent 9,101,358;

[0217] - U.S. Patent Application Serial No. 13 / 800,025, filed on March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM"

[0218] Now U.S. Patent 9,345,481;

[0219] - U.S. Patent Application Serial No. 13 / 800,067, filed on March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM"

[0220] Now U.S. Patent Application Publication 2014 / 0263552;

[0221] - U.S. Patent Application Publication No. 2007 / 0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM", filed on January 31, 2006; and

[0222] - U.S. Patent Application Publication No. 2010 / 0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed on April 22, 2010, now U.S. Patent No. 8,308,040.

[0223] Although multiple 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 the present disclosure, and many of these will be envisioned by those skilled in the art. Additionally, alternatively, the structure of each element associated with the described forms can be described as a means for providing the function performed by the element. Further, in cases where materials for certain components are disclosed, other materials can also be used. Accordingly, it should be understood that the foregoing detailed description and the appended claims are intended to cover all such modifications, combinations, and variations that fall within the scope of the forms disclosed by the present invention. The appended claims are intended to cover all such modifications, variations, alterations, substitutions, modifications, and equivalents.

[0224] The above detailed embodiments have illustrated various forms of the apparatus and / or method using block diagrams, flowcharts, and / or examples. As long as 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 within such block diagrams, flowcharts, and / or examples can be implemented individually and / or jointly by a variety of 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 implemented equivalently 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 virtually any combination thereof, in whole or in part, in an integrated circuit, and, in accordance with the present disclosure, designing the circuitry and / or writing the software and / or the code for the hardware will be within the skill of those in the art. Additionally, those skilled in the art will understand that the mechanisms of the subject matter described herein can be distributed as one or more program products in a variety of forms, and the illustrative forms of the subject matter described herein are applicable regardless of the specific type of signal-bearing medium used to actually effect the distribution.

[0225] Instructions for programming logic to perform the various disclosed aspects can be stored in a memory within the system, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. Additionally, the instructions can be distributed via a network or by other computer-readable media. Thus, machine-readable media can include any mechanism for storing or transmitting information in a machine (e.g., computer)-readable form, but are not limited to floppy disks, optical disks, compact 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 or optical cards, flash memory, or tangible, machine-readable storage devices used when transmitting information over the Internet via electrical, optical, acoustic, or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Thus, non-transitory computer-readable media include any type of tangible machine-readable media suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer)-readable form.

[0226] As used in any aspect herein, the term "control circuit" can refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor that includes one or more individual instruction processing cores, processing units, a processor, a microcontroller, a microcontroller unit, a controller, a digital signal processor (DSP), a programmable logic device (PLD), a programmable logic array (PLA), a field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by the programmable circuitry, and any combination thereof. The control circuit can be implemented collectively or individually as circuitry that forms part of a larger system, such as an integrated circuit (IC), an application specific integrated circuit (ASIC), a system on a chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smart phone, etc. Thus, as used herein, "control circuit" includes, but is not limited to, an electronic circuit having at least one discrete circuit, an electronic circuit having at least one integrated circuit, an electronic circuit having at least one application specific integrated circuit, an electronic circuit 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 apparatuses described herein, or a microprocessor configured by a computer program that at least partially implements the methods and / or apparatuses described herein), an electronic circuit forming a memory device (e.g., forming a random access memory), and / or an electronic circuit 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 fashion or some combination thereof.

[0227] As used in one or more aspects of the present disclosure, a microcontroller generally can include a memory and a microprocessor ("processor") operatively coupled to the memory. The processor can control a motor driver circuit that is generally used to control, for example, the position and rate of a motor. In some cases, the processor can signal the motor driver to, for example, stop and / or disable the motor. In some cases, the microcontroller can be, for example, an LM4F230H5QR purchased from Texas Instruments. In at least one example, the Texas Instruments LM4F230H5QR is a chip on memory with an ARM Cortex-M4F processor core including up to 40 MHz of 256 KB single-cycle flash memory or other non-volatile memory, a prefetch buffer for performance improvement above 40 MHz, 32 KB of single-cycle serial random access memory (SRAM), loaded with The software's built-in read-only memory (ROM), 2KB electrically erasable programmable read-only memory (EEPROM), one or more pulse-width modulation (PWM) modules, one or more quadrature encoder input (QEI) analogs, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, and other characteristic structures that are readily available in the product data sheet.

[0228] It should be understood that as used herein, the term processor includes any suitable microprocessor or another basic computing device that combines the functions of a central processing unit (CPU) of a computer on one integrated circuit or at most a few integrated circuits. A processor is a multi-purpose programmable device that receives digital data as input, processes the input according to instructions stored in its memory, and then provides the result as output. Since a processor has internal memory, it is an example of sequential digital logic. The operations of a processor are on numbers and symbols represented in the binary number system.

[0229] In at least one case, the processor can be any single-core or multi-core processor, such as those known by the trade name ARM Cortex produced by Texas Instruments. However, other suitable alternatives of microcontrollers and security processors can be adopted without limitation.

[0230] As used in any aspect herein, the term "logic" can refer to an application, software, firmware, and / or circuit configured to be capable of performing any of the foregoing operations. Software can be embodied as a software package, code, instructions, instruction set, and / or data recorded on a non-transitory computer-readable storage medium. Firmware can be embodied as code, instructions, or instruction set and / or data hard-coded (e.g., non-volatile) in a memory device.

[0231] As used in any aspect herein, the terms "component", "system", "module", etc. can refer to a computer-related entity, hardware, a combination of hardware and software, software, or software in execution.

[0232] As used in any aspect herein, an "algorithm" refers to an ordered sequence of steps that result in a desired outcome, where a "step" refers to the manipulation of physical quantities and / or logical states, which may (but not necessarily) be in the form of electrical or magnetic signals that can be stored, transferred, combined, compared, and otherwise manipulated. Commonly used to refer to these signals are, for example, bits, values, elements, symbols, characters, terms, numbers, etc. These and similar terms can be associated with appropriate physical quantities and are merely convenient labels applied to these quantities and / or states.

[0233] According to the present disclosure, various instruments, tools, hubs, devices, and / or systems may be able to communicate with each other using a selected packet-switching network communication protocol. An exemplary communication protocol may include an Ethernet communication protocol that may be able to allow communication using Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol may conform to or be compatible with the Ethernet standard named "IEEE 802.3 Standard" published by the Institute of Electrical and Electronics Engineers (IEEE) in December 2008 and / or later versions 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 the 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 the standards published by the Consultative Committee for International Telegraph and Telephone (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 named "ATM-MPLS Network Interworking 2.0" published by the ATM Forum in August 2001 and / or later versions of this standard. Of course, different and / or later-developed connection-oriented network communication protocols are also contemplated herein.

[0234] As described herein, one or more motor assemblies employ one or more electric motors. In various forms, the electric motor may be, for example, a DC brushed drive motor. In other arrangements, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The electric motor may be powered by a power source that, in one form, may include a removable power pack. The batteries may each include, for example, lithium-ion ("LI") or another suitable battery. The electric motor may include, for example, a rotatable shaft that is operatively engaged with a gear reducer assembly. In some cases, the voltage polarity provided by the power source may operate the electric motor in a clockwise direction, where the voltage polarity applied to the electric motor by the battery may be reversed in order to operate the electric motor in a counterclockwise direction. In various aspects, the microcontroller controls the electric motor via a pulse-width modulation control signal through a motor driver. The motor driver may be configured to be able to adjust the speed of the electric motor in a clockwise or counterclockwise direction. The motor driver is also configured to be able to switch between multiple operating modes, the multiple operating modes including an electronic motor braking mode, a constant speed mode, an electronic clutch mode, and a controlled current activation mode. In the electronic braking mode, the two terminals of the drive motor are short-circuited, and the generated back EMF cancels the rotation of the electric motor, thereby allowing for faster stopping and greater position accuracy.

[0235] As used in any aspect of this disclosure, wireless transmission (e.g., wireless communication or wireless transmission of data signals) can be implemented by a device that includes one or more transceivers. The transceiver can include, but is not limited to, a cellular modem, a wireless mesh network transceiver, a transceiver, a low power wide area (LPWA) transceiver, and / or a near field communication transceiver (NFC). The device can include a mobile phone, a sensor system (e.g., environmental, location, motion, etc.) and / or a sensor network (wired and / or wireless), a computing system (e.g., a server, a workstation computer, a desktop computer, a laptop computer, a tablet computer (e.g., etc.), an ultra-portable computer, an ultra-mobile computer, a netbook computer, and / or a small notebook computer, etc.) or can be configured to be able to communicate with these devices. In at least one aspect of the present disclosure, one of the devices can be a coordinator node.

[0236] The transceiver can be configured to be able to receive serial transmission data from a processor via a corresponding universal asynchronous receiver / transmitter (UART) to modulate the serial transmission data onto an RF carrier to generate a transmission RF signal and transmit the transmission RF signal via a corresponding antenna. The transceiver can be further configured to be able to receive a received RF signal (the received RF signal includes an RF carrier modulated with serial received data) via a corresponding antenna, demodulate the received RF signal to extract the serial received data, and provide the serial received data to the corresponding UART for providing to the processor. Each RF signal has an associated carrier frequency and an associated channel bandwidth. The channel bandwidth is associated with the carrier frequency, the transmission data, and / or the received data. Each RF carrier frequency and channel bandwidth are related to the operating frequency range of the transceiver. Each channel bandwidth is further related to the wireless communication standard and / or protocol that the transceiver can comply with. In other words, each transceiver can correspond to a specific implementation of a selected wireless communication standard and / or protocol, such as for IEEE 802.11a / b / g / n and / or for IEEE 802.15.4 for a wireless mesh network using Zigbee routing.

[0237] Unless otherwise explicitly specified in the above disclosure, it can be understood that in the above disclosure, discussions using terms such as "processing", "estimating", "calculating", "determining", "displaying" refer to the actions and processes of a computer system or a similar electronic computing device that manipulates data represented as physical (electronic) quantities in the registers and memories of the computer system and converts it 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.

[0238] One or more components may be referred to herein as "configured to be capable of", "configurable to be capable of", "operable / operatively", "adapted / adaptable to", "capable of", "conformable / conformed to", etc. Those skilled in the art will recognize that, unless the context dictates otherwise, "configured to be capable of" generally can encompass components in an active state and / or components in an inactive state and / or components in a standby state.

[0239] The terms "proximal" and "distal" are used herein relative to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located away from the clinician. It should also be understood that, for simplicity and clarity, spatial terms such as "vertical", "horizontal", "upper", and "lower" may be used herein in conjunction with the figures. However, the surgical instrument is used in many orientations and positions, and these terms are not restrictive and / or absolute.

[0240] Those skilled in the art will recognize that, generally speaking, the terms used herein, and particularly in the appended claims (e.g., the body of the appended claims), are generally intended to be "open" terms (e.g., the term "comprising" should be interpreted as "comprising but not limited to", the term "having" should be interpreted as "having at least", the term "including" should be interpreted as "including but not limited to", etc.). Those skilled in the art should also understand that if a specific number of introductions to claim recitations is intended, such intent will be expressly recited in the claim, and in the absence of such recitation, no such intent exists. For example, for purposes of illustration, the following appended claims may contain the use of the introductory phrases "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be construed as implying that the introduction of a claim recitation by the indefinite article "a" or "an" limits any particular claim containing such introduced claim recitation to a claim containing only one such recitation, even when the same claim includes the introductory phrase "one or more" or "at least one" and an indefinite article such as "a" or "an" (e.g., "a" and / or "an" should generally be interpreted to mean "at least one" or "one or more"); this also applies to the use of the definite article to introduce claim recitations.

[0241] In addition, even if a specific number recited in a claim is explicitly recited, those skilled in the art should recognize that such a recitation generally should be interpreted to mean at least the recited number (e.g., in the absence of other modifiers, a bare recitation of "two recitations" generally means at least two recitations, or two or more recitations). Further, in those cases where a convention such as "at least one of A, B, and C, etc." is used, generally, such a construction is intended to have the meaning that those skilled in the art will understand the convention (e.g., a "system having at least one of A, B, and C" will include, but not be limited to, a system 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 those cases where a convention such as "at least one of A, B, or C, etc." is used, generally, such a construction is intended to have the meaning that those skilled in the art will understand the convention (e.g., a "system having at least one of A, B, or C" should include, but not be limited to, a system 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, disjunctive words and / or phrases presenting two or more alternative terms, whether 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".

[0242] Regarding the appended claims, those skilled in the art will understand that the operations recited therein can generally be performed in any order. Additionally, although various operation flowcharts are listed in one or more sequences, it should be understood that the various operations can be performed in other orders different from the shown order, or the various operations can be performed simultaneously. Unless the context otherwise provides, examples of such alternative orderings may include overlapping, interleaving, interrupting, reordering, incrementing, preparatory, supplementary, simultaneous, reverse, or other altered orderings. Further, unless the context otherwise provides, terms such as "responsive to", "associated with", or other past tense adjectives generally are not intended to exclude such variations.

[0243] It is worth noting that any reference to "an aspect", "one aspect", "an example", "one example" means that the specific feature, structure, or characteristic described in connection with that aspect is included in at least one aspect. Thus, the phrases "in an aspect", "in one aspect", "in an example", "in one example" that appear in various places throughout the specification do not necessarily all refer to the same aspect. Additionally, the specific feature, structure, or characteristic can be combined in any suitable manner in one or more aspects.

[0244] In this specification, unless otherwise specified, the terms "about" or "approximately" as used in this disclosure refer to an acceptable error of a particular value as determined by a person of ordinary skill in the art, which depends in part on how the value is measured or determined. In certain embodiments, the term "about" or "approximately" means within 1, 2, 3, or 4 standard deviations. In certain embodiments, the term "about" or "approximately" means 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.

[0245] In this specification, unless otherwise indicated, all numerical parameters should be understood in all cases to be prefaced by the term "about" or to be modified by the term "about", where the numerical parameters have the characteristic of the inherent variability of the underlying measurement technique for determining the numerical value of the parameter. To the lowest extent and without attempting to limit the application of the doctrine of equivalents to the scope of the claims, at least each numerical parameter described herein should be interpreted in accordance with the significant digits reported and by applying the ordinary rounding method.

[0246] Any numerical range listed herein includes all sub-ranges subsumed within the listed range. For example, the range "1 to 10" includes all sub-ranges between the listed minimum value 1 and the listed maximum value 10 (including 1 and 10), that is, having a minimum value equal to or greater than 1 and a maximum value equal to or less than 10. In addition, 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 limit values subsumed therein, and any lower limit value listed in this specification is intended to include all larger limit values subsumed therein. Accordingly, the applicant reserves the right to amend this specification (including the claims) to expressly list any sub-ranges subsumed within the expressly listed range. All such ranges are inherently described in this specification.

[0247] Any patent application, patent, non-patent publication, or other publicly available material mentioned in this specification and / or listed in any application data sheet is incorporated herein by reference, provided that the incorporated material is not inconsistent herewith. Accordingly, and to the extent necessary, the disclosure expressly set forth herein supersedes any conflicting material incorporated herein by reference. Any material or portion thereof purported to be incorporated herein by reference that conflicts with the existing definitions, statements, or other publicly available material listed herein will be incorporated only to the extent that the incorporated material does not conflict with the existing publicly available material.

[0248] Broadly speaking, many beneficial effects resulting from the adoption of the concepts described herein have been described. For purposes of illustration and description, one or more forms of the above-described specific embodiments have been provided. These specific embodiments are not intended to be exhaustive or limiting to the precise forms disclosed in the present invention. Modifications or variations to the present invention can be made in accordance with the above teachings. The one or more forms selected and described are for purposes of illustrating the principles and practical applications so that those of ordinary skill in the art can utilize the various forms and various modifications suitable for the particular uses contemplated. The claims submitted herewith are intended to define the full scope.

Claims

1. A surgical instrument for treating tissue during a surgical procedure, the surgical instrument comprising: An end effector, the end effector comprising: An anvil; and A second jaw, the second jaw being configured to receive a staple cartridge; A drive train operably coupled to the end effector; A motor configured to actuate the drive train based on a default control algorithm to affect tissue treatment movement of the end effector; A sensor configured to monitor an independent parameter of the surgical procedure, wherein the independent parameter is independent of the movement of the end effector; and A control circuit coupled to the motor and the sensor, wherein the control circuit is configured to: Receive an input from the sensor indicative of the independent parameter; and Adjust the default control algorithm based on the independent parameter.

2. The surgical instrument according to claim 1, wherein, The independent parameter includes a first independent parameter, wherein the surgical instrument further includes a second sensor configured to monitor a second independent parameter of the surgical procedure, wherein the second independent parameter is different from the first independent parameter, and wherein the control circuit is further configured to: Receive an input from the second sensor indicative of the second independent parameter; and Adjust the default control algorithm based on the first independent parameter and the second independent parameter.

3. The surgical instrument according to claim 1 or claim 2, wherein, The movement is a closing movement of the end effector to grasp tissue between the anvil and the second jaw.

4. The surgical instrument according to claim 1 or claim 2, wherein, The movement is a firing movement of the end effector to deploy staples into the tissue.

5. The surgical instrument according to any one of the preceding claims, wherein, The default control algorithm includes at least one of a group including: a default speed of the motor, a default current of the motor, a default maximum load of the drive train, and a default travel distance of the drive train.

6. The surgical instrument according to any one of the preceding claims, the surgical instrument further comprising: A shaft; And A joint movement joint extending between the shaft and the end effector, wherein the end effector is capable of articulating relative to the shaft about the joint movement joint.

7. The surgical instrument according to claim 6, wherein, The independent parameter is an articulation angle of the end effector relative to the shaft.

8. The surgical instrument according to claim 7, wherein, The control circuit is configured to adjust the default control algorithm based on the articulation angle.

9. The surgical instrument according to claim 7 or claim 8, wherein, The control circuit reduces the speed of the motor as the articulation angle increases.

10. The surgical instrument according to any one of the preceding claims, wherein, The independent parameter is based on the presence of a support.

11. The surgical instrument according to any one of the preceding claims, wherein, The independent parameter is based on the staple cartridge type.

12. The surgical instrument according to claim 11, wherein, The staple cartridge type provides a staple material composition, and wherein the control circuit is further configured to set a maximum speed of the motor based on the staple material composition.

13. The surgical instrument according to any one of the preceding claims, wherein, The independent parameter is based on the staple cartridge life, and wherein the control circuit reduces the motor speed based on the staple cartridge life.

14. The surgical instrument according to any one of the preceding claims, wherein, The sensor includes a radio frequency scanner.

15. A surgical instrument for treating tissue during a surgical procedure, the surgical instrument comprising: An end effector, the end effector comprising: A first jaw; and A second jaw, the second jaw being movable relative to the first jaw to grasp tissue therebetween; A drive train assembly, the drive train assembly being coupled to the end effector; A motor assembly, the motor assembly being configured to actuate the drive train assembly based on default control instructions to affect tissue treatment movement of the end effector; A control circuit, the control circuit being coupled to the motor assembly, wherein the control circuit is configured to: Receive an input indicative of a parameter associated with the surgical procedure, wherein the parameter is unrelated to the drive train assembly and wherein the parameter is unrelated to the motor assembly; and Adjust the default control instructions based on the parameter.

16. The surgical instrument according to claim 15, wherein, Adjusting the default control instructions based on the parameter includes adjusting the default control instructions prior to performing the tissue treatment movement.

17. The surgical instrument according to claim 15 or claim 16, wherein, The first jaw includes an anvil, wherein the second jaw is configured to receive a staple cartridge, and wherein the parameter is a situational parameter associated with the surgical procedure.

18. The surgical instrument according to claim 17, wherein, The input is received from a user.

19. The surgical instrument according to claim 17 or 18, wherein, The input is a result of image processing analysis.

20. The surgical instrument according to any one of claims 17 to 19, wherein, The default control instructions include at least one of a group including: a default speed of the motor assembly, a default current of the motor assembly, a default maximum load of the drive train assembly, and a default travel distance of the drive train assembly.

Images