Surgical stapler with rotatable lockout collar

Abstract

An apparatus includes a first jaw for selectively receiving a staple cartridge and defining a longitudinal jaw axis. The apparatus also includes a second jaw. The first jaw and the second jaw can cooperate to clamp and staple tissue. The apparatus also includes a knife for actuation relative to the first and second jaws along the longitudinal jaw axis when the staple cartridge is received within the first jaw to cut and suture tissue gripped by the first and second jaws. The knife defines a longitudinal knife axis extending along the longitudinal jaw axis. The apparatus also includes a lock rotatable relative to the knife about the longitudinal knife axis between an unlocked configuration and a locked configuration. The lock is capable of preventing distal actuation of the knife in the locked configuration and permitting distal actuation of the knife in the unlocked configuration.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to U.S. Patent Application No. 18 / 883,569, filed September 12, 2025, the contents of which are incorporated herein by reference in their entirety. Background Technology

[0003] In some settings, endoscopic surgical instruments may be preferred over traditional open surgical devices to minimize surgical incision size, postoperative recovery time, and complications. Therefore, some endoscopic surgical instruments are adapted to place distal end-effectors at desired surgical sites via cannulation of a trocar. These distal end-effectors (e.g., end-cutters, grippers, scalpels, suture devices, clamps, entry devices, drug / gene therapy delivery devices, and energy delivery devices using ultrasound, RF, lasers, etc.) can engage tissue in various ways to achieve diagnostic or therapeutic effects. Endoscopic surgical instruments may include an axis extending proximally from the end-effector to a handle portion manipulated by the clinician, or alternatively to a robotic arm. Such an axis allows insertion to the desired depth and rotation about the longitudinal axis of the axis, facilitating the positioning of the end-effector within the patient. Positioning of the end-effector can be further facilitated by including one or more articulation joints or features, enabling the end-effector to selectively perform articulation or otherwise deflect relative to the longitudinal axis of the axis.

[0004] Examples of endoscopic surgical instruments include surgical sutures. Some of these sutures are operable to clamp a layer of tissue, cut through the clamped tissue, and drive a staple through the tissue to substantially seal the cut tissue layers together near the cut ends. Such endoscopic surgical sutures can also be used in open abdominal surgeries and / or other non-endoscopic procedures. By way of example only, in thoracic surgery, a surgical suture can be inserted via a thoracotomy and thereby positioned between the patient's ribs to reach one or more organs, in which a trocar is not used as the conduit for the suture. Such procedures may involve using a suture to cut and close blood vessels leading to organs such as the lungs. For example, blood vessels leading to an organ can be cut and closed using a suture before it is removed from the thoracic cavity. Of course, surgical sutures can be used in a variety of other situations and procedures.

[0005] The surgical suture feature of this disclosure attempts to prevent firing of the surgical suture end effector when the end effector is loaded with a fired, used staple cartridge and / or when the end effector is completely devoid of a staple cartridge. Specifically, such a feature of this disclosure places the end effector in a locked state that prevents firing in either of the aforementioned scenarios. Although various surgical sutures and associated components have been manufactured and used, it is believed that no one has manufactured or used the invention described in the appended claims prior to the inventors. Attached Figure Description

[0006] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate examples of the invention and, together with the general description of the invention given above and the detailed description of the examples given below, serve to explain the principles of the invention.

[0007] Figure 1 It is a perspective view of an exemplary surgical instrument having a housing, shaft assembly, articulated joint, and end effector;

[0008] Figure 2 yes Figure 1 A partial perspective view of a surgical instrument, wherein selected components are omitted from the view to expose portions of the instrument's cable joint motion subsystem, scalpel firing subsystem, and rolling subsystem;

[0009] Figure 3 yes Figure 1 Enlarged perspective view of the end effector and joint motion connector of the surgical instrument;

[0010] Figure 4 yes Figure 1 An exploded view of the distal end portion of a surgical instrument;

[0011] Figure 5 yes Figure 1 A magnified perspective view of the end effector of a surgical instrument;

[0012] Figure 6 yes Figure 3 End view of the end effector;

[0013] Figure 7 yes Figure 3 An enlarged perspective view of the end effector and articulated joint, with the anvil of the end effector omitted;

[0014] Figure 8A yes Figure 1 A side sectional view of the distal end portion of a surgical instrument, depicting the anvil in the open position;

[0015] Figure 8B yes Figure 1A side sectional view of the distal end portion of a surgical instrument, depicting the anvil in a gripping position as the knife is partially advanced;

[0016] Figure 8C yes Figure 1 A side sectional view of the distal end portion of a surgical instrument, depicting the anvil in a clamping position as the knife is partially advanced;

[0017] Figure 8D yes Figure 1 A side sectional view of the distal end portion of a surgical instrument, depicting the anvil in the clamping position with the knife fully advanced;

[0018] Figure 9A yes Figure 1 An enlarged side sectional view of the proximal end portion of the end actuator of a surgical instrument, depicting the anvil in the open position;

[0019] Figure 9B yes Figure 1 An enlarged side sectional view of the proximal end portion of the end effector of a surgical instrument, depicting the anvil in the gripping position as the knife is partially advanced;

[0020] Figure 9C yes Figure 1 An enlarged side sectional view of the proximal end portion of the end effector of a surgical instrument, depicting the anvil in a clamping position as the knife is partially advanced;

[0021] Figure 9D yes Figure 1 An enlarged side sectional view of the proximal end portion of the end effector of a surgical instrument, depicting the anvil in the clamping position with the knife fully advanced;

[0022] Figure 10 yes Figure 1 Exploded perspective view of the joint motion joint of a surgical instrument;

[0023] Figure 11 yes Figure 10 End view of the joint motion joint;

[0024] Figure 12 It is along Figure 11 The line 12-12 cut Figure 10 A cross-sectional view of a portion of the joint motion joint;

[0025] Figure 13 It is along Figure 11 The line 13-13 is cut off Figure 10 A cross-sectional view of a portion of the joint motion joint;

[0026] Figure 14 yes Figure 1 A perspective view of the distal end of a surgical instrument, depicting the end effector performing joint movements vertically and laterally with the anvil open;

[0027] Figure 15 yes Figure 1 A side view of the distal end of a surgical instrument, depicting the end effector performing vertical joint movements with the anvil closed;

[0028] Figure 16 yes Figure 1 A top view of the distal end of a surgical instrument, depicting the end effector performing lateral joint movements with the anvil closed;

[0029] Figure 17 yes Figure 1 An exploded perspective view of a portion of a surgical instrument, depicting parts of the cable joint motion subsystem, the scalpel firing subsystem, and the rolling subsystem;

[0030] Figure 18 yes Figure 1 A top view of the proximal end of a surgical instrument, depicting parts of the cable joint motion subsystem, the scalpel firing subsystem, and the rolling subsystem;

[0031] Figure 19 yes Figure 1 A perspective view of the shaft assembly, differential, and firing lever of a surgical instrument;

[0032] Figure 20 It is an exploded perspective view of an alternative end effector with a blade and a blade locking assembly;

[0033] Figure 21 yes Figure 20 Exploded perspective view of the knife and knife locking assembly;

[0034] Figure 22A It is in a locked configuration. Figure 20 Perspective view of the knife locking component;

[0035] Figure 22B It is in the unlocked configuration. Figure 20 Perspective view of the knife locking component;

[0036] Figure 22C It is in the unlocked configuration and in the far-side thrust position. Figure 20 A perspective view of the knife and the knife locking assembly;

[0037] Figure 23A It is along Figure 22A The front view of the knife locking assembly, taken by line 23-23, shows the knife locking assembly as follows: Figure 22A The locking configuration orientation shown in the figure; and

[0038] Figure 23B It is along Figure 22A The front view of the knife locking assembly, taken by line 23-23, shows the knife locking assembly as follows: Figure 22B The unlocking configuration orientation is shown in the figure. Detailed Implementation

[0039] The following detailed description should be read in conjunction with the accompanying drawings, in which the same elements are labeled the same in different drawings. The drawings (not necessarily drawn to scale) depict the selected types and are not intended to limit the scope of the invention. The principles of the invention are illustrated by way of example rather than limitation. This description will clearly enable those skilled in the art to make and use the invention, and describes several types, modifications, variations, alternatives, and uses of the invention, including those currently believed to be the best mode for carrying out the invention.

[0040] This document sets forth numerous specific details to provide a thorough understanding of the overall structure, function, manufacture, and use of the types described and illustrated in the specification and figures. Well-known operations, components, and elements are not described in detail to avoid obscuring the types described in the specification. The reader will understand that the types described and illustrated herein are non-limiting examples, and thus will recognize that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes may be made to these embodiments without departing from the scope of the claims.

[0041] The terms “comprise” (and any form of “comprise”, such as “comprises” and “comprising”), “have” (and any form of “have”, such as “has” and “having”), “include” (and any form of “include”, such as “includes” and “including”), and “contain” (and any form of “contain”, such as “contains” and “containing”) are open-ended linking verbs. Therefore, a surgical system, apparatus, or device that “comprises,” “haves,” “includes,” or “contains” one or more elements has, but is not limited to, having only those elements. Similarly, the elements of a system, apparatus, or device that “comprises,” “haves,” “includes,” or “contains” one or more features have, but are not limited to, having only those features.

[0042] The terms "proximal" and "distal" are used herein in relation to the robotic platform of the housing portion that manipulates the surgical instruments. "Proximal" refers to the portion closest to the robotic platform, and "distal" refers to the portion furthest from the robotic platform. It should also be understood that, for the sake of brevity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used herein with reference to the accompanying drawings. However, surgical instruments are used in many orientations and orientations, and these terms are not restrictive and / or absolute.

[0043] Furthermore, the terms “about,” “approximately,” “substantially,” etc., used herein in connection with any numerical value, range of values, and / or geometric / positional quantification are intended to cover the exact value or quantification referenced, and the appropriate tolerance that enables the referenced feature or combination of features to be used for the intended purpose described herein. For example, “substantially parallel” covers structures that are nominally parallel, and “substantially equal” covers values ​​that are nominally equal.

[0044] Furthermore, the use of the phrases “connected,” “connected,” or similar should not be interpreted as limited to a certain number of parts or a particular order of parts, unless the context clearly indicates otherwise.

[0045] I. Overview of exemplary surgical instruments

[0046] Figures 1 to 2 An exemplary surgical instrument 1000 configured to grasp, clamp, cut, and seal patient tissue using pins is shown. The surgical instrument 1000 includes: an end effector 200; an articulation joint 300 (also referred to as a "continuum joint"); an articulation drive subsystem 400 configured to articulate the end effector 200 via the articulation joint 300; a scalpel firing subsystem 500 configured to actuate the end effector 200 between various positions (e.g., open position, grasping position, and clamping position) and to cut and suture patient tissue; a rolling subsystem 600 configured to rotate the end effector 200 about a rolling axis RA; and a housing 700.

[0047] like Figures 3 to 4 As best shown, the end effector 200 includes a first jaw 202 (also referred to as a "jaw" or "channel") and a second jaw 204 (also referred to as a "anvil jaw" or simply a "nano"), the second jaw being movable relative to the jaw 202 between an open position and a closed position. The jaw 202 and the anvil jaw 204 may be elongated. The jaw 202 defines an elongated channel 208 for receiving the staple cartridge 210 (also referred to as "reloading"). The anvil jaw 204 has a proximal end 204A, a distal end 204B, and a ramp surface 216 defined at the proximal end 204A, which will be described below relative to... Figure 4and Figures 9A to 9D A more detailed description follows. The jaws 202 and the anvil jaws 204 are pivotally connected via a pivot pin 212 extending through both the jaws 202 and the anvil jaws 204. (See attached image.) Figure 7 As shown, one or more bias springs 214 extend between the jaws 202 and the anvil jaws 204 to bias the anvil jaws 204 to the open position.

[0048] The slope surface 216 is visible through a bean-shaped opening 222 (which may be formed as part of the manufacturing process of the slope surface 216), the bean-shaped opening having a first lateral end 222A and a second lateral end 222B. In other words, the bean-shaped opening is visible at its lateral ends 222A and 222B. Figure 3 (The area is open.) For example... Figure 4 As shown, the slope surface 216 forms the lower surface of the bean-shaped opening 222. The slope surface 216 can be arc-shaped. For example, as... Figure 4 and Figures 9A to 9D As specifically shown, the slope surface can tilt upward at a first angle 218 and taper out in an arc shape in the distal direction to a second angle 220 that is substantially horizontal.

[0049] Anvil jaws 204 also define a longitudinally extending upper blade passage 224 (see...) Figure 8A (etc.). For example Figure 6 As specifically shown, the upper tool channel 224 includes a centrally located cylindrical upper tool channel portion 226 and at least one lateral upper tool channel wing 228 extending away from the upper tool channel portion 226. Although the term "cylindrical" is used, the channel portion 226 does not necessarily resemble a perfect cylinder.

[0050] like Figure 2 and Figure 17 As shown, the surgical instrument 1000 also includes a scalpel firing subsystem 500, which is operable to close the anvil jaws 204 during the closing stroke. After the end effector 200 closes, the scalpel firing subsystem 500 is operable to cut and suture patient tissue captured between the staple cartridge 210 (which is held by the cartridge jaws 202) and the anvil jaws 204 using staples from the cartridge 210 during the firing stroke.

[0051] like Figures 4 to 6As best illustrated, the knife firing subsystem 500, explained in further detail below, includes a knife 206 having a knife slide 236. As described below, the knife slide 236 acts as a firing actuator by driving the cartridge slide 210A distally through the firing stroke. In some cases, the knife slide 236 may be referred to as an I-beam. The knife slide 236 includes an upper knife protrusion 238, a lower knife protrusion 246, and a vertical post 235 connecting and extending between the upper knife protrusion 238 and the lower knife protrusion 246. The upper knife protrusion 238 includes a centrally located cylindrical upper knife protrusion portion 240 and at least one upper knife protrusion lateral wing 242 extending away from the upper knife protrusion portion 240. Although the term "cylindrical" is used, the protrusion portion does not necessarily resemble a perfect cylinder.

[0052] The upper blade 238 may include a pair of lateral wings 242 configured to slidably straddle the upper blade channel 224 to move the anvil jaws 204 between an open position, a gripping position, and a clamping position. Thus, the end effector 200 employs a "blade-based closure," where the closure of the anvil jaws 204 relative to the bin jaws 202 is driven by the distal advance of the blade 206. Each lateral wing 242 may include an inclined surface 242A that engages the anvil ramp surface 216. The upper blade portion 240 defines an upper blade opening 244 configured to receive a barrel-shaped crimp connected to the central cable 512, which is described in more detail below. The lower blade 246 includes a centrally located cylindrical lower blade portion 248 and at least one lower blade lateral wing 250 extending away from the lower blade portion 248. Although the term "cylindrical" is used, the lower blade portion 248 does not necessarily resemble a perfect cylinder. In some versions, the lower blade 246 includes a pair of lateral wings 250. The lower blade portion 248 defines a lower blade opening 252, which is configured to receive a barrel-shaped crimp portion connected to the center cable 514, as described in more detail below.

[0053] The staple cartridge 210 can be generally constructed and operated according to the teachings of the following patent: U.S. Patent Application No. 18 / 588,684, filed February 27, 2024, entitled "Methods of Surgical Stapling," the entire disclosure of which is incorporated herein by reference. In use, the end effector 200 is positioned relative to the patient tissue such that the staple cartridge 210 is positioned on a first side of the tissue, and the anvil jaws 204 are positioned on the opposite second side of the tissue. The anvil jaws 204 then approach the staple cartridge 210 to compress and clamp the tissue against the platform of the staple cartridge 210. Subsequently, the surgical instrument 1000 is fired, causing the blade 206 to advance distally through the staple cartridge 210 to cut the clamped tissue, while simultaneously actuating the staple driver housed within the staple cartridge 210 to drive the staple array into the clamped tissue on either side of the cutting line. The staple cartridge 210 defines an elongated blade channel 215, which is sized to receive a portion of the vertical post 235 to accommodate the advancement of the blade 206 through the staple cartridge 210. A portion of the cartridge slider 210A is slidably received within the elongated blade channel 215 such that when the blade 206 is advanced distally as described herein, the vertical post 235 drives the cartridge slider 210A distally (see [link to document]). Figures 8C to 8D In some cases, even after the blade 206 retracts proximally after firing the cartridge 210 as described herein, the cartridge slide 210A remains distal relative to the rest of the cartridge 210 (see [link to document]). Figure 8D ).

[0054] As described above, the jaw 202 defines an elongated channel 208 for receiving the staple cartridge 210. Additionally, the jaw 202 also defines a lower blade channel 230 (see...). Figure 4 , Figure 6 and Figures 8A to 9D The lower blade channel is sized to slidably receive the lower blade protrusion 246. (Reference) Figure 6The lower blade channel 230 includes a centrally located cylindrical lower blade channel portion 232 and at least one laterally downward lower blade channel wing 234 extending away from the lower blade channel portion 232. The cylindrical lower blade channel portion 232 communicates with an elongated channel 208 such that when the staple cartridge 210 is properly engaged with the jaws 202, the elongated blade channel 215 of the staple cartridge 210 and the centrally located cylindrical lower blade channel portion 232 are aligned to accommodate actuation of the blade slide 236 within the two channels 215, 230. The laterally downward lower blade channel wing 234 is sized to slidably accommodate a corresponding lower blade tab lateral wing 250. The lower blade tab lateral wing 250 is configured to slidably contact the laterally downward lower blade channel wing 234 as the blade 206 is advanced according to the description herein. The contact cooperation between the lower blade lateral wing 250 and the lateral lower blade channel wing 234 assists the lateral wing 242 and the upper blade channel 224 in closing the anvil jaws 204 relative to the channel 208, as described herein. Although the term "cylindrical" is used, the channel portion 232 does not necessarily resemble a perfect cylinder. Other arrangements of the nail cavity and nails are also possible. For example, in some types, the lower blade channel 230 may be defined within the jaws 202.

[0055] In addition to the above, the blade slide 236 also moves distally and proximally via the firing lever 502. The firing lever 502 is configured to apply an indirect force to the blade slide 236 via push coils 508, 510 that directly engage the blade slide 236 (discussed in more detail below), and to push the blade slide 236 toward the distal end of the end effector 200 during the firing stroke. As the firing lever 502 advances distally, the blade slide 236 straddles the lower blade passage 230 and the upper blade passage 224. At the start of the stroke, the upper blade protrusion 238 rides along the anvil ramp surface 216. Specifically, as particularly in Figures 8A to 8D and Figures 9A to 9D As shown in the sequence, the distal movement of the blade slide 236 causes the upper blade tip inclined surface 242A to slide along the anvil ramp surface 216. This movement first forces the anvil jaws 204 to close to a position where compressive force is applied to the tissue to grip the tissue (referred to as the gripping position) (e.g., Figure 8B and Figure 9B The slider 236 continues to move upward along the ramp surface 216 (see, for example, see...). Figure 8C and Figure 9C This allows compressive force to be applied to the tissue (referred to as the clamping position). When the anvil ramp surface 216 transitions to its substantially horizontal angled surface 220 (e.g., see...), Figure 8D and Figure 9D When the upper blade 238 slides within the upper blade channel 224, it can drive the suturing and transverse cutting of the tissue.

[0056] like Figure 1 As shown, the surgical instrument 1000 also includes a body, exemplified as a housing 700, configured to engage a robotic platform (not shown). In other configurations, the body may be configured as a handle capable of being grasped and manipulated by a clinician. Figure 1 and Figure 19 As best shown, shaft assembly 600A extends distally from housing 700 and includes a rotatable outer shaft 602 and an inner shaft 604 arranged in two clamshell halves. The outer shaft 602 is rotatably mounted to housing 700 about a rotary joint (not shown), which may include one or more bearings. The inner shaft 604 is rotatably fixed to the outer shaft 602 and is configured such that articulated motion cables 402, 404, 406, 408 can be partially wound around the inner shaft without tangling. Figure 18 As shown, the housing 700 may accommodate (1) a firing positioning disc assembly 712, which is part of a knife firing subsystem 500 operable to close the end effector 200, the firing pin, and the transverse tissue cutting tool; (2) a set of articulation positioning disc assemblies 702, 704, 706, 708, which are part of an articulation subsystem 400 operable to articulate the end effector 200 relative to the shaft assembly 600A; and (3) a shaft rolling positioning disc assembly 710, which is part of a rolling subsystem 600 configured to roll the outer shaft 602.

[0057] refer to Figures 10 to 13 The articulated joint 300 includes an array of longitudinally arranged joint discs 302 and a central beam assembly 306 that mates with the joint discs 302 to provide at least two degrees of freedom (e.g., yaw and pitch) for articulated motion of the end effector 200, as further described below. Each joint disc 302 includes a central opening 304 configured to be coaxially aligned with the central openings 304 of other joint discs when the articulated joint 300 is in an upright, non-articulated motion state. The central beam assembly 306 extends longitudinally through the central openings 304 of the joint discs 302 and applies a compressive axial force to the array of joint discs 302 to connect the joint discs 302 to each other. The joint discs 302 are nested and stacked along the central beam assembly 306 such that longitudinally adjacent joint discs 302 are movably abutted against each other.

[0058] like Figures 9A to 10As shown, the distal end 306B of the center beam assembly 306 includes a distal retainer 324 that connects the distal end of the articulated joint 300 to the proximal end of the jaw 202 via one or more fasteners 322, thereby mechanically grounding and retaining the jaw 202, and thus mechanically grounding and retaining the end effector 200 relative to the articulated joint 300. The distal retainer 324 includes a plurality of clearance recesses 326 that receive the distal ends of the articulated cables 402, 404, 406, and 408. The distal end 306B also includes a distal retaining disc 334 that defines a plurality of cable retaining openings 334A. The proximal end 306A of the center beam assembly 306 includes a proximal retainer 332 that connects the proximal end of the articulated joint 300 to the distal end of the shaft assembly 600A.

[0059] like Figure 10 , Figure 12 and Figure 13 Specifically shown, each connector plate 302 includes an articulated recess 308, an articulated pin 310 protruding outward from the articulated recess 308, a first push coil opening 312A defined through the articulated recess 308 and configured to receive a first push coil 508 passing therethrough, a second push coil opening 312B defined through the articulated recess 308 and configured to receive a second push coil 510 passing therethrough, and a second push coil opening 312B defined through the articulated recess 308 and configured to receive a second push coil 510 passing through therethrough. Multiple joint motion cable openings 314A-314D (e.g., first joint motion cable opening 314A, second joint motion cable opening 314B, third joint motion cable opening 314C, and fourth joint motion cable opening 314D) through corresponding joint motion cables 402, 404, 406, 408 (e.g., first joint motion cable opening 402, second joint motion cable opening 404, third joint motion cable opening 406, and fourth joint motion cable opening 408), and discussed in more detail below. Figure 12 and Figure 13 As shown, the central opening 304 is defined in the articulated pin 310 of each connector plate 302. In some models, three articulated cable openings 314A, 314B, and 314C are provided to correspond to three articulated cables 402, 404, and 406, while in other models, four articulated cable openings 314A, 314B, 314C, and 314D are provided to correspond to four articulated cables 402, 404, 406, and 408.

[0060] Each connector plate 302 also includes a proximal end 310A of a circular articulated pin and a hemispherical pin receiving opening 316 defined in an articulated socket 308. For example... Figure 12 and Figure 13As specifically shown, the proximal end 310A of each circular articulated pin pivotally engages in an adjacent pin receiving opening 316 of an adjacent connector disc 302, except for the proximal end 310A that engages with the proximal retainer 332. The proximal end 310A of the articulated pin and the pin receiving opening 316 mate in a manner similar to that of a rotary bearing. Furthermore, the articulated socket 308 includes a socket disc 318 and a pin retaining socket 320. A pair of pins 336 provides a rotational connection about the main axis of the shaft assembly 600A from one disc 302 to the next. In other words, these pins constrain the rotational degrees of freedom between adjacent connector discs 302 about the rolling axis RA of the instrument 1000. In an alternative embodiment, this feature may be integral with the connector disc 302.

[0061] The center beam assembly 306 also includes a center beam 328 that extends longitudinally through a central opening 304 of the joint disc 302. The center beam 328 includes a nitinol core 328A and a stainless steel collar 328B wound around the nitinol core 328A, which allows the center beam 328 to bend elastically during flexure of the articulated joint 300. The wound stainless steel collar 328B may have clockwise and counterclockwise braids to prevent unwinding. The center beam assembly also includes an adjusting screw 330 threaded to a proximal retainer 332 to adjust the axial compressive force applied by the center beam 328 to the array of joint discs 302, thereby enabling adjustment of the preload of the articulated joint 300.

[0062] The aforementioned articulated joint 300 forms part of the cable articulated subsystem 400, which allows the end effector 200 to move precisely 360 degrees around the articulated joint 300 with at least two degrees of freedom. In some configurations, and as required by the roller system 600 and the need to limit the amount of winding of the articulated cables 402, 404, 406, 408, the articulated joint 300 is allowed to roll approximately 320 degrees throughout the system. The cable articulated subsystem 400 also includes a plurality of articulated cables 402, 404, 406, 408, each articulated cable having distal ends 402A, 404A, 406A, 408A connected to the distal end 306B of the central beam assembly 306, and proximal ends 402B, 404B, 406B, 408B. More specifically, each distal end 402A, 404A, 406A, 408A may include a crimp that engages a cable retention opening 334A of the distal retaining disc 334 to retain its positioning. Each articulation cable may be separately actuated to cause rotation of the articulation joint 300 and the end effector 200 about at least one of the pitch axis PA and the yaw axis YA.

[0063] In some configurations, three articulated motion cables may be provided instead of the four cables 402, 404, 406, 408 shown herein. However, the four articulated motion cables 402, 404, 406, 408 (as shown in the figure) spaced approximately 90 degrees circumferentially apart provide load distribution. Additionally, in alternative configurations, the three- and four-articulated motion cable configurations may be asymmetrically spaced relative to each other.

[0064] The shaft assembly 600A and the housing 700 also form part of the cable articulation subsystem 400. More specifically, each articulation cable 402, 404, 406, 408 extends from the articulation joint 300 and passes through the shaft assembly 600A to reach the housing 700. The proximal ends 402B, 404B, 406B, 408B of each articulation cable (402, 404, 406) are movably mounted in the housing 700, which causes the aforementioned rotation of the articulation joint 300 and the end effector 200. The housing 700 includes articulation positioning disc assemblies 702, 704, 706, 708 having a rotatable winch (not shown), around which the corresponding proximal ends 402B, 404B, 406B, 408B of the articulation cables 402, 404, 406, 408 are wound and mounted.

[0065] Joint motion cables 402, 404, 406, and 408 are guided through shaft assembly 600A, such that they are positioned between outer shaft 602 and inner shaft 604, allowing joint motion cables 402, 404, 406, and 408 to partially wind around it without tangling. Inner shaft 604 also prevents joint motion cables 402, 404, 406, and 408 from interfering with other components extending along the center of device 1000 (through inner shaft 604).

[0066] Articulation cables 402, 404, 406, and 408 are guided and connected to end effector 200 via articulation connector 300, such that movement of these cables in the proximal direction (via winding around a winch around housing 700) causes end effector 200 to articulate in a predetermined manner via articulation connector 300. For example, actuation of the first articulation cable 402 in the proximal direction causes end effector 200 to articulate upward and to the left; actuation of the second articulation cable 404 in the proximal direction causes end effector 200 to rotate upward and to the right; actuation of the third articulation cable 406 in the proximal direction causes end effector 200 to rotate downward and to the left; and actuation of the fourth articulation cable 408 in the proximal direction causes end effector 200 to rotate downward and to the right. Similarly, simultaneous movement of two articulation cables will result in mixed articulation of end effector 200. As those skilled in the art will understand, this configuration provides the aforementioned precise 360-degree articulation of the end effector 200 via the articulation joint 300, the articulation having at least two degrees of freedom and approximately 320 degrees of rolling.

[0067] like Figure 2 , Figure 4 , Figure 5 , Figures 8A to 8D , Figures 9A to 9D , Figure 17 and Figure 19 As shown, the knife firing subsystem 500 includes the aforementioned knife 206, the aforementioned knife slider 236, a firing rod 502 that drives the knife 206 and / or the knife slider 236, a first push rod 504, and a second push rod 506. The firing rod 502 includes a firing rod rack 530 and is driven by a firing positioning disc assembly 712 of the housing 700. The first push rod 504 has a first push rod distal end 504A connected to the knife slider 236 and a first push rod proximal end 504B connected to the firing rod 502. Similarly, the second push rod has a second push rod distal end 506A connected to the knife slider 236 and a second push rod proximal end 506B connected to the firing rod 502. The distal ends 504A and 506A are connected to the corresponding upper and lower portions of the blade slide 236 (e.g., upper blade protrusion 238 and lower blade protrusion 246), which allows the blade 206 to be pushed evenly at its end. In some models, the proximal ends 504B and 506B of the push rods 504 and 506 are connected to the firing lever 502 via a differential 520.

[0068] The knife firing subsystem 500 is constructed in a manner that enables articulation of the end effector 200 while still allowing the knife 206 to function correctly. To this end, the first push rod 504 includes a first flexible portion in the form of a first push coil 508, and the second push rod 506 includes a second flexible portion in the form of a second push coil 510. The push coils 508 and 510 pass through the articulation joint 300 via corresponding push coil openings 312A and 312B, and the push rods 504 and 506 engage corresponding tab openings 244 and 252 in the knife slide member 236. A first center cable 512 extends through the first push coil 508 to engage the knife slide member 236 via a barrel-shaped crimp, and a second center cable 514 extends through the second push coil 510 to engage the knife slide member 236 via a barrel-shaped crimp. The drive coils 508 and 510 provide sufficient stability to the push rods 504 and 506 to deliver the axial striking force to the blade 206, without being too stiff to prevent joint movement at the connector 300. Cables 512 and 514, as described above, engage with the blade slide 236 (see, for example...). Figure 8A This prevents the push coils 508 and 510 from stretching and / or elongating, and serves as a retraction cable when the rods 504 and 506 retract toward the proximal end of the surgical instrument 1000. Each push rod 504 and 506 does not extend through the articulated joint 300 as a whole, and therefore does not need to be flexible. Therefore, the flexibility of the proximal section of each push rod 504 and 506 may be less than that of the push coils 508 and 510.

[0069] II. Indicative Lockout of Knife-firing Subsystem

[0070] It may be desirable to prevent the firing of the surgical instrument 1000 when the end effector 200 is loaded with a fired cartridge 210 (i.e., the "used cartridge" state) and when the end effector 200 is completely unloaded with any cartridge (i.e., the "no cartridge" state). Attempts to fire during these states are due to user error and could potentially lead to unintended actions on patient tissue; that is, cutting tissue without simultaneously sealing it with staples. The following is combined with... Figures 20 to 22C The exemplary configuration shown and described effectively prevents firing in both the used chamber state and the non-used chamber state, thereby preventing such accidental action on the patient's tissues.

[0071] A. An exemplary end effector with a locking component

[0072] Figures 20 to 22CAn exemplary end effector 1200 is shown, which can be readily incorporated into a surgical instrument 1000 to replace the end effector 200 described above. Thus, the end effector 1200 may be substantially similar to the end effector 200 described above, but with the differences detailed herein. Specifically, as will be described in more detail below, the end effector 1200 includes a locking assembly 1260 configured to prevent firing of the end effector 1200 in both a used cartridge state and a non-used cartridge state.

[0073] The end effector 1200 includes a jaw 1202, an anvil jaw 1204, a staple cartridge 1210, a cartridge slider 1210a, and a blade 1206 defining a blade slider 1236; these may be substantially similar to the jaw 202, anvil jaw 204, staple cartridge 210, cartridge slider 210a, blade 206, and blade slider 236 described above, but with the differences detailed herein. Therefore, in response to movement of the blade slider 1236 as described herein, the jaw 1202 and anvil jaw 1204 are pivotally coupled to each other and may be in an open position relative to each other (similar to...). Figure 8A The end effector 200 shown in the figure) and the clamping position (similar to) Figures 8C to 8D The end effector 200 shown in the figure pivots between them.

[0074] The blade 1206 (including its blade slide 1236) is suitably attached to the blade firing subsystem 1500, which is substantially similar to the blade firing subsystem 500 described above. Therefore, the blade firing subsystem 1500 includes a first push rod 1504, a second push rod 1506, push coils 1508 and 1510, and center cables 1512 and 1514; these may be substantially similar to the first push rod 504, the second push rod 506, the push coils 508 and 510, and the center cables 512 and 514 described above.

[0075] The jaw 1202 includes an elongated channel 1208 and a lower blade channel 1230, the lower blade channel having a centrally located lower blade channel portion 1232 and at least one laterally downward lower blade channel wing 1234, which may be substantially similar to the elongated channel 208, the lower blade channel 230, the centrally located lower blade channel portion 232 and the laterally downward lower blade channel wing 234 described above, but with the differences detailed below.

[0076] The blade slide 1236 includes a vertical post 1235, an upper blade 1238 defining an upper blade opening 1244, and a lower blade 1246 defining a lower blade opening 1252; these may be substantially similar to the vertical post 235, upper blade 238, upper blade opening 244, lower blade 246, and lower blade opening 252 described above, but with the differences detailed below. Therefore, when the blade slide 1236 is actuated relative to the jaws 1202 and 1204 according to the description herein, the upper blade 1238 and lower blade 1246 may be actuated within the upper blade passage of the anvil jaws 1204 and the lower blade passage 1230 of the storage jaws 1202, respectively, thereby facilitating the pivoting of the anvil jaws 1204 from the open position to the clamping position.

[0077] The staple cartridge 1210 slidably accommodates the cartridge slider 1210a. The staple cartridge defines an elongated blade channel 1215, which is substantially similar to the elongated blade channel 215 described above, but with the differences detailed herein. The elongated channel 1208 of the jaws 1202 selectively receives a first staple cartridge 1210, such that an unfired staple cartridge 1210 can be loaded into the jaws 1202 and fired as described herein. Subsequently, the used staple cartridge 1210 can be removed from the jaws 1202, so that a new unfired staple cartridge 1210 can be loaded into the jaws 1202.

[0078] As described above, the end effector 1200 includes a locking assembly 1260 configured to prevent firing of the end effector 1200 in both a used and unused state. In the present exemplary example, the locking assembly 1260 includes a rotatable lock 1270 (shown as a collar and also referred to as a lock) rotatably attached to the cutter slide 1236; and a biasing element shown as a spring 1264. The spring 1264 biases the rotatable lock 1270 to rotate relative to the cutter slide 1236 toward a locking configuration (see [link]). Figure 22AThe jaw 1202 also defines a recessed recess 1212 formed in the base plate of the jaw 1202, which laterally opens to the lower knife passage 1230 at a position slightly near the proximal end of the cartridge slider 1210a when the cartridge 1210 in a pre-firing (i.e., unused) state is properly loaded within the jaw 1202. The rotatable lock 1270 includes a locking protrusion 1278 and a locking cam 1279, each extending radially outward from the outer surface of the rotatable lock 1270, wherein the locking protrusion 1278 and the locking cam 1279 are circumferentially spaced apart from each other. The locking protrusion 1278 is sized to fit within the recessed recess 1212 and thus engage the base plate of the jaw 1202, thereby preventing longitudinal translation of the knife slider 1236 when the rotatable lock 1270 is in the locked configuration. The locking cam 1279 includes an upward-facing cam surface along the distal portion of the rotatable lock 1270, the cam surface facing the anvil jaws 1204 and configured to facilitate the rotatable lock 1270 to be rotatably driven from a locked configuration to an unlocked configuration by the slot slider 1210a, as described below.

[0079] As will be described in more detail below, when the unfired cartridge 1210 is properly loaded into the cartridge jaws 1202, the upward-facing cam surface of the locking cam 1279 of the rotatable lock 1270 is configured to engage the lower surface of the unfired cartridge slider 1210a. This engagement with the lower surface causes the locking body 1270 to rotate relative to the blade slider 1236, causing the locking protrusion 1278 to rotate out of the recess 1212 defined by the cartridge jaws 1202, thereby changing the rotatable lock 1270 from a locked configuration to an unlocked configuration. As will be described in more detail below, if the used cartridge 1210 is loaded into the cartridge jaws 1202 (i.e., the used cartridge state), or if the cartridge 1210 is not present in the cartridge jaws 1202 (i.e., the cartridge state), the spring 1264 will drive the rotatable lock 1270 into the recessed pit 1212 relative to the blade slider 1236, thereby establishing a locking configuration and preventing distal actuation of the blade 1206.

[0080] Spring 1264 is inserted between the proximal surface 1277 of the rotatable lock 1270 and the distal surface 1237 of the lower blade tab 1246 of the blade slide 1236. As described below, a first portion of spring 1264 is longitudinally attached to the rotatable lock 1270, and a second portion of spring 1264 is longitudinally attached to the blade slide 1236. Thus, when the blade 1206 is longitudinally advanced relative to the end effector jaws 1202, 1204, the rotatable lock 1270 and spring 1264 are longitudinally advanced together with the blade 1206 and blade slide 1236. The lower blade tab 1246 includes a cylindrical lug projecting distally therefrom and defining a rotation axis RA, and extends along (e.g., substantially parallel to) the longitudinal axis of the end effector 1200. The rotatable lock 1270 and spring 1264 are positioned around the lug 1247, and are positioned such that a portion of the rotatable lock 1270 and spring 1264 can rotate about the rotation axis RA around the lug 1247.

[0081] Spring 1264 rotatably biases the rotatable lock 1270 relative to the lower blade protrusion 1246 of the blade slide member 1236, thereby biasing the rotatable lock 1270 toward a locking configuration (see [link]). Figure 22A Although spring 1264 is used in the current example, it will be apparent to those skilled in the art, based on the teachings herein, that any other suitable biasing element may be used to bias the rotatable lock 1270 toward the locking configuration. For example, a compression spring may be used to bias the rotatable lock 1270. It will be apparent to those skilled in the art, based on the teachings herein, that such alternative biasing elements may have any suitable spatial relationship with the locking assembly 1260 and other components of the end actuator 1200.

[0082] To bias the rotatable lock 1270 in the current version, the distal surface 1237 includes a distal protrusion 1239, depicted as a pin. The distal protrusion 1239 engages, for example by press-fit, within a proximal opening 1266 on the proximal tab 1267 of the spring 1264, thereby preventing rotation of the proximal tab 1267 relative to the sliding member 1236. Simultaneously, the spring 1264 also defines a distal opening 1268 positioned on the distal tab 1269 of the spring 1264. The collar 1270 includes a proximal protrusion 1272, depicted as a pin, extending from the proximal surface 1277 and sized to engage, for example by press-fit, within the distal opening 1268. In this manner, the proximal spring tab 1267 is rotatably fixed relative to the blade slide 1236 about the rotation axis RA, and the distal spring tab 1269 is rotatably fixed relative to the rotatable locking member 1270 about the rotation axis RA. As described above, the rotatable lock 1270 remains rotatable about the blade slide lug 1247 and the rotation axis RA between the locked and unlocked configurations. Therefore, the spring tabs 1267 and the spring openings 1266, 1268 are circumferentially aligned with each other in the locked configuration (see...). Figure 22A ), and in the unlocked configuration they are circumferentially offset from each other (see Figures 22B to 22C ).

[0083] Figures 22A to 22C and Figures 23A to 23B An illustrative firing of the blade slide 1236 is shown when the unfired staple cartridge 1210 is properly loaded into the end effector 1200. (As shown) Figure 22A and Figure 23A As shown, the magazine slide 1210a is positioned distally relative to the recess 1212 of the magazine jaws 1202. Furthermore, the blade 1206, blade slide 1236, spring 1264, and rotatable lock 1270 are all positioned proximally relative to the magazine slide 1210a. The rotatable lock 1270 is in a pre-firing locking configuration. Therefore, the spring 1264 biases the rotatable lock 1270 such that the locking protrusion 1278 is positioned within the recess and engages the magazine jaws 1202 to prevent distal advance of the blade 1206. It should be understood that when the blade 1206 is in the proximity position (see...), Figures 22A to 22B Actuates distally in the distal direction (see...) Figure 22C When the lower blade protrusion 1246 is mounted on the lower surface of the lower blade channel 1230, the lower blade protrusion 1246 can straddle the lower surface of the lower blade channel 1230.

[0084] Figure 22B and Figure 23BThe lower side of the unused cartridge 1210a is shown, with the unused cartridge pressing down on the locking cam 1279, thereby rotating the rotatable lock 1270 about the rotation axis RA from a locked configuration to an unlocked configuration. As discussed above, the locking protrusion 1278 in the unlocked configuration is positioned outside the recess 1212 to allow the blade 1206 to advance distally through the firing stroke. As can be seen, the proximal spring tab 1267 remains engaged with the blade slide 1236, while the distal spring tab 1269 remains engaged with the rotatable lock 1270, such that the spring 1264 continues to apply a rotational biasing force on the rotatable lock 1270 in the direction toward the locked configuration.

[0085] Next, as Figure 22C As shown, with the rotatable lock 1270 in the unlocked configuration, the blade 1206 and the magazine slide 1210a can be advanced distally, effectively passing through the recess 1212 of the magazine jaws 1202, allowing the staple cartridge 1210 to be fired onto the tissue clamped between the end effector jaws 1202 and 1204. The magazine slide 1210a continues to apply a downward force to the locking cam 1279 through the distal firing stroke, thereby holding the rotatable lock 1270 in the unlocked configuration.

[0086] Figure 23A The diagram shows a forward-facing end view of a rotatable lock 1270 in a locked configuration and positioned around a cylindrical lug 1247, similar to... Figure 22A The view depicted in the figure shows that, in the locked configuration, the rotatable lock 1270 is counterclockwise biased by the spring 1264, such that the locking protrusion 1278 is located inside the recessed recess 1212. The compartment slider 1210a is shown raised above the locking cam 1279.

[0087] Figure 23B A forward-facing end view of the rotatable lock 1270 in its unlocked configuration is shown, similar to... Figure 22B The view depicted in the image shows the lower surface of the slot slider 1210a contacting the locking cam 1279, causing the rotatable lock 1270 to rotate in the direction of the arrow, causing the locking protrusion 1278 to disengage from the recess 1212. The force exerted by the slot slider 1210a on the locking cam 1279 is sufficient to overcome the biasing force of the spring 1264, and thus drives the distal tab 1269 of the spring 1264 to move together with the rotatable lock 1270. During the rotation of the rotatable lock 1270, the lower surface of the slot slider 1210a slides against the locking cam 1279. As described above, when the rotatable lock 1270 is in the unlocked configuration, the blade slider 1236 can translate distally, as... Figure 22C As shown.

[0088] After the distal firing stroke is completed, the blade 1206 retracts proximally, while the magazine slide 1210a remains positioned at the distal end of the magazine 1210, so that the magazine slide 1210a no longer engages the rotatable lock 1270. Therefore, when the blade 1206 returns to its proximal original position (in which the locking protrusion 1278 is longitudinally aligned with the recess 1212), the elastic biasing force applied by the spring 1264 rotates the locking protrusion 1278 into the recess 1212, causing the rotatable lock 1270 to return to its locked configuration, as... Figure 22A As shown. The rotatable lock 1270 then maintains this locking configuration until a new, unused staple cartridge is loaded into the end actuator 1200. In this way, the locking assembly 1260 continues to prevent the end actuator 1200 from firing in both the used cartridge state and the non-used cartridge state.

[0089] III. Examples of Combinations

[0090] The following examples illustrate various non-exhaustive ways in which the teachings herein can be combined or applied. It should be understood that the following examples are not intended to limit the scope of any claims that may be provided at any time in this patent application or a subsequent filing thereof. No disclaimer is intended. The following examples are provided merely for illustrative purposes. It is contemplated that the various teachings herein may be arranged and applied in a variety of other ways. It is also contemplated that some variations may omit certain features mentioned in the following examples. Therefore, none of the aspects or features mentioned below should be considered definitive unless otherwise expressly indicated by the inventor or a successor with an interest in the inventor at a later date. If any claim set forth in this patent application or a subsequent filing related to this patent application includes additional features beyond those mentioned below, such additional features should not be presumed to have been added for any reason related to patentability.

[0091] Example 1

[0092] An apparatus comprising: a first jaw (202) configured to selectively receive a staple cartridge (210) and define a longitudinal jaw axis; a second jaw (204) wherein the first jaw and the second jaw are configured to cooperate to clamp and suture tissue; a blade (1236) configured to be actuated relative to the first jaw and the second jaw along the longitudinal jaw axis when the staple cartridge is received within the first jaw, thereby cutting and suturing tissue clamped by the first jaw and the second jaw, wherein the blade defines a longitudinal blade axis extending along the longitudinal jaw axis; and a lock (1270) rotatable relative to the blade about the longitudinal blade axis between an unlocked configuration and a locked configuration, wherein the lock is configured to prevent distal actuation of the blade in the locked configuration and allow distal actuation of the blade in the unlocked configuration.

[0093] The lock is configured to present the locking configuration when there is no unused nail cartridge in the first jaws, and to present the unlocking configuration when there is an unused nail cartridge in the first jaws.

[0094] Example 2

[0095] According to the device of embodiment 1, the device further includes a spring (1264), wherein the lock includes a collar (1270), wherein the collar is longitudinally attached to the knife, and wherein the spring is attached to the collar and configured to bias the lock toward the locking configuration.

[0096] Example 3

[0097] According to the device of embodiment 2, the spring includes one of a retaining ring, a spring ring, an open ring, or a torsion spring.

[0098] Example 4

[0099] According to any one of embodiments 2 to 3, the collar and the spring are axially aligned with each other.

[0100] Example 5

[0101] According to any one of embodiments 1 to 4, the device includes a lug (1247) defining the longitudinal blade axis, and the lock is rotatable about the lug between the locking configuration and the unlocking configuration.

[0102] Example 6

[0103] According to any one of embodiments 1 to 5, the lug is positioned at the lower end of the blade and protrudes distally.

[0104] Example 7

[0105] The device according to any one of embodiments 1 and 5 to 6, wherein the device further includes a spring configured to bias the lock toward the locking configuration, wherein the spring is positioned about the lug.

[0106] Example 8

[0107] According to any one of embodiments 1 to 7, the first jaw includes a base plate having an elongated slot (1208) extending along the longitudinal jaw axis, and the blade is configured to translate through the elongated slot, wherein a recess (1212) is formed in the base plate and laterally opens into the elongated slot.

[0108] Example 9

[0109] According to any one of embodiments 1 to 8, the device includes a protrusion (1278), wherein the first jaw includes a recess (1212), wherein the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locked configuration, wherein the protrusion is configured to be positioned outside the recess and thus not longitudinally constrained by the recess when the lock is in the unlocked configuration.

[0110] Example 10

[0111] According to any one of embodiments 1 to 9, the device includes a cam surface (1279) configured to engage the pin magazine, thereby changing the lock from the locking configuration to the unlocking configuration.

[0112] Example 11

[0113] According to any one of embodiments 1, 5 to 6 and 8 to 10, the device wherein the lock includes a pin (1272) extending toward the knife in a proximal direction, wherein the pin is configured to engage a spring thereby biasing the lock toward the locking configuration.

[0114] Example 12

[0115] According to the device of embodiment 10, the lock includes a protrusion (1278), the first jaw includes a recess (1212), the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locking configuration, wherein the cam surface and the protrusion are circumferentially offset from each other.

[0116] Example 13

[0117] The device according to any one of embodiments 10 to 12, wherein the cam surface is defined by the distal portion of the lock.

[0118] Example 14

[0119] According to any one of embodiments 1 to 13, the lock is longitudinally fixed to the blade, such that the lock can be longitudinally translated with the blade relative to the first jaw and the second jaw.

[0120] Example 15

[0121] According to any one of embodiments 1 to 14, in the device, when the lock is in the unlocked configuration, the knife is actuated from the proximal original position to the distal firing position, wherein the lock is configured to automatically restore the locked configuration in response to the knife returning from the distal firing position to the proximal original position.

[0122] Example 16

[0123] An apparatus comprising: a first jaw configured to selectively receive a staple cartridge and define a longitudinal jaw axis; a second jaw, wherein the first jaw and the second jaw are configured to cooperate to clamp and suture tissue; a blade configured to be actuated relative to the first jaw and the second jaw along the longitudinal jaw axis when the staple cartridge is received within the first jaw, thereby cutting and suturing tissue clamped by the first jaw and the second jaw, wherein the blade defines a longitudinal blade axis extending along the longitudinal jaw axis; and a lock configured to be rotatable relative to the blade about the longitudinal blade axis between an unlocked configuration and a locked configuration, wherein the lock is configured to prevent distal actuation of the blade in the locked configuration and allow distal translation of the blade in the unlocked configuration, the lock including a collar and a spring positioned between the collar and the blade, wherein the spring is configured to bias the collar toward the locked configuration.

[0124] Example 17

[0125] According to the device of embodiment 16, the blade includes a lug that defines the longitudinal blade axis, and the lock is rotatable about the lug between the locking configuration and the unlocking configuration.

[0126] Example 18

[0127] According to any one of embodiments 16 to 17, the device includes a protrusion, wherein the first jaw includes a recess, wherein the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locked configuration, wherein the protrusion is configured to be positioned outside the recess and thus not longitudinally constrained by the recess when the lock is in the unlocked configuration.

[0128] Example 19

[0129] An apparatus includes: a staple cartridge; and an end effector operable to clamp, suture, and cut tissue, the end effector comprising: a first jaw configured to selectively receive the staple cartridge; a second jaw, wherein the first jaw and the second jaw are configured to switch between an open position and a closed position to clamp tissue; a blade configured to actuate distally relative to the first jaw and the second jaw along a firing stroke when the staple cartridge is received within the first jaw, thereby cutting and suturing tissue clamped by the first jaw and the second jaw, the blade including a lug projecting longitudinally in a distal direction; and a lock configured to rotate about the lug of the blade between an unlocked configuration and a locked configuration, wherein the lock is configured to prevent distal actuation of the blade in the locked configuration and allow distal translation of the blade in the unlocked configuration, wherein the lock is configured to engage the staple cartridge, thereby rotating about the lug and thus switching from the locked configuration to the unlocked configuration.

[0130] Example 20

[0131] According to the device of embodiment 20, the staple cartridge includes a slider configured to directly contact the lock when the unused staple cartridge is fully seated in the first jaws, thereby driving the lock from the locking configuration to the unlocking configuration.

[0132] Clause 1

[0133] An apparatus comprising: a first jaw configured to selectively receive a staple cartridge and define a longitudinal jaw axis; a second jaw, wherein the first jaw and the second jaw are configured to cooperate to clamp and suture tissue; a blade configured to be actuated relative to the first jaw and the second jaw along the longitudinal jaw axis when the staple cartridge is received within the first jaw, thereby cutting and suturing tissue clamped by the first jaw and the second jaw, wherein the blade defines a longitudinal blade axis extending along the longitudinal jaw axis; and a lock rotatable relative to the blade about the longitudinal blade axis between an unlocked configuration and a locked configuration, wherein the lock is configured to prevent distal actuation of the blade in the locked configuration and allow distal actuation of the blade in the unlocked configuration, wherein the lock is configured to present the locked configuration when there is no unused staple cartridge in the first jaw and to present the unlocked configuration when there is an unused staple cartridge in the first jaw.

[0134] Clause 2

[0135] The device according to Clause 1, wherein the device further includes a spring, wherein the lock includes a collar, wherein the collar is longitudinally attached to the knife, wherein the spring is attached to the collar and configured to bias the lock toward the locking configuration.

[0136] Clause 3

[0137] The device according to Clause 2, wherein the spring comprises one of a retaining ring, a spring ring, an open ring, or a torsion spring.

[0138] Clause 4

[0139] The device according to Clause 3, wherein the collar and the spring are axially aligned with each other.

[0140] Clause 5

[0141] The device according to Clause 1, wherein the blade includes a lug, wherein the lug defines the longitudinal blade axis, and wherein the lock is rotatable about the lug between the locking configuration and the unlocking configuration.

[0142] Clause 6

[0143] The device according to Clause 5, wherein the lug is positioned at the lower end of the blade and protrudes distally.

[0144] Clause 7

[0145] The device according to Clause 5 further includes a spring configured to bias the lock toward the locking configuration, wherein the spring is positioned about the lug.

[0146] Clause 8

[0147] According to the device described in Clause 1, the first jaw includes a base plate having an elongated slot extending along the longitudinal jaw axis, and the blade is configured to translate through the elongated slot, wherein a recess is formed in the base plate and laterally opens into the elongated slot.

[0148] Clause 9

[0149] According to the device of Clause 1, wherein the lock includes a protrusion, wherein the first jaw includes a recess, wherein the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locked configuration, wherein the protrusion is configured to be positioned outside the recess and thus not longitudinally constrained by the recess when the lock is in the unlocked configuration.

[0150] Clause 10

[0151] According to Clause 1, the device includes a cam surface configured to engage the pin magazine, thereby changing the lock from the locking configuration to the unlocking configuration.

[0152] Clause 11

[0153] The device according to Clause 10, wherein the lock includes a pin extending toward the knife in a proximal direction, wherein the pin is configured to engage a spring thereby biasing the lock toward the locking configuration.

[0154] Clause 12

[0155] According to the device of Clause 10, the lock includes a protrusion, the first jaw includes a recess, the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locking configuration, wherein the cam surface and the protrusion are circumferentially offset from each other.

[0156] Clause 13

[0157] The device according to Clause 10, wherein the cam surface is defined by the distal portion of the lock.

[0158] Clause 14

[0159] According to the device described in Clause 1, the lock is longitudinally fixed to the blade such that the lock can be longitudinally translated with the blade relative to the first jaw and the second jaw.

[0160] Clause 15

[0161] According to the device of Clause 1, when the lock is in the unlocked configuration, the knife is actuated from the proximal original position to the distal firing position, wherein the lock is configured to automatically restore the locked configuration in response to the knife returning from the distal firing position to the proximal original position.

[0162] Clause 16

[0163] An apparatus comprising: a first jaw configured to selectively receive a staple cartridge and define a longitudinal jaw axis; a second jaw, wherein the first jaw and the second jaw are configured to cooperate to clamp and suture tissue; a blade configured to be actuated relative to the first jaw and the second jaw along the longitudinal jaw axis when the staple cartridge is received within the first jaw, thereby cutting and suturing tissue clamped by the first jaw and the second jaw, wherein the blade defines a longitudinal blade axis extending along the longitudinal jaw axis; and a lock configured to be rotatable relative to the blade about the longitudinal blade axis between an unlocked configuration and a locked configuration, wherein the lock is configured to prevent distal actuation of the blade in the locked configuration and allow distal translation of the blade in the unlocked configuration, the lock including a collar and a spring positioned between the collar and the blade, wherein the spring is configured to bias the collar toward the locked configuration.

[0164] Clause 17

[0165] The device according to Clause 17, wherein the blade includes a lug, wherein the lug defines the longitudinal blade axis, and wherein the lock is rotatable about the lug between the locking configuration and the unlocking configuration.

[0166] Clause 18

[0167] According to the device of Clause 16, the lock includes a protrusion, the first jaw includes a recess, the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locked configuration, and the protrusion is configured to be positioned outside the recess and thus not longitudinally constrained by the recess when the lock is in the unlocked configuration.

[0168] Clause 19

[0169] An apparatus includes: a staple cartridge; and an end effector operable to clamp, suture, and cut tissue, the end effector comprising: a first jaw configured to selectively receive the staple cartridge; a second jaw, wherein the first jaw and the second jaw are configured to switch between an open position and a closed position to clamp tissue; a blade configured to actuate distally relative to the first jaw and the second jaw along a firing stroke when the staple cartridge is received within the first jaw, thereby cutting and suturing tissue clamped by the first jaw and the second jaw, the blade including a lug projecting longitudinally in a distal direction; and a lock configured to rotate about the lug of the blade between an unlocked configuration and a locked configuration, wherein the lock is configured to prevent distal actuation of the blade in the locked configuration and allow distal translation of the blade in the unlocked configuration, wherein the lock is configured to engage the staple cartridge, thereby rotating about the lug and thus switching from the locked configuration to the unlocked configuration.

[0170] Clause 20

[0171] According to the device described in Clause 19, the staple cartridge includes a slider configured to directly contact the lock when the unused staple cartridge is fully seated within the first jaws, thereby driving the lock from the locked configuration to the unlocked configuration.

[0172] IV. Miscellaneous

[0173] It should be understood that any or more of the teachings, expressions, types, examples, etc., described herein may be combined with any or more of the other teachings, expressions, types, examples, etc., described herein. Therefore, the aforementioned teachings, expressions, types, examples, etc., should not be considered separate from each other. Various suitable ways in which the teachings herein can be combined will be apparent to those skilled in the art. Such modifications and variations are intended to be included within the scope of the claims.

[0174] It should be understood that any patent, patent publication, or other public material allegedly incorporated herein by reference, whether in whole or in part, is incorporated only to the extent that the incorporated material does not conflict with the existing definitions, statements, or other public materials listed in this disclosure. Therefore, and to the extent necessary, the disclosures expressly listed herein replace any conflicting material incorporated herein by reference. Any material, or part thereof, allegedly incorporated herein by reference but conflicting with the existing definitions, statements, or other public materials listed herein, will be incorporated only to the extent that the incorporated material does not conflict with the existing public materials.

[0175] The aforementioned devices can be applied to both traditional medical treatments and surgeries performed by medical professionals and robot-assisted medical treatments and surgeries. By way of example only, the various teachings herein can be readily incorporated into robotic surgical systems, such as those provided by Auris Health, Inc. (Redwood City, CA) or Intuitive Surgical, Inc. (Sunnyvale, California).

[0176] Devices of the types described above may be designed for single-use and disposal, or they may be designed for multiple uses. In either or both cases, these types may be repaired for reuse after at least one use. Repair may include any combination of the following steps: disassembling the device, then cleaning or replacing specific parts, and subsequently reassembling. Specifically, some types of devices may be disassembled, and any combination may be used to selectively replace or remove any number of specific parts or portions of the device. While cleaning and / or replacing specific components, some types of devices may be reassembled at a repair facility or by the user prior to surgery for subsequent use. Those skilled in the art will appreciate that device repair can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. The use of such techniques and the resulting repaired devices are within the scope of this application.

[0177] By way of example only, the types described herein can be sterilized before and / or after the procedure. In one sterilization technique, the device is placed in a closed and sealed container such as a plastic bag or a TYVEK bag. The container and device can then be placed in a radiation field capable of penetrating the container, such as gamma radiation, X-rays, or high-energy electrons. The radiation kills bacteria on the device and in the container. The sterilized device can then be stored in a sterile container for later use. Any other techniques known in the art can also be used to sterilize the device, including but not limited to beta or gamma radiation, ethylene oxide, or vapor.

[0178] While various embodiments of the invention have been shown and described, further improvements to the methods and systems described herein can be achieved by suitable modifications made by those skilled in the art without departing from the scope of the invention. Several such possible modifications have been mentioned, and other modifications will be apparent to those skilled in the art. For example, the examples, types, geometries, materials, dimensions, ratios, steps, etc., discussed above are illustrative and not essential. Therefore, the scope of the invention should be considered in accordance with the following claims and should be understood as not being limited to the details of the structures and operations shown and described in the specification and drawings.

Claims

1. An apparatus comprising: (a) A first jaw (202) configured to selectively receive a staple cartridge (210) and define a longitudinal jaw axis; (b) a second jaw (204), wherein the first jaw and the second jaw are configured to cooperate to clamp and suture tissue; (c) A blade (1236), the blade being configured to be actuated relative to the first and second jaws along the longitudinal jaw axis when the staple cartridge is received within the first jaws, thereby cutting and suturing tissue held by the first and second jaws, wherein the blade defines a longitudinal blade axis extending along the longitudinal jaw axis; and (d) Lock (1270), the lock being rotatable relative to the blade about the longitudinal blade axis between an unlocked configuration and a locked configuration. The lock is configured to prevent distal actuation of the knife in the locking configuration and to allow distal actuation of the knife in the unlocking configuration. The lock is configured to present the locking configuration when there is no unused nail cartridge in the first jaws, and to present the unlocking configuration when there is an unused nail cartridge in the first jaws.

2. The device according to claim 1, wherein, The device also includes a spring (1264), wherein the lock includes a collar (1270) wherein the collar is longitudinally attached to the knife, and wherein the spring is attached to the collar and configured to bias the lock toward the locking configuration.

3. The device according to claim 2, wherein, The spring includes one of a retaining ring, a spring ring, an open ring, or a torsion spring.

4. The device according to any one of claims 2 to 3, wherein, The collar and the spring are axially aligned with each other.

5. The device according to any one of claims 1 to 4, wherein, The blade includes a lug (1247) that defines the longitudinal blade axis, and the lock is rotatable about the lug between the locking configuration and the unlocking configuration.

6. The device according to any one of claims 1 to 5, wherein, The lug is located at the lower end of the blade and protrudes distally.

7. The device according to any one of claims 1 and 5 to 6, wherein, The device also includes a spring configured to bias the lock toward the locking configuration, wherein the spring is positioned about the lug.

8. The device according to any one of claims 1 to 7, wherein the first jaw includes a base plate having an elongated slot (1208) extending along the longitudinal jaw axis, and the blade is configured to translate through the elongated slot, wherein, A recess (1212) is formed in the base plate and laterally opens into the elongated slot.

9. The device according to any one of claims 1 to 8, wherein, The lock includes a protrusion (1278), wherein the first jaw includes a recess (1212), wherein the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locked configuration, wherein the protrusion is configured to be positioned outside the recess and thus not longitudinally constrained by the recess when the lock is in the unlocked configuration.

10. The device according to any one of claims 1 to 9, wherein, The lock includes a cam surface (1279) configured to engage the pin magazine, thereby changing the lock from the locking configuration to the unlocking configuration.

11. The device according to any one of claims 1, 5 to 6, and 8 to 10, wherein, The lock includes a pin (1272) extending toward the knife in a proximal direction, wherein the pin is configured to engage a spring, thereby biasing the lock toward the locking configuration.

12. The device according to claim 10, wherein, The lock includes a protrusion (1278), wherein the first jaw includes a recess (1212), wherein the protrusion is configured to be positioned inside the recess and thus longitudinally constrained by the recess when the lock is in the locking configuration, wherein the cam surface and the protrusion are circumferentially offset from each other.

13. The device according to any one of claims 10 to 12, wherein, The cam surface is defined by the distal portion of the lock.

14. The device according to any one of claims 1 to 13, wherein, The lock is longitudinally fixed to the blade, such that the lock can be longitudinally translated with the blade relative to the first jaw and the second jaw.

15. The device according to any one of claims 1 to 14, wherein, When the lock is in the unlocked configuration, the knife can be actuated from the proximal original position to the distal firing position, wherein the lock is configured to automatically restore the locked configuration in response to the knife returning from the distal firing position to the proximal original position.

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