Surgical instrument having a firing member closure feature

Abstract

A surgical end effector having first and second jaws opened and closed by an axially movable firing member, the firing member configured to apply a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position to an end position, and the firing member further configured to move the second jaw toward the first jaw when the firing member is moved proximally from the home position.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This non - provisional application claims the benefit of U.S. Provisional Patent Application No. 63 / 057,430, filed on July 28, 2020, entitled "SURGICAL INSTRUMENTS WITH TORSION SPINE DRIVE ARRANGEMENTS" and U.S. Provisional Patent Application No. 63 / 057,432, filed on July 28, 2020, entitled "ARTICULATION JOINT ARRANGEMENTS FOR SURGICAL INSTRUMENTS" under 35 U.S.C. § 119(e). The disclosure of these provisional applications is hereby incorporated by reference in its entirety into this specification.

Background Art

[0002] The present invention relates to surgical instruments and, in various devices, surgical stapling instruments and cutting instruments designed to staple and cut tissue, as well as staple cartridges for use therewith. Surgical instruments can be configured for use in open surgical procedures, but also have applications in other types of surgery such as laparoscopic, endoscopic, and robot - assisted procedures, and may include an end - effector that is articulable relative to the shaft portion of the instrument to facilitate accurate positioning within a patient. [[ID=**15]]

Brief Description of the Drawings

[0003] The novel features of the various aspects are specifically set forth in the appended "Claims". However, the described forms, in regard to both the construction and the method of operation, can be best understood by reference to the following description in conjunction with the accompanying drawings. [Figure 1] A perspective view of a surgical end - effector portion of a surgical instrument, according to at least one aspect of the present disclosure. [Figure 2] A side view of the surgical end - effector portion instrument of FIG. 1 in a closed orientation. [Figure 3]Figure 2 is an end view of the surgical end effector. [Figure 4] Figure 2 is a top view of the surgical end effector. [Figure 5] Figure 1 is an exploded view of a part of a surgical instrument. [Figure 6] Figure 1 is an exploded view of the elongated shaft assembly of a surgical instrument. [Figure 7] Figure 6 is another exploded view of the elongated shaft assembly. [Figure 8] This is an exploded assembly diagram of a launch system and a rotary drive system according to at least one aspect of the present disclosure. [Figure 9] Figure 8 shows a side view of the launching member of the launching system and the upper and lower flexible spine assemblies, which are engaged with the rotary drive screw of the rotary drive system. [Figure 10] Figure 9 is a cross-sectional view of the launching member and the upper and lower flexible spine assemblies. [Figure 11] Figure 9 shows a side view of the launching member engaged with the rotary drive screw, as well as the upper and lower flexible spine assemblies. [Figure 12] This is a cross-sectional end view of the surgical end effector shown in Figure 4, taken along line 12-12 in Figure 4. [Figure 13] Figure 10 is an exploded perspective view of two adjacent upper vertebra members of the upper flexible spine assembly. [Figure 14] Figure 10 is an exploded perspective view of two adjacent lower vertebra members of the lower flexible spine assembly. [Figure 15] Figure 9 is a top view of the launching member and the upper and lower flexible spine assemblies engaged with the rotary drive screw. [Figure 16] Figure 8 is a perspective view of the CV drive shaft assembly of the rotary drive system in the orientation of joint movement. [Figure 17] This is a perspective view of the launch system of Figure 8, which is drive-engaged to the CV drive shaft assembly of Figure 16, according to at least one aspect of the present disclosure. [Figure 18]Figure 16 is a perspective view of the drive coupling of the CV drive shaft assembly. [Figure 19] This is a cross-sectional view of a portion of the surgical instrument shown in Figure 4, taken along line 19-19 in Figure 4. [Figure 20] Figure 1 shows a partial perspective view of the proximal end portion of the surgical end effector, as well as the firing system and rotational drive system of the surgical instrument shown in Figure 1. [Figure 21] This is a perspective view of the rotary drive system of the surgical instrument shown in Figure 1, which is drive-engaged to a firing system, according to at least one aspect of the present disclosure. [Figure 22] Figure 21 is an exploded perspective view of the rotary drive screw and thrust bearing device of the launch system. [Figure 23] Figure 22 is a side view of the rotary drive screw. [Figure 24] This is a partial cross-sectional side view of a portion of the lower flexible spine assembly and a portion of the launch member shown in Figure 21, which are drive-engaged to a portion of the rotary drive screw. [Figure 25] Figure 1 is a perspective view of the firing element in a fixed or starting position within the surgical end effector of a surgical instrument. [Figure 26] This is a side view showing the upper and lower flexible spine assemblies of Figure 21, which are driven and engaged with the rotary drive screw after the launching member has been driven distal to its fixed or starting position. [Figure 27] Figure 1 is a partial cross-sectional perspective view of a portion of the surgical end effector, firing system, and rotary drive system of the surgical instrument according to at least one aspect of the present disclosure, with the outer elastomer joint assembly of the articulated joint omitted for clarity. [Figure 28] Figure 27 is another partial perspective view of a portion of the surgical end effector, firing system, and rotary drive system, with parts of the outer elastomer joint assembly and elongated shaft assembly of the articulated joint omitted for clarity. [Figure 29]Top view of the surgical end effector of FIG. 27 articulated in a first direction with respect to a portion of an elongate shaft assembly, according to at least one aspect of the present disclosure. [Figure 30] Side view of the surgical end effector of FIG. 29 articulated in another direction with respect to a portion of an elongate shaft assembly, according to at least one aspect of the present disclosure. [Figure 31] Perspective view of the surgical end effector of FIG. 29 articulated in multiple planes with respect to a portion of an elongate shaft assembly, according to at least one aspect of the present disclosure. [Figure 32] Side view of a portion of another surgical instrument employing another outer elastomeric joint assembly, according to at least one aspect of the present disclosure. [Figure 33] Partial cross-sectional perspective view of the surgical instrument of FIG. 32. [Figure 34] Perspective view of a portion of the outer elastomeric joint assembly of FIG. 32. [Figure 35] Cross-sectional end view of a portion of the surgical instrument of FIG. 19 taken along line 35-35 of FIG. 19. [Figure 36] Cross-sectional end view of a portion of the surgical instrument of FIG. 19 taken along line 36-36 of FIG. 19. [Figure 37] Partial cross-sectional view of the anvil cap and a portion of the upper vertebral member of the surgical instrument of FIG. 19, according to at least one aspect of the present disclosure. [Figure 38] Side view of a portion of the surgical end effector of the surgical instrument of FIG. 19, and for clarity, the anvil is in the open position and a portion of the surgical end effector is omitted, according to at least one aspect of the present disclosure. [Figure 39] Partial cross-sectional side view of the surgical end effector of FIG. 38, according to at least one aspect of the present disclosure, where the anvil is in the open position and the firing member is in a fixed or starting position. [Figure 40] Another partial cross-sectional side view of the surgical end effector of FIG. 39 where the anvil is in a partially closed position. [Figure 41] Figure 39 is another partial cross-sectional side view of the surgical end effector, with the anvil in the fully closed position and the launching member advanced distally through the surgical end effector. [Figure 42] Figure 19 is a partial side view of a surgical end effector, with each part omitted for clarity to show that the anvil release spring applies an opening motion to the anvil, and the launching member in a fixed or starting position. [Figure 43] Figure 42 is another partial side view of the surgical end effector after the launching element has been moved a short distance proximal to the anvil to apply a rapid closing motion for the purpose of gripping. [Figure 44] Figure 19 is a cross-sectional view of the surgical end effector with the jaws in the closed position and the firing element in the nearest position. [Figure 45] Figure 44 shows another cross-sectional view of the surgical end effector after the launching element has advanced distally to its termination position within the surgical end effector. [Figure 46] This is a perspective view of a part of another surgical instrument. [Figure 47] Figure 46 is a side view of the surgical end effector of the surgical instrument, with the jaws in the open position. [Figure 48] This is another side view of the surgical end effector in Figure 48, with the jaws in the closed position. [Figure 49] Figure 46 is an exploded view of a part of a surgical instrument. [Figure 50] Figure 46 is a perspective view of the firing member of the surgical instrument firing system, as well as a portion of the upper flexible spine assembly and the lower flexible spine assembly. [Figure 51] Figure 50 is a cross-sectional side view of each part of the launch system shown. [Figure 52] Figure 51 shows a partially exploded view of the upper and lower flexible spine assemblies. [Figure 53] Figure 50 is a partial cross-sectional end view of the upper portion of the launching member shown. [Figure 54]Figure 46 is a cross-sectional end view of the surgical end effector of the surgical instrument, with the jaws in the closed position. [Figure 55] Figure 46 shows the proximal view of the annular rib member of the movable exoskeleton assembly of a surgical instrument. [Figure 56] Figure 55 shows the distal surface of the annular rib member. [Figure 57] Figures 55 and 56 are side views of the annular rib member. [Figure 58] Figure 46 is a partial cross-sectional view of a surgical instrument. [Figure 59] Figure 46 is a side view of the articulation joint of the surgical instrument when the surgical end effector is in a non-articular movement position. [Figure 60] Figure 59 is another side view of the joint when the surgical end effector is in the joint movement position. [Figure 61] Figure 46 is a partial perspective view of a portion of a surgical instrument, with the surgical end effector omitted for clarity. [Figure 62] Figure 46 is another partial perspective view of a portion of a surgical instrument. [Figure 63] Figure 46 is another partial perspective view of a portion of a surgical instrument. [Figure 64] Figure 46 is a perspective view of a portion of the CV drive shaft assembly and elongated shaft assembly of a surgical instrument. [Figure 65] Figure 64 shows another perspective view of the CV drive shaft assembly and the elongated shaft assembly, with an embodiment of the drive unit cover installed around the CV drive shaft assembly. [Figure 66] Another perspective view of the CV drive shaft assembly and the elongated shaft assembly in Figure 64, where another embodiment of the drive unit cover is installed around the CV drive shaft assembly. [Figure 67] Another perspective view of the CV drive shaft assembly and the elongated shaft assembly in Figure 64, where another embodiment of the drive unit cover is installed around the CV drive shaft assembly. [Figure 68]Figure 67 is a side view of a portion of the surgical instrument firing system shown in Figure 46, with the drive unit cover positioned around the CV drive shaft assembly. [Figure 69] Figure 68 is another side view of a portion of the launch system and drive unit cover. [Modes for carrying out the invention]

[0004] The applicant of this application also owns the following U.S. patent applications filed on the same day as this application, each of which is incorporated herein by reference in its entirety. - US Patent Application, Title of Invention: "SURGICAL INSTRUMENTS WITH TORSION SPINE DRIVE ARRANGEMENTS", Agent Reference Number: END9248USNP1 / 200084-1 - US Patent Application, Title of Invention: "SURGICAL INSTRUMENTS WITH SEGMENTED FLEXIBLE DRIVE ARRANGEMENTS", Agent Reference Number: END9248USNP3 / 200084-3 - US Patent Application, Invention Title: "SURGICAL INSTRUMENTS WITH FLEXIBLE BALL CHAIN ​​DRIVE ARRANGEMENTS", Agent Reference Number: END9248USNP4 / 200084-4 - US Patent Application, Invention Title: "SURGICAL INSTRUMENTS WITH DOUBLE SPHERICAL ARTICULATION JOINTS WITH PIVOTABLE LINKS", Agent Reference Number: END9248USNP5 / 200084-5 - US Patent Application, Invention Title: "SURGICAL INSTRUMENTS WITH DOUBLE PIVOT ARTICULATION JOINT ARRANGEMENTS", Agent Reference Number: END9248USNP6 / 200084-6 - US Patent Application, Title of Invention: "SURGICAL INSTRUMENTS WITH COMBINATION FUNCTION ARTICULATION JOINT ARRANGEMENTS", Agent Reference Number: END9248USNP7 / 200084-7 - U.S. Patent Application, Invention Title: "METHOD OF OPERATING A SURGICAL INSTRUMENT", Agent Reference Number: END9248USNP8 / 200084-8M - US Patent Application, Invention Title: "SURGICAL INSTRUMENTS WITH DUAL SPHERICAL ARTICULATION JOINT ARRANGEMENTS", Agent Reference Number: END9248USNP9 / 200084-9 - US Patent Application, Invention Title: "SURGICAL INSTRUMENTS WITH FLEXIBLE FIRING MEMBER ACTUATOR CONSTRAINT ARRANGEMENTS", Agent Reference Number: END9248USNP10 / 200084-10 - U.S. Patent Application, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION JOINTS COMPRISING FLEXIBLE EXOSKELETON ARRANGEMENTS", Agent Reference Number: END9248USNP11 / 200084-11 - U.S. Patent Application, Title of Invention: "SURGICAL INSTRUMENTS WITH DIFFERENTIAL ARTICULATION JOINT ARRANGEMENTS FOR ACCOMMODATING FLEXIBLE ACTUATORS", Agent Reference Number: END9248USNP12 / 200084-12.

[0005] Numerous specific details are described herein and illustrated in the accompanying drawings to provide a complete understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements are not described in detail so as not to obscure the embodiments described herein. Readers will understand that the embodiments described and illustrated herein are non-limiting examples, and therefore certain structural and functional details disclosed herein may be representative and illustrative. Modifications and changes thereto may be made without departing from the scope of the "Claims."

[0006] 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 “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or instrument that “comprises,” “has,” “includes,” or “contains” one or more elements may have, but is not limited to, one or more of those elements. Similarly, an element of a system, device, or instrument that “comprises,” “has,” “includes,” or “contains” one or more features may have, but is not limited to, one or more of those features.

[0007] The terms “proximal” and “distal” are used herein in reference to the clinician operating the handle portion of a surgical instrument. “Proximal” refers to the part closest to the clinician, and “distal” refers to the part further away from the clinician. For convenience and clarity, spatial terms such as “vertical,” “horizontal,” “up,” and “down” may be used herein in reference to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be restrictive and / or absolute.

[0008] References to singular items should be understood to include plural items unless explicitly stated otherwise or evident from the text, and vice versa. Grammatical conjunctions, unless otherwise stated or evident from the context, are intended to express any and all disjunctive and conjunctive combinations of joined clauses, sentences, words, etc. Therefore, the term "or" should generally be understood to mean "and / or," etc.

[0009] The descriptions of value ranges in this invention are intended to refer individually, rather than limiting, to any and all values ​​within that range, unless otherwise specified herein, and each distinct value within such range is incorporated into the specification as if it were individually enumerated herein. Words such as “about” and “approximately,” when accompanied by numerical values, should be interpreted as indicating a deviation that would be understood by a person skilled in the art to function satisfactorily for the intended purpose. Similarly, approximate words such as “approximately” or “substantially,” when used in reference to physical properties, should be interpreted as inducing a range of deviations that would be recognized by a person skilled in the art to function satisfactorily for the corresponding use, function, purpose, etc.

[0010] Any and all examples provided herein, i.e., the use of illustrative language ("for example," "etc.," or otherwise) is intended solely to better illustrate each embodiment and not to limit the scope of the embodiments. Nothing in the specification should be construed as indicating that any unclaimed element is essential to the practice of the embodiments.

[0011] Various exemplary apparatuses and methods for performing laparoscopic and minimally invasive surgical procedures are provided. However, it will be readily apparent to the reader that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, those related to incisional surgical procedures. By continuing to read the “Modes for Carrying Out the Invention” section herein, the reader will further understand that the various instruments disclosed herein can be inserted into the body in any way, for example, through a pre-existing opening, through an incision or puncture hole formed in the tissue, etc. The working portion, or end-effector, of these instruments can be inserted directly into the patient’s body, or through an access device having a working passage through which the end-effector and elongated shaft of the surgical instrument can be advanced.

[0012] During various laparoscopic surgical procedures, it is a common technique to access the surgical site located within the patient's abdomen by inserting the surgical end-effector portion of a surgical instrument through a trocar placed in the patient's abdominal wall. In its simplest form, a trocar is a pen-shaped instrument with a sharp triangular tip at one end, typically used in a hollow tube known as a cannula or sleeve, through which a surgical end-effector can be introduced. Such an instrument forms an access port in the body cavity into which a surgical end-effector can be inserted. The inner diameter of the trocar's cannula inevitably limits the size of the end-effector and drive support shaft of the surgical instrument that can be inserted through the trocar.

[0013] Regardless of the specific type of surgical procedure being performed, once a surgical end-effector is inserted into the patient through a trocar cannula, it is often necessary to move the surgical end-effector relative to the shaft assembly positioned within the trocar cannula in order to properly position it relative to the tissue or organ being treated. This movement or positioning of the surgical end-effector relative to the portion of the shaft that remains within the trocar cannula is often referred to as "articular movement" of the surgical end-effector. To facilitate such articular movement of the surgical end-effector, various articular joints have been developed for attaching the surgical end-effector to the associated shaft. As is expected in many surgical procedures, it is desirable to use a surgical end-effector with the largest possible range of articular movement.

[0014] Due to the size constraints imposed by the size of the trocar cannula, the components of the articular joint must be sized to be freely insertable through the trocar cannula. These size constraints also limit the size and configuration of various drive members and components that operably interact with motors and / or other control systems supported within a housing, which may be handheld or part of a larger automated system. Often, these drive members must operably pass through the articular joint so as to be operably coupled to or operably interacted with the surgical end effector. For example, one such drive member is commonly used to imparticular control movement to a surgical end effector. During use, the articular movement drive member may be non-actuated to position the surgical end effector in a non-articular movement position to facilitate insertion of the surgical end effector through the trocar, and then actuated to articularize the surgical end effector to the desired position when the surgical end effector enters the patient.

[0015] Therefore, the aforementioned size constraints present many challenges in developing articular motion systems that can achieve the desired range of joint movement and accommodate the various different drive systems necessary to operate the various features of the surgical end effector. Furthermore, once the surgical end effector is positioned in the desired articular motion position, the articular motion system and joint must be able to hold the surgical end effector in that position during operation of the end effector and during the performance of surgical procedures. Such a joint device must also be able to withstand the external forces that the end effector experiences during use.

[0016] Various surgical end effectors exist that are configured to cut and staple tissue. Such surgical end effectors generally include a first jaw feature supporting a surgical staple cartridge and a second jaw with an anvil. The jaws are supported relative to each other so that they can move between open and closed positions to position and clamp target tissue between them. Many of these surgical end effectors employ an axially moving launcher. In some end effector designs, the launcher is configured to engage with the first and second jaws so that when the launcher is first advanced distally, the launcher moves the jaws to the closed position. Other end effector designs employ a separate closing system independent of the system that operates the launcher.

[0017] A staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal and distal ends. During use, the staple cartridge is positioned on the first side of the tissue to be stapled, and the anvil is positioned on the second side of the tissue. The anvil is moved toward the staple cartridge to press and clamp the tissue against the deck. Staples, which are detachably stored within the cartridge body, can then be deployed into the tissue. The cartridge body includes a defined staple cavity, and staples are detachably stored within the staple cavity. The staple cavity is arranged in six longitudinal rows. Three rows of staple cavities are positioned on the first side of the longitudinal slots, and three rows of staple cavities are positioned on the second side of the longitudinal slots. Other devices for staple cavities and staples may also be possible.

[0018] The staples are supported by a staple driver within the cartridge body. The driver is movable between a first, i.e., unfired position and a second, i.e., fired position, to eject the staples from the staple cavity. The driver is held within the cartridge body by a retainer extending around the lower perimeter of the cartridge body and includes an elastic member configured to grip the cartridge body and hold the retainer relative to the cartridge body. The drivers are movable between their unfired and fired positions by threads. The threads are movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The threads include a plurality of inclined surfaces configured to slide beneath the driver and lift the driver, on which the staples are supported and directed toward the anvil.

[0019] In addition to the above, in these surgical end effectors, the thread is moved distally by a launching member. The launching member is configured to contact the thread and push it toward its distal end. A longitudinal slot defined within the cartridge body is configured to receive the launching member. The anvil also includes a slot configured to receive the launching member. The launching member further comprises a first cam that engages with a first jaw and a second cam that engages with a second jaw. When advancing the launching member distally, the first and second cams can control the distance between the deck of the staple cartridge and the anvil, i.e., the interstitial space. The launching member also comprises a knife configured to excise tissue captured between the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the inclined surface so that the staple is ejected ahead of the knife.

[0020] Many surgical end effectors use an axially movable launch beam, which is attached to a launch member and used to impart axial launching and retracting motions to the launch member. Many such launch beams have a laminated structure that gives the launch beam some degree of flexure around the articulation joint. When the launch beam crosses the articulation joint, it can apply a joint release force to the joint and can also cause the beam to buckle. To prevent the launch beam from buckling under pressure, the articulation joint generally includes a lateral support or "blowout" plate feature to support the portion of the beam that crosses the articulation joint. For example, advancing a launch beam over an angle greater than 60 degrees requires a significant amount of axial force. This axial force must be applied to the launch member in a balanced manner to avoid the launch member coupling with the jaws as the launch member moves distally. Any coupling of the launch member with the jaws can not only result in damage and wear of the components but may also require an increased amount of axial driving force to drive the launch member through the clamped tissue.

[0021] Other end-effector designs employ a rotary-powered launcher. In many such designs, the rotary drive shaft extends through an articulated joint and is coupled to a rotatable launcher drive shaft that is rotatably supported within one of the jaws. The launcher is screw-receptacle-engaged to the rotatable launcher drive shaft, and as the rotatable launcher drive shaft rotates, the launcher is driven through the end-effector. Such devices require larger support jaws to accommodate the launcher drive shaft. In such devices, the lower end of the launcher is generally operably coupled to the drive shaft, which can also result in the application of a force that tends to disproportionate the launcher when driven distally.

[0022] Figures 1 to 4 show one embodiment of a surgical instrument 10 that can address many of the challenges faced by surgical instruments having articulated end effectors configured to cut and fasten tissue. In various embodiments, the surgical instrument 10 may comprise a handheld device. In other embodiments, the surgical instrument 10 may comprise an automated system, sometimes referred to as a robotic control system. In various embodiments, the surgical instrument 10 comprises a surgical end effector 1000 operably coupled to an elongated shaft assembly 2000. The elongated shaft assembly 2000 may be operably mounted in a housing 2002. In one embodiment, the housing 2002 may comprise a handle configured to be grasped, manipulated, and actuated by a clinician. In other embodiments, the housing 2002 may comprise a part of a robotic system that houses or otherwise operably supports at least one drive system configured to generate and impart at least one controlled motion, which can be used to actuate the surgical end effectors disclosed herein and their respective equivalents. In addition, various components may be “housed” within or included in the housing, or various components may be “associated” with the housing. In such examples, components may not be included with the housing, or may not be directly supported by the housing. For example, the surgical instruments disclosed herein may be used in conjunction 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,” the entirety of which is incorporated herein by reference.

[0023] In one embodiment, the surgical end effector 1000 comprises a first jaw 1100 and a second jaw 1200. In the illustrated device, the first jaw 1100 comprises an elongated channel 1110 having a proximal end 1112 and a distal end 1114, and is configured to operably support a surgical staple cartridge 1300 inside. The surgical staple cartridge 1300 comprises a cartridge body 1302 having an elongated slot 1304 inside. Multiple surgical staples or fasteners (not shown) are stored therein on drivers (not shown) arranged in rows on each side of the elongated slot 1304. Each driver is associated with a corresponding staple cavity 1308 that opens through the cartridge deck surface 1306. The surgical staple cartridge 1300 may be replaced after the staples / fasteners have been ejected therefrom. Other embodiments are also considered in which the elongated channel 1110 and / or the entire surgical end effector 1000 may be discarded after the surgical staple cartridge 1300 has been used. Such an end effector device may be referred to, for example, as a “disposable loading unit”.

[0024] In the illustrated apparatus, the second jaw 1200 comprises an anvil 1210 having an elongated anvil body 1212 with a proximal end 1214 and a distal end 1216. In one apparatus, a pair of reinforcing rods or members 1213 may be supported within the anvil body 1212 to provide additional rigidity and stiffness to the anvil body 1212. The anvil body 1212 has a staple-forming lower surface 1218 facing the first jaw 1100 and may include a series (not shown) of staple-forming pockets corresponding to each of the staples or fasteners in a surgical staple cartridge 1300. The anvil body 1212 may further include a pair of downwardly extending tissue anchorage features 1220 formed adjacent to the proximal end 1214 of the anvil body 1212. Each tissue anchor feature 1220 extends from each side of the anvil body 1212 such that the distal end 1222 of each tissue anchor corresponds to the nearest staple / fastener in the surgical staple cartridge 1300. When the anvil 1210 is moved to a closed position on the tissue positioned between the staple-forming lower surface 1218 of the anvil 1210 and the cartridge deck surface 1306 of the surgical staple cartridge 1300, the tissue comes into contact with the distal end 1222 of the tissue anchor feature 1220, preventing the tissue from moving proximally beyond the nearest staple / fastener, thereby ensuring that the tissue being cut is also stapled. When the surgical staple cartridge is "fired" as will be discussed in more detail below, the staples / fasteners supported within each staple cavity are driven to exit the staple cavity 1308 through the clamped tissue and to form contact with the stapling lower surface 1218 of the anvil 1210.

[0025] As can be seen in Figures 5 and 6, the proximal end 1214 of the anvil body 1212 includes an anvil mounting portion 1230 which includes a pair of laterally extending mounting pins 1232 configured to be received by a corresponding mounting cradle or pivoting cradle 1120 formed on the proximal end 1112 of the elongated channel 1110. The mounting pins 1232 are pivotally held within the mounting cradle 1120 by an anvil cap 1260 which can be attached to the proximal end 1112 of the elongated channel 1110 by a mechanical snap feature 1261 configured to engage with a retaining structure 1113 on the elongated channel 1110. See Figure 5. In other devices, the anvil cap 1260 may be attached to the elongated channel 1110 by welding, adhesive, or the like. Such a device facilitates the pivotal movement of an anvil 1210 relative to a surgical staple cartridge 1300 mounted within an elongated channel 1110, around a pivot axis PA between an open position (Figure 1) and a closed position (Figures 2-5). Such a pivot axis PA may be referred to herein as "fixed" in that the pivot axis does not translate or otherwise move when the anvil 1200 is pivoted from the open position to the closed position.

[0026] In the illustrated apparatus, the elongated shaft assembly 2000 comprises a proximal shaft portion 2100 that defines a shaft axis SA and can operably connect to a housing of the control portion of the surgical instrument 10 (e.g., a handheld unit, a robotic tool driver, etc.). The elongated shaft assembly 2000 further comprises an articulation joint 2200 attached to the proximal shaft portion 2100 and the surgical end effector 1000. In various examples, the proximal shaft portion 2100 comprises a hollow outer tube 2110 that can operably connect to the housing 2002. See Figure 2. As can be seen in Figure 6, the proximal shaft portion 2100 may further comprise a rigid proximal support shaft 2120, which is supported within the hollow outer tube 2110 and extends from the housing to the articulation joint 2200. The proximal support shaft 2120 may comprise a first half 2120A and a second half 2120B, which can be joined together, for example, by welding, adhesive, etc. The proximal support member 2120 comprises a proximal end 2122 and a distal end 2124, and includes an axial passage 2126 that extends through the interior from the proximal end 2122 to the distal end 2124.

[0027] As described above, many surgical end effectors use a launching member that is pushed distally through a surgical staple cartridge by an axially movable launching beam. The launching beam is generally attached to the launching member in the central region of the launching member body. This mounting position can introduce an imbalance to the launching member as it is advanced through the end effector. Such an imbalance can lead to undesirable friction between the launching member and the end effector jaws. The generation of this additional friction may require the application of a higher launching force to overcome such friction, and may also cause undesirable wear on the jaws and / or parts of the launching member. Applying a higher launching force to the launching beam may result in undesirable bending of the launching beam as it traverses the articular joint. Such additional bending can disengage the articular joint, particularly when the surgical end effector is articulated at relatively high articular angles. The surgical instrument 10 uses a launching system 2300 that can address many, if not all, of these problems.

[0028] As can be seen from Figures 5 to 11, in at least one embodiment, the launch system 2300 comprises a launch member 2310 including a vertically extending launch member body 2312, the launch member body 2312 comprising an upper launch member feature 2320 and a lower launch member feature 2350. A tissue cutting blade 2314 is attached to or formed within the vertically extending launch member body 2312. See Figures 9 and 11. In at least one device, it is desirable that the launch member 2310 passes through the anvil body 1212 with low friction, high strength, and high rigidity. In the illustrated device, the upper launch member feature 2320 comprises an upper tubular body 2322 having an upper axial passage 2324 extending through it. See Figure 10. The lower launch member feature 2350 includes a lower tubular body 2352, the lower tubular body 2352 having a lower axial passage 2354 extending through it. In at least one device, the upper launch member feature section 2320 and the lower launch member feature section 2350 are integrally formed with the vertically extending launch member body 2312. As can be seen in Figure 12, the anvil body 1212 includes an axially extending anvil slot 1240 having a cross-sectional shape resembling a "keyhole". Similarly, the elongated channel 1110 includes an axially extending channel slot 1140 having a similar cross-sectional shape resembling a keyhole.

[0029] Conventional launcher devices employ long, flexible cantilever wings extending from the upper and lower portions of the launcher. These cantilever wings slide through slots in the anvil and channel, which are typically cut with rectangular T-cutters that tend to produce higher friction surfaces. Such long cantilever wings have minimal surface area in contact with the anvil and channel, potentially leading to wear on these components. The keyhole-shaped channel slots 1140 and keyhole-shaped anvil slots 1240 may be cut with round T-cutters or finished with a reamer / driller, thereby creating lower friction surfaces. In addition, the upper tubular body 2322 and lower tubular body 2352 are made more rigid than conventional cantilever wing devices and increase their surface area in contact with the anvil and channel, which can reduce wear and result in stronger sliding connections, respectively. In other words, the anvil slot 1240 and channel slot 1140 have a keyhole shape, and less material is removed than with conventional rectangular slots. Therefore, their geometric shape and increased material can result in a rigider anvil and channel compared to conventional devices.

[0030] Referring to Figures 9 to 11, in one device, the launch system 2300 further comprises an upper flexible spine assembly 2400 operably connected to an upper launch member feature section 2320, and a lower flexible spine assembly 2500 operably connected to a lower launch member feature section 2350. In at least one embodiment, the upper flexible spine assembly 2400 comprises an upper series 2410 of an upper vertebra member 2420, loosely connected together by an upper flexible coupling member 2402 attached to the upper launch member feature section 2320. The upper flexible coupling member 2402 may comprise an upper cable 2404 extending through an upper axial passage 2324 within the upper launch member feature section 2320, the distal end 2406 of the upper cable 2404 being attached to a retainer ferrule 2408 fixed to the upper axial passage 2324.

[0031] As can be seen in Figure 13, each upper vertebra member 2420 comprises an upper vertebra body portion 2422 having a proximal end 2424 and a distal end 2428. The upper hollow passage 2429 extends through the upper vertebra body portion 2422 to accommodate the passage of the upper flexible coupling member 2402. Each upper vertebra member 2420 further comprises an upper drive feature portion or upper vertebra member teeth 2450 that protrudes downward from the upper vertebra body portion 2422. Each upper vertebra member tooth 2450 has a helical proximal upper portion 2452 and a helical distal upper portion 2454. Each proximal end 2424 of the upper vertebra body portion 2422 has an upper proximal fitting feature portion 2426 therein, and each distal end 2428 has an upper distal fitting feature portion 2430 formed therein. In at least one embodiment, the upper proximal fitting feature portion 2426 is provided with a concave recess 2427, and each upper distal fitting feature portion 2430 is provided with a convex mound 2431. When positioned in the upper series 2410, a convex mound 2431 on one upper vertebra member 2420 contacts and engages with a concave recess 2427 on an adjacent upper vertebra member 2420 within the upper series 2410, maintaining the upper vertebra members 2420 in a substantially aligned state, thereby allowing the helical proximal upper portion 2452 and helical distal upper portion 2454 on each corresponding upper tooth 2450 to be driven and engaged by a rotary drive screw 2700, as will be described in more detail below.

[0032] Similarly, in at least one embodiment, the lower flexible spine assembly 2500 comprises a lower series 2510 of a lower vertebra member 2520, which is loosely connected together by a lower flexible coupling member 2502 attached to the lower launch member feature 2350. The lower flexible coupling member 2502 may comprise a lower cable 2504 extending through a lower axial passage 2354 within the lower launch member feature 2350, the distal end 2506 of the lower cable 2504 being attached to a retainer ferrule 2508 fixed to the lower axial passage 2354.

[0033] As can be seen in Figure 14, each lower vertebra member 2520 comprises a lower vertebra body portion 2522 having a proximal end 2524 and a distal end 2528. The lower hollow passage 2529 extends through the lower vertebra body portion 2522 to accommodate the passage of the lower flexible coupling member 2502. Each lower vertebra member 2520 further comprises an upwardly extending lower drive feature portion or lower vertebra member tooth 2550 protruding from the lower vertebra body portion 2522. Each lower vertebra member tooth 2550 has a helical proximal lower surface portion 2552 and a helical distal lower surface portion 2554. Each proximal end 2524 of the lower vertebra body portion 2522 has a lower proximal fitting feature portion 2526 therein, and each distal end 2528 has a lower distal fitting feature portion 2530 formed therein. In at least one embodiment, the lower proximal fitting feature portion 2526 includes a concave recess 2527, and each lower distal fitting feature portion 2530 includes a convex mound 2531. When positioned in the lower series 2510, a convex mound 2531 on one lower vertebra member 2520 contacts and engages with a concave recess 2527 on an adjacent lower vertebra member 2520 within the lower series 2510, maintaining the lower vertebra members 2520 in a substantially aligned state, thereby allowing the helical proximal lower surface portion 2552 and the helical distal lower surface portion 2554 on each corresponding lower tooth 2550 to be driven and engaged by a rotary drive screw 2700, as will be described in more detail below.

[0034] Referring here to Figures 5, 7, and 8, in at least one device, the firing drive system 2300 further comprises a rotary drive screw 2700 configured to be drivably linked with the upper series 2410 of the upper vertebra member 2420 and the lower series 2510 of the lower vertebra member 2520. In the illustrated device, the rotary drive screw 2700 is driven by a rotary drive system 2600, which includes a proximal rotary drive shaft 2610 rotatably supported in an axial passage 2126 within a proximal support shaft 2120. See Figure 7. The proximal rotary drive shaft 2610 comprises a proximal end 2612 and a distal end 2614. The proximal end 2612 may be linked with a gearbox 2004 or other device driven by a motor 2006 or another rotational motion source housed within the surgical instrument housing. See Figure 2. Such a rotational motion source rotates the proximal rotation drive shaft around the shaft axis SA within the axial passage 2126 in the proximal support shaft 2120.

[0035] The proximal rotary drive shaft 2610 is operably supported within an elongated shaft assembly 2000 at a location proximal to the articulated joint 2200, and is operably coupled with a constant velocity (CV) drive shaft assembly 2620 that extends or axially through the articulated joint 2200. As shown in Figures 8, 16, and 17, in at least one device, the CV drive shaft assembly 2620 comprises a proximal CV drive assembly 2630 and a distal CV drive shaft 2670. The proximal CV drive assembly 2630 comprises a proximal shaft segment 2632 consisting of a mounting shaft 2634 configured to be non-rotatably received within a similarly shaped coupling cavity 2616 within the distal end 2614 of the proximal rotary drive shaft 2610. The proximal shaft segment 2632 is operably coupled with a series 2640 of a movably coupled drive coupling 2650.

[0036] As can be seen from Figure 18, in at least one device, each drive coupling 2650 comprises a first or distal spherical portion 2660 and a second or proximal spherical portion 2652. The distal spherical portion 2660 is larger than the proximal spherical portion 2652. The distal spherical portion 2660 comprises a socket cavity 2662 configured to rotatably receive therein the proximal spherical portion 2652 of an adjacent drive coupling 2650. Each proximal spherical portion 2652 comprises a pair of diametrically opposed coupling pins 2654 configured to movably receive within a corresponding pin slot 2664 in the distal spherical portion 2660 of an adjacent drive coupling 2650, as can be seen from Figure 16. The proximal spherical portion 2652P of the nearest drive coupling 2650P is rotatably received within the distal socket portion 2636 of the proximal shaft segment 2632, as shown in Figure 16. The coupling pin 2654P is received in the corresponding pin slot 2637 within the distal socket portion 2636. As can be seen further from Figure 16, the most distal drive coupling 2650D in the series 2640 of movably coupled drive couplings 2650 is movably coupled to the distal CV drive shaft 2670.

[0037] In at least one device, the distal CV drive shaft 2670 includes a proximal spherical portion 2672, dimensioned to be movably received in a socket cavity 2662D within the most distal drive coupling 2650D. The proximal spherical portion 2672 includes a coupling pin 2674, which is movably received in a pin slot 2664D within the most distal drive coupling 2650D. The distal CV drive shaft 2670 further includes a distally extending shaft stem 2676 configured to be non-rotatably connected to a rotary drive screw 2700 located distal to the articulated coupling 2200. The distal CV drive shaft 2670 includes a flange 2677 and a mounting barrel portion 2678 for receiving a thrust bearing housing 2680 thereon.

[0038] In the illustrated apparatus, when the series 2640 of the movably connected drive couplings 2650 articulate, the coupling pin 2674 remains in the corresponding pin slot 2664 of the adjacent drive coupling 2650. In the example shown in Figure 18, each drive coupling may be able to articulate approximately 18 degrees in the pitch and yaw directions. Figure 16 shows the angle of the series 2640 of drive couplings 2650 when each drive coupling 2650 in the series is fully articulated 90 degrees in pitch and yaw, which results in an angle α of approximately 100.9 degrees. In such an apparatus, the outer surface of each distal spherical portion 2660 has clearance with the outer surface of the adjacent or nearby proximal spherical portion 2652, allowing for unlimited movement up to the 18-degree limit. The rigid design and limited small angles allow the series 2640 of the movably connected drive couplings 2650 to bear high loads in the torsional direction at larger angles overall.

[0039] In the illustrated apparatus, the articulated joint 2200 comprises an articulated joint spring 2230 supported within an outer elastomer joint assembly 2210. The outer elastomer joint assembly 2210 includes a distal end 2212 attached to the proximal end 1112 of an elongated channel 1110. For example, as can be seen in Figure 6, the distal end 2212 of the outer elastomer joint assembly 2210 is attached to the proximal end 1112 of the elongated channel 1110 by a pair of cap screws 2722 extending through a distal mounting bushing 2720 so as to be screw-received into the proximal end 1112 of the elongated channel 1110. The proximal end 2214 of the elastomer joint assembly 2210 is attached to the distal end 2124 of a proximal support shaft 2120. The proximal end 2214 of the elastomer joint assembly 2210 is attached to the distal end 2124 of the proximal support member 2120 by a pair of cap screws 2732 that extend through the proximal mounting bushing 2750 so as to be screw-received into a threaded insert 2125 mounted within the distal end 2124 of the proximal support shaft 2120.

[0040] To prevent the drive coupling 2650 from buckling during articular movement, the series 2640 of the movably coupled drive coupling 2650 extends through at least one low-friction articular spring 2730 supported within the outer elastomer coupling assembly 2210. See Figure 19. The articular spring 2730 is dimensioned relative to the drive coupling 2650 such that a small radial clearance is provided between the articular spring 2730 and the drive coupling 2650. The articular spring 2730 is designed to bear articular movement loads that can be considerably lower than torsional firing loads. The articular spring is longer than the series 2640 of the drive coupling 2650, so that the drive coupling is free to move axially. If the "hard stack" of the series 2640 of the drive coupling 2650 is longer than the hard stack of the articulation spring 2730, the drive coupling 2650 may function as an articulation compression limiter, discharging the firing load and articulation load axially through the series 2640 of the drive coupling 2650. When the firing load is discharging axially through the series 2640 of the drive coupling 2650, the load may attempt to straighten the articulation 2200, or in other words, attempt to cause articulation release. If the hard stack of the articulation spring 2730 is longer than the hard stack of the series 2640 of the drive coupling 2650, the firing load is contained within the end effector and is not discharging through the drive coupling 2650 or through the spring 2730.

[0041] To further ensure that the drive couplings 2650 are always engaged with each other, a proximal drive spring 2740 is used to apply an axial biasing force to the series 2640 of the drive couplings 2650. For example, as can be seen from Figures 8, 19, and 20, the proximal drive spring 2740 is positioned between the proximal mounting bushing 2734 and a support flange formed between the distal socket portion 2636 and the proximal barrel portion 2638 of the proximal shaft segment 2632. In one apparatus, the proximal drive spring 2740 may comprise an elastomer O-ring / bushing received on the proximal barrel portion 2638 of the proximal shaft segment 2632. The proximal drive spring 2740 lightly biases the drive couplings 2650 together to reduce any gaps that may occur during joint movement. This ensures that the drive joints 2650 transmit the load torsionally. However, it will be understood that in at least one device, the proximal drive spring 2740 does not impart a sufficiently high axial load to generate a launch load for translation through the articulated joint 2200.

[0042] As can be seen from Figures 9 and 10, the upper launch member feature portion 2320 on the launch member 2310 includes a distal upper launch member tooth segment 2330, which corresponds to half of the upper teeth 2450 on each upper vertebra member 2420. In addition, the proximal upper launch member teeth 2336, which are identical to the upper teeth 2450 on each upper vertebra member 2420, are separated from the distal upper launch member tooth segment 2330. The distal upper launch member tooth segment 2330 and the proximal upper launch member teeth 2336 may be formed integrally with the upper launch member feature portion 2320 of the launch member 2310. Similarly, the lower launch member feature portion 2350 of the launch member 2310 includes distal lower launch member teeth 2360 and proximal lower launch member teeth 2366, which are integrally formed on the lower launch member feature portion 2350. For example, in at least one device, the launching member 2310 having rigidly mounted teeth 2330, 2336, 2360, and 2366 may be manufactured in one piece using conventional metal injection molding techniques.

[0043] As described above, each of the upper vertebra members 2520 is movably received on the upper flexible connector member 2402, which is in the form of an upper cable 2404. As described above, the distal end 2406 of the upper cable 2404 is fixed to the upper launch member feature portion 2320 of the launch member 2310. Similarly, each of the lower vertebra members 2520 is movably received on the lower flexible connector member 2502, which is in the form of a lower cable 2504. The distal end 2506 of the lower cable 2504 is fixed to the lower launch member feature portion 2350 of the launch member 2310. In at least one device, the upper cable 2404 and the lower cable 2504 extend through the proximal shaft portion 2100 and may be linked with a bailout device supported within the housing to retract the launcher 2310 to its fixed or starting position in the event of a failure of the launcher drive system, as will be described in more detail below.

[0044] Referring again to Figure 8, the axial length AL of the upper series 2410 of the upper vertebra member 2420 u and the axial length AL of the lower series 2510 of the lower vertebra member 2520 lThey are equal and also long enough to facilitate the complete distal advance of the launching member 2310 from its fixed or starting position to its furthest end position within the staple cartridge while the nearest upper vertebra member 2420 in the upper series 2410 of the upper vertebra member 2420 and the nearest lower vertebra member 2520 in the lower series 2510 of the lower vertebra member 2520 remain driven-engaged with the rotary drive screw 2700. As can be seen in Figure 8, the upper compression limiting spring 2421 is configured to work in conjunction with the nearest upper vertebra member 2420P in the upper series 2410 of the upper vertebra member 2420. The upper compression limiting spring 2421 is biased and held in place by an upper spring holder 2423, which is pivotally supported on the upper cable 2404 and held in place by an upper ferrule 2425 crimped onto the upper cable 2404. The upper cable 2404 extends through an upper hypo tube 2433 supported within the proximal support shaft. Similarly, the lower compression limiting spring 2521 is configured to interact with the nearest lower vertebra member 2520P in the lower series 2510 of the lower vertebra member 2520. The lower compression spring 2521 is biased and held in place by a lower spring holder 2523, which is pivotally supported on the lower cable 2504 and held in place by a lower ferrule 2525 crimped onto the lower cable 2504. The lower cable 2504 extends through the lower hypotube 2533, which is supported within the proximal support shaft.

[0045] When the upper vertebra member 2420 and the lower vertebra member 2520 are angled through the joint (after the end effector is positioned in the articular motion position), the gap between the respective vertebra members 2420 and 2520 increases in each series 2410 and 2510, thereby tightening the springs 2421 and 2521. The compression limiting springs 2421 and 2521 provide sufficient slack to the cables 2404 and 2504, respectively, allowing the vertebra members 2420 and 2520 to angle over the most extreme articular motion angles. If the cables 2404 and 2504 are pulled too tightly, the spring holders 2423 and 2523 will come into contact with their respective nearest vertebra members 2420P and 2520P. Such compression limiting devices ensure that the vertebra members 2420, 2520 in each series 2410, 2510 always remain close together, and as a result, the rotary drive screw 2700 always drives and engages them in a manner that will be discussed in more detail below. When the vertebra members 2420, 2520 are aligned linearly again, the compression limiting springs 2421, 2521 can be partially relaxed while still maintaining some compression between the vertebra members.

[0046] As described above, when the upper vertebra member 2420 is positioned on the upper series 2410 and the lower vertebra member 2520 is positioned on the lower series 2510, the convex mounds and concave grooves of each vertebra member, as well as the compression limiter spring, function to maintain the upper and lower vertebra members in a relatively linear alignment for drive engagement by the rotary drive screw 2700. As can be seen from Figures 9 and 10, when the upper vertebra member 2420 is aligned linearly, the upper teeth 2450 are separated from each other by an opening space designated 2460 as a whole, which facilitates drive engagement with the helical drive threads 2170 on the rotary drive screw. Similarly, when the lower vertebra members 2520 are aligned in a straight line, the teeth 2550 of the lower vertebra members are separated from each other by an opening space designated 2560 as a whole, which facilitates drive engagement with the helical drive threads 2170 of the rotary drive screw 2700.

[0047] Referring to Figures 8 and 22, the rotary drive screw 2700 comprises a screw body 2702 having a socket 2704 for receiving a shaft stem 2676 extending distally from the distal CV drive shaft 2670. An internal radial groove 2714 (Figure 10) for supporting a plurality of ball bearings 2716 is formed in the screw body 2702. In one device, for example, 12 ball bearings 2716 are employed. The radial groove 2714 supports the ball bearings 2716 between the screw body 2702 and the distal end of the thrust bearing housing 2680. The ball bearings 2716 function to distribute the axial load of the rotary drive screw 2700 and to significantly reduce friction through the rolling motion of the balls.

[0048] As can be seen in Figure 23, the helical drive thread 2710 is provided around the screw body 2702 and functions to form a proximal thread scoop feature 2712. The proximal thread scoop feature 2712 is formed with a first pitch 2713, and the remainder of the helical drive thread 2710 is formed with a second pitch 2715 that is different from the first pitch 2713. In Figures 22 and 23, region 2718 indicates where the first pitch 2713 and the second pitch 2715 converge. In at least one embodiment, the first pitch 2713 is greater than the second pitch 2715 to ensure that the rotary drive screw 2700 captures all upper vertebra members 2420 and all lower vertebra members 2520 and “scoops up” or drives into them. As can be seen from Figure 24, the proximal end 2717 of the helical drive thread 2710 having a first pitch 2713 is scooped into the opening space 2560 between the teeth 2550A and 2550B of two adjacent lower vertebra members, while the central portion 2719 of the helical drive thread 2710 having a second pitch 2715 is drive-engaged with the helical distal lower portion 2554 on the lower vertebra member teeth 2550B and the helical proximal lower portion 2552 on the proximal lower launch member teeth 2366. It can also be understood that the scoop feature 2712 does not need to contact the helical distal lower portion 2554A of the lower vertebra member teeth 2550A when scooping up the lower vertebra member teeth 2550B when driving the launch member 2310 distally. The helical drive thread 2710 is linked to the teeth 2450 of the upper vertebra member 2420 in a similar manner.

[0049] A power screw is a threaded rod with a nut that has a full 360 degrees around it. Rotation of the power screw advances or moves the nut longitudinally. However, in this device, due to spatial constraints, a full 360-degree nut cannot be fitted inside the end effector. In a general sense, the upper flexible spine assembly 2400 and the lower flexible spine assembly 2500 are equipped with radially / longitudinally segmented "power screw nuts" that are rotatably driven by a rotary drive screw 2700. When the rotary drive screw is rotated in a first rotational direction, the rotary drive screw 2700 drives one or more vertebra members in the upper and lower series, respectively, longitudinally, while the vertebra members 2420, 2520 remain in the same position radially. The upper series 2410 and the lower series 2510 are constrained to rotate around the rotary drive screw 2700 and can only move longitudinally. In one device, the upper vertebra member 2420 of the upper series 2410 and the lower vertebra member 2520 of the lower series 2510 each surround the rotary drive screw 2700 by less than 10 degrees.

[0050] Figure 25 shows the launch member 2310 in a fixed or starting position. As can be seen from Figure 25, a portion of the helical drive thread 2710 on the rotary drive screw 2700 engages between the distal upper launch member tooth segment 2330 and the proximal upper launch member tooth 2336, and another portion of the helical drive thread 2710 engages between the distal lower launch member tooth 2360 and the proximal lower launch member tooth 2366 on the launch member 2310. Such a device allows the rotary drive screw 2700 to precisely control the distal and proximal movement of the launch member 2310, which can result in precise movement of the anvil 1210, as will be discussed in more detail below. When the launch member 2310 has advanced sufficiently distally during the firing stroke, the helical drive thread 2710 operably engages with the teeth on the upper and lower vertebrae. See Figure 26.

[0051] The surgical instrument 10 also includes an articular motion system 2240 configured to articulate the surgical end effector 1000 with respect to the elongated shaft assembly 2000. In at least one device, for example, the articular motion system includes four articular motion cables 2242, 2246, 2250, and 2254 extending through the elongated shaft assembly 2000. See Figure 27. In the illustrated device, the articular motion cables 2242, 2246 pass through a proximal attachment bushing 2750, the proximal end 2214 of the elastomer joint assembly 2210, and a central rib segment 2216 to which the distal end 2212 of the elastomer joint assembly 2210 or other parts of the surgical instrument are secured. Similarly, the articular movement cables 2250 and 2254 pass through the proximal attachment bushing 2750, the proximal end 2214 of the elastomer joint assembly 2210, and the central rib segment 2218, which is secured to the distal end 2212 of the elastomer joint assembly 2210 or other parts of the surgical end effector. The cables 2242, 2246, 2250, and 2254 are operably linked to an articular movement control system supported within the housing of the surgical instrument 10. For example, the proximal portions of each cable 2242, 2246, 2250, and 2254 may be wound onto a corresponding rotating spool or cable management system 2007 (Figure 2) located within the housing portion of the surgical instrument 10, configured to feed out and retract each cable 2242, 2246, 2250, and 2254 in a desired manner. The spool / cable management system may be motor-driven or manual (e.g., a ratchet device). Figure 29 shows the joint motion of the surgical end effector 1000 through a first joint motion plane relative to the elongated shaft assembly 2000. Figure 30 shows the joint motion of the surgical end effector 1000 through a second joint motion plane relative to the elongated shaft assembly 2000. Figure 31 shows the joint motion of the surgical end effector 1000 through multiple joint motion planes relative to the elongated shaft assembly 2000.

[0052] Figures 32–34 show alternative articulated joints 2200' that take the form of elastomer joint assembly 2210'. As seen in Figure 33, each articulated cable passes through a corresponding spring 2215' mounted on a rib 2216' of elastomer joint assembly 2210'. For example, cable 2242 extends through spring 2244. Cable 2246 extends through spring 2248. Cable 2250 extends through spring 2252, and cable 2254 extends through spring 2256. As described above, the end effector is articulated by pulling and releasing the appropriate cables 2242, 2246, 2250, and 2254. To achieve a greater range of motion with greater joint stability, each of the springs 2244, 2248, 2252, and 2256 can slide through the ribs of the elastomer joint to push the end effector and pull the cable extending through it. The springs 2244, 2248, 2252, and 2256 also retract into the ribs when the cables 2242, 2246, 2250, and 2254 are pulled tightly. Each of the springs 2244, 2248, 2252, and 2256 loosely seats on the specific cable passing through them. Each cable and corresponding spring is supported within an elongated shaft assembly 2000 and may be terminated by a corresponding solid rod that can be pushed and pulled from its proximal end, or may be otherwise connected to it. When the cable is pulled, the corresponding spring bears little to no load. When the spring is compressed, the cable bears little load, but it helps to restrict the movement of the end effector. This coordination between the cable and the spring can facilitate higher joint angles of motion, for example, approaching 90 degrees.

[0053] The radially / longitudinally segmented power screw nut devices disclosed herein do not have the same constraints as a 360-degree nut; therefore, the upper vertebra members 2420 of the upper series 2410 and the lower vertebra members 2520 of the lower series 2510 are constrained to ensure that their loads are transmitted longitudinally to the launch member. To maintain each of the upper vertebra members 2420 in a desired orientation and to prevent the upper vertebra members 2420 from getting stuck or losing orientation as they move through the articulated joint 2200, the upper vertebra members 2420 are aligned to pass through an upper sleeve 2470 that extends through the upper portion of the outer elastomer joint assembly 2210 of the articulated joint 2200. See Figures 27, 28, and 35. The distal end 2472 of the upper sleeve 2470 is supported within the proximal end 1112 of the elongated channel 1110, and the proximal end 2474 of the upper sleeve 2470 is supported within the distal end of the proximal support shaft 2120. To allow the upper sleeve 2470 to bend together with the outer elastomer joint assembly 2210, the upper sleeve 2470 is manufactured from a polymer or plastic material that has a low coefficient of friction and is flexible. The upper sleeve 2470 prevents the upper vertebra member 2420 from coming into contact with the outer elastomer joint assembly 2210, which is manufactured from an elastomer material that may have a higher coefficient of friction than the material of the upper sleeve 2470. In other words, the upper sleeve 2470 forms a low-friction, flexible, continuous, uninterrupted, and fully enclosed path for the upper vertebra member 2420 as it traverses the articulated joint 2200.

[0054] Similarly, a lower sleeve 2570 is employed to support the lower vertebra member 2520 as it passes through the articulated joint 2200. The distal end 2572 of the lower sleeve 2570 is supported within the proximal end of an elongated channel, and the proximal end of the lower sleeve 2570 is supported within the distal end of the proximal support shaft 2120. Similar to the upper sleeve 2470, the lower sleeve 2570 is manufactured from a polymer or plastic material that has a low coefficient of friction and is flexible, in order to allow the lower sleeve 2570 to bend together with the outer elastomer joint assembly 2210. The lower sleeve 2570 prevents the lower vertebra member 2520 from coming into contact with the outer elastomer joint assembly 2210 as it passes through the articulated joint 2200. In other words, the lower sleeve 2570 forms a low-friction, flexible, continuous, uninterrupted, and fully enclosed path for the lower vertebra member 2520 as it traverses the articulated joint 2200. In various embodiments, the upper sleeve 2470 and the lower sleeve 2570 are configured to bend freely without kinking. To prevent kinking in the sleeves, in at least one device, the sleeves 2470, 2570 are supported within the outer elastomer joint assembly 2210 so that the sleeves can move axially. For example, when the articulated joint is angled upward, the lower sleeve 2570 may slide distally and have a large bending radius. In the same example, the upper sleeve 2470 may slide proximal and have a tighter bending radius. By moving axially, the amount of material exposed to the outside of the joint assembly 2210, which would otherwise be prone to kinking under tight bending radii, is reduced. In at least one apparatus, the distal end 2472 of the upper sleeve 2470 is formed with an upper scoop 2476 configured to feed the upper vertebra member 2420 into the anvil cap 1260. Similarly, the distal end of the lower sleeve 2570 may be formed with a lower scoop configured to feed the lower vertebra member 2520 into the channel slot 1140 in the elongated channel 1110.

[0055] As described above, the anvil mounting portion 1230 may include a pair of laterally extending mounting pins 1232 configured to be received by a corresponding mounting cradle or pivoting cradle 1120 formed at the proximal end 1112 of the elongated channel 1110. The mounting pins 1232 are pivotably held within the mounting cradle 1120 by an anvil cap 1260 attached to the proximal end 1112 of the elongated channel 1110 in the manner described above. The anvil cap 1260 has a proximal end 1262 and a distal end 1264 and has a keyhole-shaped vertebra passage 1266 extending through its interior to accommodate the passage for the upper launch member feature portion 2320 and the upper vertebra member 2420. Figure 36 shows the vertebra passage 1266 within the anvil cap 1260. When the rotary drive screw 2700 loads the upper vertebra member 2420, the vertebra member 2420 tends to tilt around region A in Figure 37, and therefore the upper vertebra member teeth 2450 are no longer perpendicular to the rotary drive screw 2700 and may instead receive higher pressure line contact. Region B in Figure 37 shows where the upper vertebra member 2420 stops tilting. To ensure that the majority of the load remains longitudinal and performs its useful work, the upper vertebra member teeth 2450 must be angled by the same amount as the upper vertebra member 2420 tilts. Thus, when the upper vertebra member 2420 tilts, the upper vertebra member teeth 2450 still maintain surface contact with the helical drive member 2710 on the rotary drive screw 2700, and all the load is directed longitudinally and not perpendicularly. The teeth 2450 of the slightly inclined upper vertebra member can behave like square threads when the vertebra member 2420 is tilted, better distributing the load and reducing pressure contact. By orienting most of the load longitudinally, vertical loads that could result in the establishment of friction against longitudinal loads are avoided. The upper vertebra member 2420 responds similarly when passing through the keyhole-shaped anvil slot 1240. Similarly, the lower vertebra member 2520 responds similarly when passing through the keyhole-shaped axially extending channel slot 1140 within the elongated channel 1110.

[0056] In the illustrated apparatus, the anvil 1210 is moved to the open position by a pair of anvil springs 1270 supported within the proximal end of an elongated channel. See Figures 38, 42, and 43. The springs 1270 are integrally formed with the anvil mounting portion 1230 and positioned to apply a pivoting bias to a corresponding anvil control arm 1234 that may extend downward from there. See Figure 38.

[0057] Figures 39 to 41 show the parts of the anvil 1210, the launcher 2310, and the anvil cap 1260 when the anvil 1210 is open (Figure 39), when the anvil 1210 is partially closed (Figure 40), and after the launcher has advanced distally from its fixed or starting position (Figure 41). As seen in Figure 39, when the launcher 2310 is in its fixed or starting position, the upper launcher feature 2320 is fully received within the vertebra passage 1266 in the anvil cap 1260. During the launch stroke, the upper launcher feature 2320 and the upper vertebra member 2420 in the upper series 2410 must move from the vertebra passage 1266 in the anvil cap 1260 into the keyhole-shaped anvil slot 1240. Therefore, it is desirable to minimize any gap "G" between the anvil mounting portion 1230 and the distal end 1264 of the anvil cap 1260. To minimize this gap G while facilitating the unobstructed pivoting movement of the anvil 1210, the distal end 1264 of the anvil cap 1260 is formed with a curved cap surface 1265 that fits the curved mating surface 1231 on the anvil mounting portion 1230. Both surfaces 1265, 1231 are curved and concentric about a pivot axis PA or some other reference point. Such a device allows the anvil 1210 to move radially without interfering with the anvil cap 1260 while maintaining a minimum gap G between them. The gap G between the anvil mounting portion 1230 and the distal end 1264 of the anvil cap 1260 is significantly shorter than the length of the upper vertebra member 2420, which facilitates the easy transition of each upper vertebra member 2420 from the vertebra passage 1266 within the anvil cap 1260 to the keyhole-shaped anvil slot 1240. In addition, to further assist the transition of the upper launch member feature portion 2320 into the keyhole-shaped anvil slot 1240, an inclined surface 1241 is formed adjacent to the curved fitting surface 1231 on the anvil mounting portion 1230. When the launch member 2310 is first advanced distally from its initial or starting position, the distal end of the upper launch member feature portion 2320 contacts the inclined surface 1241, initiating a closing motion on the anvil 1210 as shown in Figure 40.Further distal advancement of the launch member 2310 during the launch stroke or launch sequence will cause the upper launch member feature to enter the keyhole-shaped anvil slot 1240, completely closing the anvil 1210 and holding the anvil 1210 in the closed position during the launch sequence. See Figure 41.

[0058] Generally, the highest firing force established in an end cutter is associated with tissue cutting and stapling. If these same forces can be used to close the anvil, the forces generated during tissue pre-clamping and gripping can be similarly high. In at least one device, the firing member body 2312 further comprises firing member wings or tabs 2355 extending laterally from each side of the firing member body 2312. See Figures 15 and 36. The firing member wings 2355 are positioned to contact the corresponding anvil control arm 1234 when the firing member 2310 is driven proximal PD from a fixed or starting position to rapidly close the anvil 1210 for gripping purposes. In at least one device, when the firing member 2310 is in a fixed or starting position, the firing member wings 2355 are located distal to the anvil control arm 1234, as shown in Figure 42. When the launch member 3210 is moved proximal, the launch member wing 2355 pushes the anvil control arm 1234 against the biasing force of the anvil spring 1270 (pivot direction C). See Figure 42. In one device, the launch member 2310 only needs to move a short distance D to pivot the anvil 1210 to the closed position. In one embodiment, the distance D may be, for example, approximately 0.070 inches. This short movement allows for a rapid response. Since the anvil pivot point or pivot axis PA is relatively far from the launch member wing 2355, which forms a substantial moment arm, the proximal movement of the launch member 2310 (and launch member wing 2355) results in a high preload torque being applied to the anvil 1210, moving the anvil 1210 to the closed position. Thus, the launch member wing 2355 may be referred to herein as the “preload feature.” See Figure 43. Therefore, by advancing the launching member 2310 proximal by a short distance D and quickly pivoting the anvil 1210 to the closed position, the clinician can grasp and manipulate tissue between the anvil 1210 and the surgical staple cartridge 1300 using the surgical end effector 1000 without cutting the tissue and forming staples.

[0059] The launch member 2310 can be moved proximal PD by rotating the rotary drive screw 2700 in a second rotational direction. Thus, when the launch member 2310 is in the "fixed" or starting position, the anvil 1210 can be biased to the fully open position by the anvil spring 1270. Activating the rotary drive system 2600 to apply rotational motion to the rotary drive screw 2700 in the first rotational direction advances the launch member 2310 distally from the fixed or starting position, applying an anvil closing motion to the anvil 1210, closing and moving the anvil to clamp the target tissue between the anvil 1210 and the surgical staple cartridge 1300. Continuing to rotate the rotary drive screw in the first rotational direction continues to advance the launch member 2310 distally through the surgical end effector 1000. As the launching member 2310 moves distally, it contacts the thread 1312 (Figure 19) supported within the surgical staple cartridge 1300, driving the thread 1312 distally through the staple cartridge body 1302. When the launching member 2310 is in its fixed or starting position, the surgeon may wish to grasp and manipulate tissue using the surgical end effector. To do so, the rotary drive system is actuated to apply a second rotational drive motion to the rotary drive screw 2700 in a second rotational direction opposite to the first rotational direction. Such rotational motion of the rotary drive screw 2700 in the second rotational direction drives the launching member 2310 proximal from its starting position, causing the anvil 1210 to pivot rapidly to the closed position. Thus, according to at least one embodiment, the “fixed or starting position” of the launching member 2310 is not its proximal position.

[0060] If the rotary drive system 2600 stops rotating during the firing process, the firing member 2310 may become immobile within the surgical end effector. In such cases, the upper firing member feature 2320 may remain engaged with the anvil 1210, and the lower firing member feature 2350 may remain engaged with the elongated channel 1110, thereby preventing the surgeon from moving the anvil 1210 to the open position and releasing the tissue clamped between the anvil 1210 and the surgical staple cartridge 1300. This may occur, for example, if the motor or other control device supplying the rotational drive motion to the rotary drive shaft 2610 fails or otherwise becomes inoperable. In such cases, the firing member 2310 may be retracted to its fixed or starting position within the surgical end effector 1000 by pulling the upper cable 2404 and the lower cable 2504 proximal. For example, the proximal portions of the upper cable 2404 and the lower cable 2505 may be wound onto a rotating spool or cable management system 2009 (Figure 2) within the housing of the surgical instrument 10, which is configured to unwind the upper cable 2404 and the lower cable 2504 during the firing stroke and to retract the cables 2404 and 2504 proximal when it is necessary to retract the firing member 2310. The cable management system 2009 may be motor-driven or manual (such as a ratchet device) to apply retraction motion to the cables 2404 and 2504. When the cables 2404 and 2504 are retracted, the upper vertebra member 2420 and the lower vertebra member 2520 rotate the rotary drive screw 2700 in the reverse direction.

[0061] The following formula determines whether the rotary drive screw 2700 rotates in the reverse direction, where L is the lead and d is the pitch diameter. p ), tooth angle (α), and friction (μ) can be used for determination.

[0062]

number

[0063] The rotary drive screw 2700 can self-lock if the above equation is true. In most cases, in many examples, the pitch circle diameter is almost fixed relative to the end cutter, but the lead angle and tooth angle are variable. Since the upper vertebra member teeth 2450 and the lower vertebra member teeth 2550 are almost square, the rotary drive screw 2700 is likely to be reversible (cos(90)=1). The leads of the upper vertebra member teeth 2450 and the lower vertebra member teeth 2550 may also be advantageous in that the rolling friction between the vertebra members 2420, 2520 and the rotary drive screw 2700 is more likely to allow the rotary drive screw 2700 to be reversible. Therefore, in an emergency, the surgeon can pull the upper cable 2404 and the lower cable 2504 proximal, fully retracting the launch member 2310 to perform a rapid "bailout".

[0064] As described above, the relative control motion for the rotary drive system 2600, and for various cable management systems used in connection with the firing system 2300 and the joint motion control system 2240, may be supported within a housing 2002, which may be handheld or part of a larger automated surgical system. The firing system 2300, the joint motion control system 2240, and the rotary drive system 2600 may, for example, be motor-controlled and operated by one or more control circuits.

[0065] One method of using the surgical instrument 10 may include using the surgical instrument 10 to cut and staple target tissue inside the patient's body using laparoscopic techniques. For example, one or more trocars may be positioned through the patient's abdominal wall to provide access to target tissue inside the patient's body. The surgical end effector 1000 may be inserted through one trocar, and one or more cameras or other surgical instruments may be inserted through other trocars. In order to allow the surgical end effector 1000 to pass through the trocar cannula, the surgical end effector 1000 must be positioned in an immobile motion orientation, and the jaws 1100 and 1200 must be closed. For example, in order to hold the jaws 1100 and 1200 in the closed position for insertion, the rotary drive system 2600 may be actuated to add a second rotational motion to the rotary drive screw 2700, moving the launch member 2310 proximal from the starting position and moving the anvil 1210 (jaws 1200) to the closed position. Refer to Figure 44. The rotary drive system 2600 is deactivated to hold the launch member 2310 in that position. Once the surgical end effector enters the abdomen through the trocar, the rotary drive system 2600 can be activated so that the rotary drive screw 2700 drives the launch member 2310 distally back to the starting position, at which point the anvil spring 1270 pivots the anvil 1210 to the open position. Refer to Figure 38.

[0066] Once inside the abdomen, the surgeon may need to articulate the surgical end effector 1000 to a favorable position before engaging with the target tissue. The articulation control system 2240 is then activated to articulate the surgical end effector in one or more planes relative to a portion of the elongated shaft assembly 2000 received within the trocar cannula. Once the surgeon has positioned the surgical end effector 1000 to the desired location, the articulation control system 2240 is deactivated to hold the surgical end effector 1000 in the articulated orientation. The surgeon can then use the surgical end effector to activate the rotary drive system to rotate the rotary drive screw in a second rotational direction, moving the launching member proximal, and rapidly closing the anvil 1210 to grasp the tissue between the anvil 1210 and the surgical staple cartridge 1300, thereby grasping the target tissue or adjacent tissue. The anvil 1210 can be released by reversing the rotation of the rotary drive screw 2700. This process may be repeated as needed until the target tissue is properly positioned between the anvil 1210 and the surgical staple cartridge 1300.

[0067] Once the target tissue is positioned between the anvil 1210 and the surgical staple cartridge, the surgeon may initiate the closure and firing process by activating the rotary drive system 2600 to drive the firing member 2310 distally from its starting position. As the firing member 2310 moves distally from its starting position, it applies a closing motion to the anvil 1210, moving the anvil 1210 from the open position to the closed position in the manner described above. As the firing member 2310 moves distally, it holds the anvil 1210 in the closed position, thereby clamping the target tissue between the anvil 1210 and the surgical staple cartridge 1300. As the firing member 2310 moves distally, it contacts the threads 1312 supported within the surgical staple cartridge 1300 and drives the threads 1312 distally through the staple cartridge body 1302. The thread 1312 continuously drives a row of drivers supported within the staple cartridge toward the clamped target tissue. Each driver has one or more surgical staples or fasteners supported above it, which are then driven to form contact with the underside of the anvil 1210 through the target tissue. As the launching member 2310 moves distally, the tissue cutting edge 2314 above it cuts through the stapled tissue.

[0068] After the launching member 2310 is driven distally to its end position within the surgical end effector 1000 (Figure 45), the rotary drive system 2600 is reversed, thereby retracting the launching member 2310 proximal to its fixed or starting position. Once the launching member 2310 returns to the starting position, the anvil spring 1270 pivots the anvil 1210 to the open position, allowing the surgeon to release the stapled tissue from the surgical end effector 1000. Once the stapled tissue is released, the surgical end effector can be withdrawn from the patient through the trocar cannula. To do so, the surgeon must first activate the articular movement control system 2240 to return the surgical end effector 1000 to its non-articular movement position, and then activate the rotary drive system to drive the launching member 2310 proximal to its fixed or starting position to close the jaws. The surgical end effector 1000 can then be withdrawn from the trocar cannula. If the launch system becomes inoperable during the launch or retraction process, the surgeon may retract the launch member 2310 to the starting position by applying a tensile force to the cables 2404 and 2505 in the proximal direction in various manners described herein.

[0069] Figures 46 to 68 show another surgical instrument 22010 that, in many embodiments, is identical or very similar to the surgical instrument 10 described above, with aside from various differences discussed below. Like surgical instrument 10, surgical instrument 22010 can address many of the challenges faced by surgical instruments having articulated end effectors configured to cut and fasten tissue. In various embodiments, surgical instrument 22010 may include a handheld device. In other embodiments, surgical instrument 22010 may include an automated system, sometimes referred to as a robotic control system. In various forms, surgical instrument 22010 comprises a surgical end effector 23000 operably connected to an elongated shaft assembly 24000. The elongated shaft assembly 24000 may be operably mounted in a handheld housing, or it may include part of a robotic system as described above.

[0070] As shown in Figure 49, in one embodiment, the surgical end effector 23000 comprises a first jaw 23100 and a second jaw 23200. In the illustrated device, the first jaw 23100 comprises an elongated channel 23110 having a proximal end 23112 and a distal end 23114, and is configured to operably support a surgical staple cartridge 1300 inside. The elongated channel 23110 has an open lower part to facilitate assembly, and also has a channel cover 23113 configured to cover the opening and add rigidity to the elongated channel 23110 by being attached to it (e.g., by welding). In the illustrated device, the second jaw 23200 comprises an anvil 23210 comprising an elongated anvil body 23212 having a proximal end 23214 and a distal end 23216. In one device, an anvil cover 23213 is provided to facilitate the assembly of the device and to add rigidity to the anvil 23210 when it is attached (e.g., by welding) to the anvil body 23212. The anvil body 23212 has a staple-forming lower surface 23218 facing the first jaw 23100 and may include a series (not shown) of staple-forming pockets corresponding to each staple or fastener in a surgical staple cartridge 1300. The proximal end 23214 of the anvil body 23212 has an anvil mounting portion 23230 including a pair of laterally extending mounting pins 23232 configured to be received by a corresponding mounting cradle or pivot cradle 23120 formed in the proximal end 23112 of an elongated channel 23110. The mounting pin 23232 is pivotably held within the mounting cradle 23120 by an anvil cap 23260, which can be attached by a screw 23261 to the proximal end 23112 of the elongated channel 23110. In other devices, the anvil cap 23260 may be attached to the elongated channel 23110 by welding, adhesive, or the like. Such a device facilitates the pivotal advancement of the anvil 23210 relative to the surgical staple cartridge 1300 mounted within the elongated channel 23110, around a pivot axis PA, between an open position (Figure 47) and a closed position (Figure 48).Such a pivot shaft PA may be referred to herein as “fixed” in that the pivot shaft does not translate or otherwise move when the anvil 23210 is pivoted from the open position to the closed position.

[0071] In the illustrated apparatus, the anvil 23210 is moved to the open position by a pair of anvil springs 23270 supported within the proximal end 23112 of the elongated channel 23110. See Figures 49 and 62. The springs 23270 are positioned to apply a pivoting biasing force to the corresponding portion of the anvil 23210, thereby applying an opening force. See Figure 47.

[0072] In the illustrated apparatus, the elongated shaft assembly 24000 comprises a proximal shaft portion 24100 that defines a shaft axis SA and can operably connect to a housing of a control portion of a surgical instrument 22010 (e.g., a handheld unit, a robotic tool driver, etc.). The elongated shaft assembly 24000 further comprises an articulation joint 24200 attached to the proximal shaft portion 24100 and the surgical end effector 23000. In various examples, the proximal shaft portion 24100 comprises a hollow outer tube 24110 that can operably connect to the housing in the various manners described above. As can be seen in Figure 49, the proximal shaft portion 24100 may further comprise a rigid proximal support shaft 24120, which is supported within the hollow outer tube 24110 and extends from the housing to the articulation joint 24200. The rigid proximal support shaft 24120 may comprise a first half 24120A and a second half 24120B, which can be joined together, for example, by welding, adhesive, etc. The rigid proximal support shaft 24120 comprises a proximal end 24122 and a distal end 24124, and includes an axial passage 24126 that extends through the interior from the proximal end 24122 to the distal end 24124.

[0073] As described above, many surgical end effectors use a launching member that is pushed distally through a surgical staple cartridge by an axially movable launching beam. The launching beam is generally attached to the launching member in the central region of the launching member body. This mounting position can introduce an imbalance to the launching member as it is advanced through the end effector. Such an imbalance can lead to undesirable friction between the launching member and the end effector jaws. The generation of this additional friction may require the application of a higher launching force to overcome such friction and may cause undesirable wear on the jaws and / or parts of the launching member. Applying a higher launching force to the launching beam may result in undesirable bending of the launching beam as it traverses the articular joint. Such additional bending can disengage the articular joint, particularly when the surgical end effector is articulated at relatively high articular angles. Surgical instrument 22010 employs a launching system 24300 that is identical or very similar in many embodiments to the launching system 2300 described above. Therefore, only those aspects of the firing system 24300 necessary for understanding the operation of the surgical instrument 22010 will be discussed below.

[0074] As can be seen from Figures 50 to 54, in at least one embodiment, the launch system 24300 comprises a launch member 24310 including a vertically extending launch member body 24312, the launch member body 24312 comprising an upper launch member feature section 24320 and a lower launch member feature section 24350. A tissue cutting blade 24314 is attached to or formed within the vertically extending launch member body 24312. See Figures 50 and 51. In at least one device, it is desirable that the launch member 24310 passes through the anvil body 23212 with low friction, high strength, and high rigidity. In the illustrated device, the upper launch member feature section 24320 comprises a T-shaped body 24322 having two laterally extending tabs 24323 protruding therefrom and an upper axial passage 24324 extending through them. See Figure 53. The lower launch member feature section 24350 comprises a T-shaped body 24352 having two laterally extending tabs 24353 protruding therefrom and a lower axial passage 24354 extending through them. See Figure 50. In at least one device, the upper launch member feature section 24320 and the lower launch member feature section 24350 are integrally formed with a vertically extending launch member body 24312. As seen in Figure 54, the anvil body 23212 comprises an axially extending anvil slot 23240 defining two opposing ledges 23241 for slidably receiving laterally extending tabs 24323 thereon. Similarly, the elongated channel 23110 comprises an axially extending channel slot 23140 defining an axially extending channel ledge 23141 configured to slidably receive laterally extending tabs 24353 thereon.

[0075] In the illustrated apparatus, the launch system 24300 includes an upper flexible spine assembly 24400 operably connected to the upper launch member feature portion 24320 of the launch member 24310. In at least one embodiment, the upper flexible spine assembly 24400 includes an upper series 24410 of the upper vertebra members 24420, which extends through each of the upper vertebra members 24420 and is loosely connected together by an upper flexible coupling member 24440 attached to the upper launch member feature portion 24320.

[0076] As shown in Figure 52, each upper vertebra member 24420 is substantially T-shaped when viewed from its end. In one embodiment, each upper vertebra member 24420 comprises an upper vertebra body portion 24422 having a proximal end 24424 and a distal end 24428. Each upper vertebra member 24420 further comprises a downwardly extending upper drive feature portion or upper vertebra member teeth 24450 projecting from the upper vertebra body portion 24422. Each upper vertebra member tooth 24450 has a helical proximal upper portion 24452 and a helical distal upper portion 24454. Each proximal end 24424 of the upper vertebra body portion 24422 has an arched or slightly concave curved shape, and each distal end 24428 has an arched or slightly convex curved shape. When positioned in the upper series 24410, the convex distal end 24428 on one upper vertebra member 24420 contacts and engages with the concave proximal end 24424 on the adjacent upper vertebra member 24420 within the upper series 24410, maintaining the upper vertebra members 24420 in a substantially aligned state, so that the helical proximal upper portion 24452 and helical distal upper portion 24454 on each of the teeth 24450 of each upper vertebra member can be driven and engaged by the rotary drive screw 2700 in various ways disclosed herein. These curved mating surfaces on the upper vertebra members 24420 allow for better transmission of load between them, even when the upper vertebra members 24420 are inclined.

[0077] In at least one embodiment, an upper alignment member 24480 is used to assist in the alignment of the upper vertebra members 24420 in the upper series 24410. In one device, the alignment member 24480 may include a spring member or metal cable, which may be made from Nitinol wire, spring steel, etc., and may be formed comprising a distal upper loop end 24482 and two upper leg portions 24484 extending through corresponding upper passages 24425 within each upper vertebra body portion 24422. An upper flexible coupling member 24440 extends through each upper passage 24429 of the upper vertebra member 24420 so as to be attached to the launch member 24310. In particular, the distal end portion 24442 extends through an upper axial passage 24324 within the upper launch member feature portion 24320 and is secured therein by an upper retaining lug 24444. The proximal portion of the upper flexible coupling member 24440 may be linked to a corresponding rotary spool or cable management system of various types and designs disclosed herein, which functions to extend and retract the upper flexible coupling member 24440 during the operation and joint movement of the surgical end effector 23000 and maintain a desired amount of tension therein. The cable management system may be motor-driven or manual (e.g., a ratchet device) to maintain a desired amount of tension in the upper flexible coupling member 24440. The amount of tension in each flexible coupling member may vary depending on the relative position of the surgical end effector 23000 with respect to the elongated shaft assembly 24000.

[0078] The launch system 24300 further comprises a lower flexible spine assembly 24500 operably connected to the lower launch member feature section 24350. The lower flexible spine assembly 24500 comprises a lower series 24510 of the lower vertebra members 24520, extending through each of the lower vertebra members 24520 and loosely connected together by a lower flexible coupling member 24540 attached to the lower launch member feature section 24350. As can be seen in Figure 52, each lower vertebra member 24520 is substantially T-shaped when viewed from its end. In one embodiment, each lower vertebra member 24520 comprises a lower vertebra body portion 24522 having a proximal end 24524 and a distal end 24528. Each lower vertebra member 24520 further comprises an upwardly extending lower drive feature or lower vertebra member tooth 24550 that protrudes from the lower vertebra body portion 24522. Each lower vertebra member tooth 24550 has a helical proximal lower surface portion 24552 and a helical distal lower surface portion 24554. The proximal end 24524 of the lower vertebra body portion 24522 has an arched or slightly concave curved shape, and each distal end 24528 has an arched or slightly convex curved shape. When positioned in the lower series 24510, the convex distal end 24528 on one lower vertebra member 24520 contacts and engages with the concave proximal end 24524 on the adjacent lower vertebra member 24520 within the lower series 24510, maintaining the lower vertebra members 24520 in a substantially aligned state, so that the helical proximal underside portion 24552 and the helical distal underside portion 24554 on each of the teeth 24550 of each lower vertebra member can be driven and engaged by the rotary drive screw 2700 in various ways disclosed herein. These curved mating surfaces on the lower vertebra members 24520 allow for better transmission of load between them, even when the lower vertebra members 24520 are inclined.

[0079] In at least one embodiment, a lower alignment member 24580 is used to assist in the alignment of the lower vertebra members 24520 in the lower series 24510. In one device, the lower alignment member 24580 may include a spring member or metal cable, which may be made from Nitinol wire, spring steel, etc., and may be formed comprising a distal lower loop end 24582 and two lower leg portions 24584 extending through corresponding lower passages 24525 within each lower vertebra body portion 24522. A lower flexible coupling member 24540 extends through each lower passage 24529 of the lower vertebra member 24520 so as to be attached to the launch member 24310. In particular, the distal end portion 24542 of the lower flexible coupling member 24540 extends through the lower axial passage 24354 within the lower launch member feature portion 24350 and is secured therein by the lower retaining lug 24544. The proximal portion of the lower flexible coupling member 24540 may be linked with a corresponding rotary spool or cable management system of various types and designs disclosed herein, which functions to unwind and rewind the lower flexible coupling member 24540 during the operation and joint movement of the surgical end effector 23000 and maintain a desired amount of tension therein. The cable management system may be motor-driven or manual (e.g., a ratchet device) to maintain a desired amount of tension in the lower flexible coupling member 24540. The amount of tension in each flexible coupling member may vary depending on the relative position of the surgical end effector 23000 with respect to the elongated shaft assembly 24000.

[0080] According to at least one embodiment, a large surface area is advantageous for distributing force between vertebra members when they press, so that the vertebra members cannot twist relative to each other. The available area within the anvil and channel is limited, and the anvil and channel must remain rigid. The T-shaped upper vertebra member 24420 and the T-shaped lower vertebra member 24520 are designed to fit within the limited space available within the anvil 23210 and the elongated channel 23110, while ensuring that a large area exists for distributing the firing load. The curved surfaces on each upper vertebra member 24420 and each lower vertebra member 24520 allow each of these vertebras to better transmit the load between themselves, even when they are inclined. The upper alignment member 24480 and the lower alignment member 24580 may also function to prevent the upper vertebra member 24420 and the lower vertebra member 24520 from twisting relative to each other. The large surface area may also help prevent wear of the vertebra members and / or the anvil and channel. The upper flexible spine assembly 24400 and the lower flexible spine assembly 24500 are otherwise operably linked with a rotary drive screw 2700 device as disclosed herein. The upper flexible coupling member 24440 and the lower flexible coupling member 24540 may also be used in the manner described above to retract the launch member 24310 to its starting position in the event that the launch drive system 24300 fails during the launch stroke.

[0081] As can be seen from Figure 51, the upper launch member feature portion 24320 on the launch member 24310 includes a distal upper launch member tooth segment 24330 that corresponds to half of the upper vertebra member teeth 24450 on each upper vertebra member 24420. In addition, two proximal upper launch member teeth 24336, which are identical to the upper vertebra member teeth 24450 on each upper vertebra member 24420, are separated from the distal upper launch member tooth segment 24330. The distal upper launch member tooth segment 24330 and the proximal upper launch member teeth 24336 may each be formed integrally with the upper launch member feature portion 24320 of the launch member 24310. Similarly, the lower launcher feature portion 24350 of the launcher 24310 comprises a distal lower launcher tooth 24360 and two proximal lower launcher teeth 24366 integrally formed on the lower launcher feature portion 24350. For example, in at least one device, the launcher 24310 having the firmly mounted teeth 24330, 24336, 24360, and 24366 may be manufactured in one piece using conventional metal injection molding techniques. Those skilled in the art will recognize that the launcher 24310 operates in essentially the same manner as the launcher 2310 described in detail herein.

[0082] Referring here to Figures 55 to 58, according to at least one embodiment, the articulated joint 24200 comprises a movable exoskeleton assembly 24800. In one embodiment, the movable exoskeleton assembly 24800 comprises a series 24802 of movably linked annular rib members 24810. As seen in Figures 55 to 57, each annular rib member 24810 comprises a first face or proximal face 24820 having a convex or dome-shaped portion 24822. Each annular rib member 24810 further comprises a second face or distal face 24830 which is concave or dish-shaped. Each annular rib member 24810 further comprises an upper spine passage 24840 configured to accommodate an upper flexible spine assembly 24400 passing through it, and a lower spine passage 24842 configured to accommodate a lower flexible spine assembly 24500 passing through it. In addition, each annular rib member 24810 further comprises four articular motion passages 24850, 24852, 24854, and 24856 for accommodating articular motion actuators, which take the form of articular motion cables 24242, 22446, 24250, and 24254, passing through it. See Figure 49. Each annular rib member 24810 further comprises a central drive passage 24860 configured for accommodating a constant-velocity (CV) drive shaft assembly 2620 passing through it.

[0083] As shown in Figure 58, the movable exoskeleton assembly 24800 includes a proximal mounting rib 24870 configured to attach the movable exoskeleton assembly 24800 to the distal end 24124 of the proximal support shaft 24120 by a cap screw 24880 or other suitable fastener device. The proximal mounting rib 24870 includes a first surface or distal surface 24872 which is concave or dish-shaped to receive or movably link with the convex or dome-shaped portion 24822 of the proximal surface 24820 of the nearest annular rib member 24810P. Similarly, the movable exoskeleton assembly 24800 includes a distal mounting rib 24890 configured to attach the movable exoskeleton assembly 24800 to the proximal end 23112 of the elongated channel 23110 by a cap screw 24882 or other suitable fastener. The distal mounting rib 24890 comprises a first surface or proximal surface 24892 having a convex or dome-shaped portion 24894 configured to be received within the concave or dish-shaped distal surface 24832 of the most distal annular rib member 24810D, or to be movably linked thereto. In various embodiments, the annular rib members 24810, 24810P, and 24810D may be made from any suitable metal (e.g., stainless steel, titanium, etc.) or other suitable material. The annular rib members 24810, 24810P, and 24810D may be formed by machining or casting, by a suitable drawing or forming operation. The proximal surface 24820 and distal surface 24830 may be polished or otherwise finished to a desired smooth surface in order to reduce friction and facilitate movement between the annular rib members 24810, 24810P, and 24810D. In one embodiment, all edges on each annular rib member 24810, 24810P, and 24810D are rounded to facilitate relative movement between the annular rib members. The proximal mounting rib 24870 and the distal mounting rib 24890 may be formed with similar attributes.

[0084] The surgical instrument 22010 also includes an articular movement system 24240 configured to articulate the surgical end effector 23000 with respect to the elongated shaft assembly 24000. In at least one device, for example, as described above, the articular movement system 24240 includes four articular movement cables 24242, 24246, 24250, and 24254 extending through the elongated shaft assembly 2400. See Figure 49. In the illustrated device, the articular movement cables 24242 and 24246 pass through the proximal mounting rib 24870 and through the annular rib members 24810P, 24810, and 24810D, respectively, and are fixed to the distal mounting rib 24890. For example, in one device, each of the joint motion cables 24242 and 24246 is secured to the distal mounting rib 24890 by the corresponding mounting lug 24243. See Figures 61 and 63. Similarly, the joint motion cables 24250 and 24254 extend through the proximal mounting rib 24870 and through each of the annular rib members 24810P, 24810, and 24810D, and are secured to the distal mounting rib 24890 by the corresponding mounting lug 24243.

[0085] In one apparatus, each of the articular motion cables 24242, 24246, 24250, and 24254 extends through a corresponding coil spring 24896 supported in a cavity 24125 within the distal end 24124 of a rigid proximal support shaft 24120. In addition, each coil spring 24896 is associated with a tension lug 24897, which is also pivotally supported and fixed on each of the respective articular motion cables 24242, 24246, 24250, and 24524, and serves to achieve a desired amount of compression in each spring 24896, holding the annular rib members 24810P, 24810, and 24810D in a movably engaged state with each other, and with the proximal mounting rib 24870 and the distal mounting rib 24890. Cables 24242, 24246, 24250, and 24254 are operably linked to an articular movement control system supported within the housing of the surgical instrument 22010. For example, as described above, the proximal portions of each cable 24242, 24246, 24250, and 24254 may be wound onto a corresponding rotating spool or cable management system 2007 (Figure 2) located within the housing portion of the surgical instrument 22010, configured to feed out and retract each cable 24242, 24246, 24250, and 24254 in a desired manner. The spool / cable management system may be motor-powered or manually powered (e.g., a ratchet device). Figure 59 illustrates the articular joint 24200 in a non-articular movement position, and Figure 60 illustrates the articular joint in a single articular movement configuration. Such a device allows the surgical end effector 23000 to perform articulation with respect to the elongated shaft assembly 24000 through multiple articulation planes.

[0086] As seen in Figures 49, 58, and 64, the surgical instrument 22010 employs a constant-velocity (CV) drive shaft assembly 2620 that extends or axially through the articulated joint 24200. The operation and configuration of the CV drive shaft assembly 2620 have been described in detail above and will not be repeated here beyond what is necessary to understand the operation of the surgical instrument 22010. Briefly, as described above, the CV drive shaft assembly 2620 comprises a proximal CV drive assembly 2630 and a distal CV drive shaft 2670. The proximal CV drive assembly 2630 comprises a proximal shaft segment 2632 consisting of a mounting shaft 2634 configured to be non-rotatably received in a similarly shaped coupling cavity 2616 within the distal end 2614 of the proximal rotary drive shaft 2610. The proximal shaft segment 2632 operably interacts with a series 2640 of a movably coupled drive joint 2650. As shown in Figure 58 and as previously described, a proximal drive spring 2740 is used to apply an axial biasing force to the series 2640 of the drive couplings 2650 in order to ensure that the drive couplings 2650 engage with each other. For example, as can be seen from Figure 58, the proximal drive spring 2740 is positioned between the proximal mounting bushing 2734 and a support flange formed between the distal socket portion 2636 and the proximal barrel portion 2638 of the proximal shaft segment 2632. In one apparatus, the proximal drive spring 2740 may include an elastomer O-ring that is received on the proximal barrel portion 2638 of the proximal shaft segment 2632. The proximal drive spring 2740 lightly biases the drive couplings 2650 together, reducing any gaps that occur during joint movement. This ensures that the drive couplings 2650 torsionally transmit the load. However, it will be understood that in at least one device, the proximal drive spring 2740 does not impart a sufficiently high axial load to generate a launch load for translation through the articulated joint 2200.

[0087] To further prevent the drive coupling 2650 from buckling during articular movement, a series 2640 of the movably connected drive coupling 2650 extends through at least one low-friction drive cover 24730 that extends through each central drive passage 24860 of the annular rib member 24810. In the apparatus shown in Figures 63 and 65, the drive cover 24730 comprises an outer and inner cut hypotube 24732. Such a hypotube 24732 may be made from a metal (e.g., stainless steel) and may have a series of cuts or slits therein that can be fabricated using a laser cutter device. In the illustrated apparatus, the hypotube 24732 may be fabricated with an upper relief passage 24734 that provides clearance for the upper flexible spine assembly 24400 to pass over it during operation while the surgical end effector 23000 is in the articular position. In addition, the hypotube 24732 may have a lower relief passage 24736 to provide similar clearance for the lower flexible spine assembly 24500. Also, as seen in Figure 65, the hypotube 24732 may be molded with diametrically opposed lateral tab portions 24738 to provide lateral stability during joint movement. Figure 66 shows an alternative drive unit cover 24730' with an internally cut hypotube 24732'. Figures 58, 67, 68, and 69 illustrate an alternative drive unit cover 24730'' with a flexible heat-shrinkable tube 24732'' that is fitted over a constant-velocity (CV) drive shaft assembly 2620. In yet other devices, the drive unit cover may also include a coil spring or coil member.

[0088] Various embodiments of this disclosure offer advantages over previous surgical endocutter configurations that allow for articulation. For example, pushing a projectile forward in an articulated end effector generally requires a great deal of force, and that force must be balanced. For instance, when launching the projectile at an angle greater than 60 degrees, it becomes extremely difficult to push the beam through the articulated joint. The joint is also subjected to significant loads that can disengage the articulation of the joint. By employing an upper flexible drive and a lower flexible drive, each flexible through the articulated joint but rigid when distal to the joint, it is possible to achieve a large degree of articulation (e.g., articulation angles greater than 70 degrees) while applying a balanced load to the projectile that is constrained by the projectile rather than the articulated joint. In other words, instead of a longitudinal load that could disengage the articulation of the end effector, a torsional load is applied proximal to the articulated joint. The torsional load is converted into a longitudinal load at a position distal to the articulated joint. Therefore, the rotary drive screw functions to actually convert torsional motion or load into a longitudinal load applied to the launching member at a location distal to the joint.

[0089] Furthermore, by disassembling the threaded drive mechanism longitudinally, the threaded drive mechanism passes through the articulation joint while also effectively reducing the length of the surgical end effector. For example, each single vertebra tooth is significantly shorter than multiple rigidly connected pitches. The vertebraes can be angled as they pass through the articulation joint. This flexible interconnection allows the rotary drive screw to be positioned closer to the articulation joint compared to when all pitches are rigidly connected, which would result in a significantly greater distance from the articulation joint.

[0090] Example 1 - A surgical end effector comprises a first jaw and a second jaw, the second jaw being configured to move relative to the first jaw between an open position and a closed position. A launching member is supported to advance axially within the surgical end effector between a fixed position and an end position corresponding to the open position of the second jaw. The launching member is configured to apply a first closing motion to the second jaw, moving the second jaw from the open position to the closed position, as the launching member is moved distally from the fixed position to the end position. The launching member is further configured to apply a second closing motion to the second jaw, moving the second jaw toward the first jaw, as the launching member is moved proximal from the fixed position.

[0091] Example 2 - The surgical end effector according to Example 1, comprising a vertically extending launch member body including an upper launch member feature configured to impart a first closing motion to a second jaw. The launch member further comprises a lower launch member feature configured to slidably engage with the first jaw as the launch member moves between a fixed position and an end position. At least one preload feature is configured to contact a portion of the second jaw as the launch member moves proximal from the fixed position.

[0092] Example 3 - The surgical end effector according to Example 2, wherein the second jaw is supported to pivot between an open position and a closed position relative to the first jaw about a jaw pivot axis. At least one pre-pressure feature is configured to contact a portion of the second jaw at a pre-pressure location distal to the jaw pivot axis.

[0093] Example 4 - A surgical end effector according to Example 1, 2, or 3, comprising a second jaw body having a proximal end and a distal end. The second jaw further comprises a pivot feature on the proximal end that defines a jaw pivot axis. A portion of the second jaw comprises a jaw closing arm protruding from the proximal end, the jaw closing arm being contacted by at least one preload feature when the firing member is moved from a fixed position to the proximal end.

[0094] Example 5 - A surgical end effector according to Example 2, 3, or 4, wherein the upper firing member feature portion comprises an upper tubular feature portion protruding from the upper end of a vertically extending firing member body, and the lower firing member feature portion comprises a lower tubular feature portion protruding from the lower end of a vertically extending firing member body.

[0095] Example 6 - The surgical end effector according to Example 5, wherein the first jaw is configured to slidably accommodate a lower tubular feature on the launching member as the launching member moves between a fixed position and an end position, and the second jaw is configured to slidably accommodate an upper tubular feature on the launching member as the launching member moves between a fixed position and an end position.

[0096] Example 7 - A surgical end effector according to Example 1, 2, 3, 4, 5, or 6, wherein the launching member is configured to operably engage with a rotary drive member configured to apply an initial drive motion to the launching member, driving the launching member distally from a fixed position to a closed position where the launching member applies a first closing motion to the second jaw. The rotary drive member is further configured to apply a reversal drive motion to the launching member, driving the launching member proximal from a fixed position.

[0097] Example 8 - The surgical end effector according to Example 5, wherein the launching member is configured to operably engage with a rotary drive member configured to apply an initial drive motion to the launching member, driving it distally from a fixed position to a closed position where the launching member applies a first closing motion to the second jaw. The rotary drive member is further configured to apply a reversal drive motion to the launching member, driving it proximal.

[0098] Example 9 - A surgical end effector according to Example 5, 6, or 8, wherein the upper tubular feature includes upper teeth configured to interact with a rotary drive member, and the lower tubular feature includes at least one lower tooth configured to interact with a rotary drive member.

[0099] Example 10 - The surgical end effector according to Example 7, 8, or 9, further comprising means for applying a bail-out motion to the launching member and moving the launching member from a distal position to a fixed position relative to a fixed position in the proximal direction without applying a reversal drive motion to the launching member with a rotational drive member.

[0100] Example 11 - A surgical end effector according to Example 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, comprising an upper flexible spine assembly attached to the upper portion of a launching member and a lower flexible spine assembly attached to the lower portion of a launching member, configured to be operably connected to a surgical instrument. The surgical instrument further comprises a rotary drive member, which is operably linked to the upper flexible spine assembly and the lower flexible spine assembly, so that the rotary drive member causes the upper flexible spine assembly and the lower flexible spine assembly to impart axial drive motion to the launching member, moving the launching member between a fixed position and an end position.

[0101] Example 12 - The surgical end effector according to Example 11, wherein the upper flexible spine assembly comprises an upper series of upper vertebra members loosely connected together, and the lower flexible spine assembly comprises a lower series of lower vertebra members loosely connected together.

[0102] Example 13 - The surgical end effector according to Example 12, wherein the upper vertebra members are connected to the upper portion of the launching member and are supported to move relative to each other by upper flexible coupling members extending through each upper vertebra member, and the lower vertebra members are connected to the lower portion of the launching member and are supported to move relative to each other by lower flexible coupling members extending through each lower vertebra member.

[0103] Example 14 - A surgical end effector according to Examples 2, 3, 4, 5, 6, 8, 9, 10, 11, 12, or 13, wherein the first jaw comprises a channel configured to operably support a surgical staple cartridge, and the surgical staple cartridge comprises a cartridge body that operably supports a plurality of surgical staples internally. The cartridge thread is movably supported within the cartridge body and configured to move between a start position and a finish position within the cartridge body to drive the surgical staple out of the cartridge body. The second jaw comprises an anvil supported to pivot and advance relative to the surgical staple cartridge between an open position and a closed position. At least one preloaded feature on the launching member is configured to drive the cartridge thread from the start position to the finish position when the launching member is driven distally from a start position to a finish position.

[0104] Example 15 - A surgical instrument comprising an elongated shaft that operably supports a firing drive system internally. The surgical end effector is operably connected to the elongated shaft and comprises a first jaw and a second jaw, the second jaw being configured to move relative to the first jaw between an open position and a closed position. The firing member is operably linked to the firing drive system, so that the firing drive system is configured to move the firing member between a fixed position and an end position corresponding to the open position of the second jaw. When the firing member is moved distally from the fixed position, the firing member applies a first closing motion to the second jaw, moving the second jaw from the open position to the closed position. The firing drive system is configured to move the firing member proximally from the fixed position, so that when the firing member is moved proximal from the fixed position, the firing member applies a second closing motion to the second jaw, moving the second jaw toward the first jaw.

[0105] Example 16 - The surgical instrument according to Example 15, wherein the firing drive system comprises a rotary drive member configured to apply axial driving motion to the firing member.

[0106] Example 17 - The surgical instrument according to Example 16, further comprising an upper flexible spine assembly attached to the upper portion of a launching member, which is operably linked with a rotary drive member so that the rotation of the rotary drive member causes the upper flexible spine assembly to impart an upper axial drive motion to the launching member. A lower flexible spine assembly is attached to the lower portion of a launching member, which is operably linked with a rotary drive member so that the rotation of the rotary drive member causes the lower flexible spine assembly to impart a lower axial drive motion to the launching member.

[0107] Example 18 - The surgical instrument according to Example 17, wherein the upper flexible spine assembly comprises an upper series of upper vertebra members loosely connected together, and the lower flexible spine assembly comprises a lower series of lower vertebra members loosely connected together.

[0108] Example 19 - A surgical instrument comprising an elongated shaft that operably supports a firing drive system internally. The surgical end effector is operably connected to the elongated shaft and comprises a first jaw and a second jaw, the second jaw being configured to move relative to the first jaw between an open position and a closed position. The firing member is operably linked to the firing drive system, so that the firing drive system is configured to move the firing member between a fixed position and an end position corresponding to the open position of the second jaw. When the firing member is moved distally from the fixed position, the firing member applies a first closing motion to the second jaw, moving the second jaw from the open position to the closed position. When the firing member is moved proximal from the fixed position, the firing member applies a second closing motion to the second jaw. The surgical instrument further comprises means for applying rotational motion to the firing member to move the firing member distally from the fixed position and proximal from the fixed position. The means for adding this further involves adding an additional rotational motion to a drive mechanism linked to the launching member, thereby adding an axial drive motion to the launching member.

[0109] Example 20 - The surgical instrument according to Example 19, further comprising means for applying a retraction force to a launching member so that the launching member moves from a position distal to a fixed position to a fixed position without activating means for applying force.

[0110] When used in any aspect of this specification, the term “control circuit” can mean, for example, hardwired circuits, programmable circuits (e.g., computer processors, processing units, processors, microcontrollers, microcontroller units, controllers, digital signal processors (DSPs), programmable logic devices (PLDs), programmable logic arrays (PLAs), or field programmable gate arrays (FPGAs) including one or more individual instruction processing cores), state-machine circuits, firmware that stores instructions executed by programmable circuits, and any combination thereof. Control circuits can be embodied collectively or individually as circuits that form 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, or a smartphone. Accordingly, as used herein, “control circuit” includes, but is not limited to, an electrical circuit having at least one separate electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit having at least one application-specific integrated circuit, an electrical circuit forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that performs at least partially the processes and / or devices described herein, or a microprocessor configured by a computer program that performs at least partially the processes and / or devices described herein), an electrical circuit forming a memory device (e.g., in the form of random access memory), and / or an electrical circuit forming a communication device (e.g., a modem, a communication switch, or an optical-electric installation). Those skilled in the art will recognize that the subject matter described herein may be implemented in analog form, digital form, or some combination thereof.

[0111] While several forms have been shown and described, it is not the applicant's intention to limit or restrict the attached claims to such details. Many modifications, variations, alterations, substitutions, combinations, and equivalents of these forms can be implemented and will be conceived by those skilled in the art without departing from the scope of this disclosure. Furthermore, the structure of each element related to the described form can be alternatively described as a means for providing the function performed by that element. Also, while materials are disclosed with respect to specific components, other materials may be used. Therefore, it should be understood that the above description and the attached claims are intended to cover all such modifications, combinations, and variations as being included within the scope of the disclosed forms. The attached claims are intended to cover all such modifications, variations, alterations, substitutions, alterations, and equivalents.

[0112] One or more components may be referred to herein as “configured to,” “configurable to,” “operable / operative to,” “adapted / adaptable,” “able to,” “conformable / conformed to,” etc. Those skilled in the art will understand that “configured to” generally encompasses active components and / or inactive components and / or standby components, unless the context should interpret it otherwise.

[0113] Those skilled in the art will generally understand that the terms used herein, and especially in the appended claims (e.g., the text of the appended claims), are intended to be generally "open" terms (for example, the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," and the term "includes" should be interpreted as "includes but is not limited to"). Furthermore, those skilled in the art will understand that if a particular number is intended in an introduced claim recitation, such intention is clearly stated in the claim, and if such statement is not made, such intention does not exist. For example, to aid understanding, subsequent appended claims may include the introductory phrases "at least one" and "one or more" to introduce the claim recitation. However, the use of such phrases should not be interpreted as suggesting that any particular claim containing such introduced claim description is limited to claims containing only one such description, even if the same claim contains an introductory phrase such as "one or more" or "at least one" and the indefinite article "a" or "an" when the claim description is introduced by the indefinite article "a" or "an" (for example, "a" and / or "an" should generally be interpreted as meaning "at least one" or "one or more"). The same applies when introducing a claim description using the definite article.

[0114] In addition, even if a specific number is explicitly stated in the introduced claim, it will be recognized by those skilled in the art that such a statement should typically be interpreted as meaning at least the number stated (for example, if there is a statement that is simply “two descriptions” without any other modifiers, it generally means at least two descriptions, or two or three or more descriptions). Furthermore, when a notation similar to “at least one of A, B, and C, etc.” is used, such a notation is generally intended to be understood in a way that those skilled in the art will understand (for example, “a system having at least one of A, B, and C” is not limited to systems having only A, only B, only C, both A and B, both A and C, both B and C and / or all of A, B and C, etc.). When expressions similar to "at least one of A, B, or C" are used, such expressions are generally intended to be understood in a way that a person skilled in the art would understand (for example, "a system having at least one of A, B, or C" includes, but is not limited to, systems having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C). Furthermore, a person skilled in the art will understand that, typically, any disjunctive word and / or phrase representing two or more selective terms should be understood, whether in the specification, claims, or drawings, as intended to include the possibility of including one of those terms, any of those terms, or both of those terms, unless the context requires a different interpretation. For example, the phrase "A or B" will typically be understood to include the possibility of "A" or "B" or "A and B".

[0115] With respect to the attached claims, those skilled in the art will understand that the operations cited herein may generally be performed in any order. Furthermore, while flowcharts of various operations are shown in sequence, it should be understood that the various operations may be performed in an order other than those shown, or simultaneously. Examples of such alternative orderings may include repetition, alternation, interruption, reordering, augmentation, preliminary, additional, simultaneous, reverse, or other different orderings, unless the context should interpret them otherwise. Moreover, terms such as “responding to,” “related to,” or other past tense adjectives are not generally intended to exclude such variations, unless the context should interpret them otherwise.

[0116] It is worth noting that any reference to “one aspect,” “aspect,” “example,” or “example” means that the specific feature, structure, or characteristic described in relation to that aspect is included in at least one aspect. Therefore, the phrases “in one aspect,” “in aspect,” “example,” and “example” found in various places throughout this specification do not necessarily all refer to the same aspect. Furthermore, specific features, structures, or characteristics can be combined in any preferred manner in one or more aspects.

[0117] Any patent application, patent, non-patent publication, or other disclosure material referenced herein and / or listed in any application data sheet is incorporated herein by reference to the extent that the incorporated material does not conflict with this Specified. Any disclosure expressly stated herein, either in itself or to the extent required, shall supersede any conflicting statement incorporated herein by reference. Any material, or any portion thereof, that is referred to as being incorporated herein by reference but conflicts with current definitions, views, or other disclosures contained herein, shall be incorporated only to the extent that it does not create a conflict between the incorporated material and the current disclosures.

[0118] In summary, the numerous benefits that can be obtained as a result of using the concepts described herein have been described. The above descriptions of one or more forms are presented for illustrative and explanatory purposes only. They are not intended to be comprehensive or to be limited to the exact forms disclosed. Modifications or variations are possible in light of the above teachings. One or more forms have been selected and described to illustrate the principle and practical applications, thereby enabling a person skilled in the art to utilize the various forms, along with various modifications, to be suitable for a particular conceivable use. The claims presented herein are intended to define the overall scope.

[0119] While the surgical instrument systems described herein have been described in relation to the deployment and deformation of staples, the embodiments described herein are not limited thereto. For example, various embodiments are conceivable that deploy fasteners other than staples, such as clamps or tacks. Furthermore, various embodiments are conceivable that utilize any suitable means for sealing tissue. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Also, for example, end effectors according to certain embodiments may be able to apply vibrational energy to seal tissue.

[0120] Many of the surgical instrument systems described herein are driven by electric motors. However, the surgical instrument systems described herein can be driven in any preferred manner. In various cases, the surgical instrument systems described herein can be driven, for example, by a manually operated trigger. In certain examples, the motors disclosed herein may comprise one or more parts of a robotically controlled system. Furthermore, any of the end effectors and / or tool assemblies disclosed herein can be used in conjunction with a robotic surgical instrument system. For example, U.S. Patent Application No. 13 / 118,241, titled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" (U.S. Patent No. 9,072,535) discloses in more detail some examples of robotic surgical instrument systems.

[0121] The entirety of the following disclosure is incorporated herein by reference. U.S. Patent No. 5,403,312, issued on April 4, 1995, with the title of the invention "ELECTROSURGICAL HEMOSTATIC DEVICE", U.S. Patent No. 7,000,818, issued on February 21, 2006, with the title of the invention "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS", U.S. Patent No. 7,422,139, issued on September 9, 2008, with the title of the invention "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK," U.S. Patent No. 7,464,849, issued on December 16, 2008, with the title of the invention "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", U.S. Patent No. 7,670,334, issued on March 2, 2010, with the title of the invention "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", U.S. Patent No. 7,753,245, issued on July 13, 2010, with the title of the invention "SURGICAL STAPLING INSTRUMENTS", U.S. Patent No. 8,393,514, issued on March 12, 2013, with the title of the invention "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", U.S. Patent Application No. 11 / 343,803, Title of Invention: "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES", currently U.S. Patent No. 7,845,537. U.S. Patent Application No. 12 / 031,573, filed on February 14, 2008, title of invention: "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", U.S. Patent Application No. 12 / 031,873, filed on February 15, 2008, with the title of the invention "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT," is currently U.S. Patent No. 7980443. U.S. Patent Application No. 12 / 235,782, Title of Invention: "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", currently U.S. Patent No. 8,210,411. U.S. Patent Application No. 12 / 235,972, Title of Invention: "MOTORIZED SURGICAL INSTRUMENT", currently U.S. Patent No. 9,050,083. U.S. Patent Application No. 12 / 249,117, Title of Invention: "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," currently U.S. Patent No. 8,608,045. U.S. Patent Application No. 12 / 647,100, filed on December 24, 2009, with the title of the invention "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY," is currently U.S. Patent No. 8,220688. Filing on September 29, 2012, and currently U.S. Patent No. 8,733,613, U.S. Patent Application No. 12 / 893,461, with the title of the invention "STAPLE CARTRIDGE", U.S. Patent Application No. 13 / 036647, filed on February 28, 2011, and currently U.S. Patent No. 8561870, title of invention: "SURGICAL STAPLING INSTRUMENT" U.S. Patent Application No. 13 / 118,241, Title of Invention: "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", currently U.S. Patent No. 9,072,535. U.S. Patent Application No. 13 / 524,049, filed on June 15, 2012, with the title of the invention "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," is currently U.S. Patent No. 9,101,358. U.S. Patent Application No. 13 / 800,025, filed on March 13, 2013, with the title of the invention "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," is currently U.S. Patent No. 9,345,481. U.S. Patent Application No. 13 / 800,067, filed on March 13, 2013, with the title of the invention "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (currently published as U.S. Patent Application Publication No. 2014 / 0263552), U.S. Patent Application Publication No. 2007 / 0175955, filed on January 31, 2006, with the title of the invention "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM," and, U.S. Patent Application Publication No. 2010 / 0264194, filed on April 22, 2010, with the title of the invention "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR," is currently U.S. Patent No. 8,308,040.

[0122] While various devices have been described herein in conjunction with specific embodiments, modifications and changes may be made to those embodiments. Specific features, structures, or properties may be combined in any preferred manner in one or more embodiments. Thus, specific features, structures, or properties illustrated or described in relation to one embodiment may be combined in whole or in part with features, structures, or properties of one or more other embodiments without limitation. Also, while materials are disclosed in relation to specific components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, in order to perform a given function. The foregoing description and the following claims are intended to encompass all such modifications and variations.

[0123] The devices disclosed herein may be designed to be discarded after a single use or to be designed for multiple uses. However, in either case, the devices may be refurbished for reuse after at least one use. Refurbishment may include, but is not limited to, any combination of the steps of disassembling the device, cleaning or replacing specific parts of the device, and then reassembling the device. Specifically, a refurbishment facility and / or surgical team may disassemble the device, clean and / or replace specific parts of the device, and then reassemble the device for subsequent use. Those skilled in the art will understand that various techniques for disassembly, cleaning / replacement, and reassembly are available for the refurbishment of devices. The use of such techniques and the resulting refurbished devices are all within the scope of this application.

[0124] The apparatus disclosed herein may be processed before surgery. First, new or used instruments are obtained and may be cleaned as necessary. The instruments can then be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container, such as a plastic bag or a TYVEK bag. The container and instruments can then be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, and / or high-energy electrons. The radiation can kill bacteria on the instruments and inside the container. After this, the sterilized instruments can be stored in a sterile container. The sealed container can keep the instruments sterile until it is opened in a medical facility. The apparatus may also be sterilized using any other techniques known in the art, including but not limited to beta rays, gamma rays, ethylene oxide, hydrogen peroxide plasma, and / or water vapor.

[0125] While the present invention has been described as having a representative design, the present invention may be further modified within the spirit and scope of this disclosure. Accordingly, this application is intended to cover any variations, uses, or adaptations of the present invention using its general principles.

[0126] [Implementation Method] (1) A surgical end effector, The first Joe and, A second jaw, wherein the second jaw is configured to move relative to the first jaw between an open position and a closed position, A surgical end effector comprising: a launching member supported to advance axially within the surgical end effector between a fixed position and an end position corresponding to the open position of the second jaw, wherein the launching member is configured to apply a first closing motion to the second jaw to move the second jaw from the open position to the closed position as the launching member is moved distally from the fixed position to the end position, and the launching member is further configured to apply a second closing motion to the second jaw to move the second jaw toward the first jaw as the launching member is moved proximal from the fixed position. (2) The launching member is A vertically extending launch member body, An upper launching member feature portion configured to apply the first closing motion to the second jaw, A lower launching member feature portion is configured to slidably engage with the first jaw when the launching member moves between the fixed position and the end position, The surgical end effector according to Embodiment 1, comprising a vertically extending launching member body, the launching member having at least one preloaded feature configured to contact a portion of the second jaw when the launching member is moved proximal from the fixed position. (3) The surgical end effector according to Embodiment 2, wherein the second jaw is supported to pivot relative to the first jaw between the open position and the closed position about a jaw pivot axis, and the at least one preload feature is configured to contact the portion of the second jaw at a preload location distal to the jaw pivot axis. (4) The second Joe mentioned above, A second jaw body having a proximal end and a distal end, The surgical end effector according to Embodiment 3, comprising: a pivot feature portion on the proximal end, the pivot feature portion defining the jaw pivot axis, the portion of the second jaw comprising a jaw closing arm protruding from the proximal end, the jaw closing arm being configured to be in contact with the at least one preload feature portion when the firing member is moved proximal from the fixed position. (5) The surgical end effector according to Embodiment 2, wherein the upper firing member feature portion comprises an upper tubular feature portion protruding from the upper end of the vertically extending firing member body, and the lower firing member feature portion comprises a lower tubular feature portion protruding from the lower end of the vertically extending firing member body.

[0127] (6) The surgical end effector according to Embodiment 5, wherein the first jaw is configured to slidably accommodate the lower tubular feature on the launching member when the launching member is moved between the fixed position and the end position, and the second jaw is configured to slidably accommodate the upper tubular feature on the launching member when the launching member is moved between the fixed position and the end position. (7) The surgical end effector according to Embodiment 1, wherein the firing member is configured to operably engage with a rotary drive member configured to apply an initial drive motion to the firing member and drive the firing member distally from the fixed position to a closed position in which the firing member applies the first closing motion to the second jaw, and the rotary drive member is configured to apply a reversal drive motion to the firing member and drive the firing member proximal from the fixed position. (8) The surgical end effector according to Embodiment 5, wherein the firing member is configured to operably engage with a rotary drive member configured to apply an initial drive motion to the firing member and drive the firing member distally from a fixed position to a closed position in which the firing member applies a first closing motion to the second jaw, and the rotary drive member is configured to apply a reversal drive motion to the firing member and drive the firing member in the proximal direction. (9) The surgical end effector according to Embodiment 8, wherein the upper tubular feature includes upper teeth configured to be linked with the rotational drive member, and the lower tubular feature includes at least one lower tooth configured to be linked with the rotational drive member. (10) The surgical end effector according to Embodiment 9, further comprising means for applying a bail-out motion to the launching member and moving the launching member proximal to the fixed position from a position distal to the fixed position without applying the reversal drive motion to the launching member with the rotation drive member.

[0128] (11) The surgical end effector is configured to be operably connected to a surgical instrument, and the surgical instrument is An upper flexible spine assembly attached to the upper portion of the launching member, A lower flexible spine assembly attached to the lower portion of the launching member, A rotary drive member, wherein the rotary drive member is operably linked to the upper flexible spine assembly, and the rotary drive member is operably linked to the lower flexible spine assembly, and the rotary drive member causes the upper flexible spine assembly and the lower flexible spine assembly to apply an axial drive motion to the launching member, thereby moving the launching member between the fixed position and the end position, according to Embodiment 2. (12) The surgical end effector according to embodiment 11, wherein the upper flexible spine assembly comprises an upper series of upper vertebra members loosely connected together, and the lower flexible spine assembly comprises a lower series of lower vertebra members loosely connected together. (13) The surgical end effector according to embodiment 12, wherein the upper vertebra members are connected to the upper portion of the launching member and are supported to move relative to each other by upper flexible coupling members extending through each of the upper vertebra members, and the lower vertebra members are connected to the lower portion of the launching member and are supported to move relative to each other by lower flexible coupling members extending through each of the lower vertebra members. (14) The first jaw is provided with a channel configured to operably support a surgical staple cartridge, the surgical staple cartridge is A cartridge body that operably supports multiple surgical staples inside, A cartridge thread movably supported within the cartridge body, the cartridge thread configured to move between a start position and a finish position within the cartridge body to drive the surgical staple from the cartridge body, the second jaws comprising an anvil supported to pivot between an open position and a closed position relative to the surgical staple cartridge, and the at least one pre-loaded feature on the launching member configured to drive the cartridge thread from the start position to the finish position when the launching member is driven distally from the start position to the finish position, according to Embodiment 3 of the surgical end effector. (15) Surgical instruments, Inside is a slender shaft that provides operational support for the firing drive system, The device comprises a surgical end effector movably connected to the elongated shaft, and the surgical end effector is The first Joe and, A second jaw, wherein the second jaw is configured to move relative to the first jaw between an open position and a closed position, A surgical instrument comprising: a firing member operably linked with the firing drive system, wherein the firing drive system is configured to move the firing member between a fixed position and an end position corresponding to the open position of the second jaw; when the firing member is moved distally from the fixed position, the firing member is configured to impose a first closing motion on the second jaw, moving the second jaw from the open position to the closed position; and when the firing member is moved proximal from the fixed position, the firing drive system is configured to move the firing member proximal from the fixed position such that the firing member imposes a second closing motion on the second jaw, moving the second jaw toward the first jaw.

[0129] (16) The surgical instrument according to embodiment 15, wherein the firing drive system comprises a rotary drive member configured to apply axial driving motion to the firing member. (17) An upper flexible spine assembly attached to the upper portion of the launch member, wherein the upper flexible spine assembly is operably linked with the rotary drive member such that the rotation of the rotary drive member causes the upper flexible spine assembly to impart an upper axial drive motion to the launch member, The surgical instrument according to embodiment 16, further comprising: a lower flexible spine assembly attached to the lower portion of the launching member, wherein the lower flexible spine assembly is operably linked with the rotary drive member such that the rotation of the rotary drive member causes the lower flexible spine assembly to impart a lower axial drive motion to the launching member. (18) The surgical instrument according to embodiment 17, wherein the upper flexible spine assembly comprises an upper series of upper vertebra members loosely connected together, and the lower flexible spine assembly comprises a lower series of lower vertebra members loosely connected together. (19) Surgical instruments, Inside is a slender shaft that provides operational support for the firing drive system, The device comprises a surgical end effector movably connected to the elongated shaft, and the surgical end effector is The first Joe and, A second jaw, wherein the second jaw is configured to move relative to the first jaw between an open position and a closed position, A surgical instrument comprising: a firing member operably linked with the firing drive system, wherein the firing drive system is configured to move the firing member between a fixed position and an end position corresponding to the open position of the second jaw; when the firing member is moved distally from the fixed position, the firing member is configured to apply a first closing motion to the second jaw to move the second jaw from the open position to the closed position; when the firing member is moved proximal from the fixed position, the firing member applies a second closing motion to the second jaw; and the surgical instrument further comprises means for applying rotational motion to the firing member to move the firing member distally from the fixed position and proximal from the fixed position, wherein the means for applying rotational motion is further configured to apply axial driving motion to the firing member by applying additional rotational motion to a drive unit linked with the firing member. (20) The surgical instrument according to embodiment 19, further comprising means for applying a retraction force to the launching member so as to move the launching member from a position distal to the fixed position to the fixed position without activating the means for applying the force.

Claims

1. 1. A surgical end effector, comprising: The first Joe, a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member supported for axial advancement within the surgical end effector between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position to the end position, and the firing member further configured to impart a second closing motion to the second jaw to move the second jaw toward the first jaw when the firing member is moved proximally from the home position.

2. The firing member a vertically extending firing member body, an upper firing member feature configured to impart the first closing motion to the second jaw; a lower firing member feature configured to slidably engage the first jaw when the firing member is moved between the home position and the end position; 10. The surgical end effector of claim 1, comprising a vertically extending firing member body comprising at least one preload feature configured to contact a portion of the second jaw when the firing member is moved proximally from the home position.

3. 3. The surgical end effector of claim 2, wherein the second jaw is supported for pivotal advancement relative to the first jaw between the open and closed positions about a jaw pivot axis, and the at least one preload feature is configured to contact the portion of the second jaw at a preload location distal to the jaw pivot axis.

4. The second jaw comprises: a second jaw body having a proximal end and a distal end; 4. The surgical end effector of claim 3, comprising: a pivot feature on the proximal end, the pivot feature defining the jaw pivot axis, the portion of the second jaw comprising a jaw closure arm projecting from the proximal end, the jaw closure arm configured to be contacted by the at least one preload feature when the firing member is moved proximally from the home position.

5. 3. The surgical end effector of claim 2, wherein the upper firing member feature comprises an upper tubular feature protruding from an upper end of the vertically extending firing member body, and the lower firing member feature comprises a lower tubular feature protruding from a lower end of the vertically extending firing member body.

6. 6. The surgical end effector of claim 5, wherein the first jaw comprises a lower keyhole-shaped passage configured to slidably receive the lower tubular feature on the firing member when the firing member is moved between the home position and the end position, and the second jaw comprises an upper keyhole-shaped passage configured to slidably receive the upper tubular feature on the firing member when the firing member is moved between the home position and the end position.

7. 2. The surgical end effector of claim 1, wherein the firing member is configured to operatively engage a rotational drive member configured to impart an initial drive motion to the firing member to drive the firing member distally from the home position to a closed position in which the firing member imparts the first closing motion to the second jaw, and wherein the rotational drive member is configured to impart a reverse drive motion to the firing member to drive the firing member proximally from the home position.

8. 6. The surgical end effector of claim 5, wherein the firing member is configured to operatively engage a rotational drive member configured to impart an initial drive motion to the firing member to drive the firing member distally from the home position to a closed position in which the firing member imparts the first closing motion to the second jaw, and the rotational drive member is configured to impart a reverse drive motion to the firing member to drive the firing member in the proximal direction.

9. 9. The surgical end effector of claim 8, wherein the upper tubular feature includes upper teeth configured to interface with the rotational drive member, and the lower tubular feature includes at least one lower tooth configured to interface with the rotational drive member.

10. 10. The surgical end effector of claim 9, further comprising means for applying a bailout motion to the firing member to move the firing member proximally from a position distal to the home position without applying the reverse drive motion to the firing member with the rotational drive member.

11. The surgical end effector is configured to be operably coupled to a surgical instrument, the surgical instrument comprising: an upper flexible spine assembly attached to an upper portion of the firing member; a lower flexible spine assembly attached to a lower portion of the firing member; 3. The surgical end effector of claim 2, comprising: a rotational drive member operatively associated with the upper flexible spine assembly and operatively associated with the lower flexible spine assembly, the rotational drive member causing the upper and lower flexible spine assemblies to impart an axial drive motion to the firing member to move it between the home position and the end position.

12. The surgical end effector of claim 11, wherein the upper flexible spine assembly comprises an upper series of upper vertebral members loosely coupled together and the lower flexible spine assembly comprises a lower series of lower vertebral members loosely coupled together.

13. 13. The surgical end effector of claim 12, wherein the upper vertebral members are coupled to the upper portion of the firing member and movably supported relative to one another by upper flexible coupler members extending through each of the upper vertebral members, and the lower vertebral members are coupled to the lower portion of the firing member and movably supported relative to one another by lower flexible coupler members extending through each of the lower vertebral members.

14. The first jaw includes a channel configured to operably support a surgical staple cartridge, the surgical staple cartridge including: a cartridge body operably supporting a plurality of surgical staples therein; 4. The surgical end effector of claim 3, comprising: a cartridge sled movably supported within the cartridge body, the cartridge sled configured to move between a start position and a finish position within the cartridge body to drive the surgical staples from the cartridge body; the second jaw comprising an anvil supported for pivotal advancement relative to the surgical staple cartridge between the open position and the closed position; and the at least one preload feature on the firing member configured to drive the cartridge sled from the start position to the finish position when the firing member is driven distally from the home position to the finish position.

15. A surgical instrument comprising: an elongated shaft operably supporting a firing drive system therein; a surgical end effector operably coupled to the elongate shaft, the surgical end effector comprising: The first Joe, a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member operatively associated with the firing drive system, the firing drive system configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw when the firing member is moved distally from the home position, thereby moving the second jaw from the open position to the closed position, and the firing drive system configured to move the firing member proximally from the home position such that when the firing member is moved proximally from the home position, the firing member imparts a second closing motion to the second jaw, thereby moving the second jaw toward the first jaw.

16. The surgical instrument of claim 15, wherein the firing drive system comprises a rotational drive member configured to impart an axial drive motion to the firing member.

17. an upper flexible spine assembly attached to an upper portion of the firing member, the upper flexible spine assembly operatively associated with the rotational drive member such that rotation of the rotational drive member causes the upper flexible spine assembly to impart an upper axial drive motion to the firing member; 17. The surgical instrument of claim 16, further comprising a lower flexible spine assembly attached to a lower portion of the firing member, the lower flexible spine assembly in operative communication with the rotational drive member such that the rotation of the rotational drive member causes the lower flexible spine assembly to impart a lower axial drive motion to the firing member.

18. 18. The surgical instrument of claim 17, wherein the upper flexible spine assembly comprises an upper series of upper vertebral members loosely coupled together and the lower flexible spine assembly comprises a lower series of lower vertebral members loosely coupled together.

19. 1. A surgical instrument comprising: an elongated shaft operably supporting a firing drive system therein; a surgical end effector operably coupled to the elongate shaft, the surgical end effector comprising: The first Joe, a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member operatively associated with the firing drive system, the firing drive system configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position, and the firing member configured to impart a second closing motion to the second jaw when the firing member is moved proximally from the home position, the surgical instrument further comprising means for imparting a rotational motion to the firing member to move the firing member distally and proximally from the home position, the means for applying being further configured to apply an additional rotational motion to a driver associated with the firing member to impart an axial drive motion to the firing member.

20. 20. The surgical instrument of claim 19, further comprising means for applying a retraction force to the firing member to move the firing member from a position distal to the home position to the home position without actuating the means for applying.

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