Surgical instrument comprising firing member supports

Abstract

To provide surgical instruments, including surgical stapling and cutting instruments and staple cartridges for use therewith that are designed to staple and cut tissue.SOLUTION: A surgical instrument comprises a shaft, an end effector rotatably coupled to the shaft about an articulation joint, and a firing system configured to be moved through the articulation joint and the end effector. The surgical instrument further comprises means configured to facilitate the movement of the firing system through the articulation joint and the end effector.SELECTED DRAWING: Figure 1

Description

[Background technology]

[0001] The present invention relates to surgical instruments and to surgical stapling and severing instruments and staple cartridges for use therewith designed to staple and sever tissue in a variety of situations. [Brief description of the drawings]

[0002] The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a side view of a surgical system including a handle assembly and a plurality of interchangeable surgical tool assemblies that can be used with the handle assembly. [Diagram 2] FIG. 2 is an exploded view of the handle assembly and one of the interchangeable surgical tool assemblies shown in FIG. 1. [Diagram 3] FIG. 2 is a perspective view of one of the interchangeable surgical tool assemblies of FIG. 1. [Figure 4] FIG. 4 is an exploded view of the exchangeable surgical tool assembly of FIG. 3. [Diagram 5] FIG. 5 is another exploded view of the distal portion of the exchangeable surgical tool assembly of FIGS. 3 and 4. [Figure 6] FIG. 6 is another exploded view of the distal portion of the exchangeable surgical tool assembly of FIGS. 3-5. [Figure 7] FIG. 7 is an exploded view of a proximal portion of the exchangeable surgical tool assembly of FIGS. 3-6. [Figure 8] FIG. 8 is another exploded view of a portion of the exchangeable surgical tool assembly of FIGS. 3-7. [Figure 9] FIG. 9 is another exploded view of a portion of the exchangeable surgical tool assembly of FIGS. 3-8. [Figure 10] FIG. 10 is a perspective view of a proximal portion of the exchangeable surgical tool assembly of FIGS. 3-9. [Figure 11]FIG. 11 is another perspective view of the proximal portion of the exchangeable surgical tool assembly of FIGS. 3-10. [Figure 12] FIG. 12 is a cross-sectional perspective view of a proximal portion of the exchangeable surgical tool assembly of FIGS. [Figure 13] FIG. 13 is another cross-sectional perspective view of the proximal portion of the exchangeable surgical tool assembly of FIGS. 3-12. [Figure 14] FIG. 14 is another cross-sectional perspective view of the proximal portion of the exchangeable surgical tool assembly of FIGS. 3-13. [Figure 15] FIG. 15 is a cross-sectional perspective view of a distal portion of the exchangeable surgical tool assembly of FIGS. 3-14. [Figure 16] FIG. 1 is a partial top view of an end effector of a surgical instrument in accordance with at least one embodiment. [Figure 16A] 17 is a partial top plan view of the end effector of FIG. 16 showing the end effector articulated in a first direction. FIG. [Figure 16B] 17 is a partial top plan view of the end effector of FIG. 16 showing the end effector articulated in a second direction. FIG. [Figure 17] FIG. 1 is a partial top view of an end effector of a surgical instrument in accordance with at least one embodiment. [Figure 17A] 18 is a partial top plan view of the end effector of FIG. 17 showing the end effector articulated in a first direction. [Figure 17B] 18 is a partial top plan view of the end effector of FIG. 17 showing the end effector articulated in a second direction. [Figure 18] FIG. 17 is a partial plan view of the end effector of FIG. 16. [Figure 19] FIG. 18 is a partial plan view of the end effector of FIG. 17. [Figure 20] FIG. 17 is a partial plan view of the end effector of FIG. 16 in an articulated position. [Figure 21] FIG. 18 is a partial plan view of the end effector of FIG. 17 in an articulated position. [Figure 22] FIG. 17 is a schematic diagram showing the articulation range of the end effector of FIG. [Diagram 23]FIG. 18 is a schematic diagram showing the articulation range of the end effector of FIG. 17. [Figure 24] FIG. 18 is a partial perspective view of the end effector of FIG. 17 shown with some components removed. [Diagram 25] FIG. 18 is a partial plan view of the end effector of FIG. 17 with some components shown removed. [Figure 26] FIG. 18 is a partial top view of the end effector of FIG. 17 shown in an open, non-articulated configuration. [Figure 26A] FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, full right articulation configuration. [Figure 26B] FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, fully left articulated configuration. [Figure 27] FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a closed, non-articulated configuration. [Figure 27A] FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a closed, full right articulation configuration. [Figure 27B] FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in a closed, fully left articulated configuration. [Figure 28] FIG. 18 is a partial top view of the end effector of FIG. 17 shown in a non-articulated configuration. [Figure 29] FIG. 18 is a partial top plan view of the end effector of FIG. 17 shown in an articulated configuration. [Diagram 30] FIG. 18 is a partial top view of the end effector of FIG. 17 shown in a non-articulated configuration. [Figure 30A] FIG. 18 is a partial plan view of the end effector of FIG. 17 illustrated in a full right articulated configuration. [Figure 30B] FIG. 18 is a partial top view of the end effector of FIG. 17 shown in a fully left articulated configuration. [Diagram 31] FIG. 18 is a partial top view of the end effector of FIG. 17 shown in a non-articulated configuration. [Figure 31A]FIG. 18 is a partial plan view of the end effector of FIG. 17 illustrated in a fully left articulated configuration. [Figure 31B] FIG. 18 is a partial top view of the end effector of FIG. 17 shown in a fully left articulated configuration. [Diagram 32] FIG. 2 is a partial perspective view of an end effector in accordance with at least one embodiment. [Diagram 33] FIG. 33 is a partial plan view of the end effector of FIG. 32. [Diagram 34] FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in a non-articulated configuration. [Figure 34A] FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in an articulated configuration. [Figure 34B] FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in an articulated configuration. [Diagram 35] FIG. 2 is a partial perspective view of an end effector in accordance with at least one embodiment. [Diagram 36] FIG. 36 is a partial perspective view of the end effector of FIG. 35 shown with some components removed. [Figure 37] FIG. 36 is a partial plan view of the end effector of FIG. 35 with some components shown removed. [Figure 38] FIG. 36 is a partial elevational view of the end effector of FIG. 35 shown with some components removed. [Figure 39] FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in a non-articulated configuration. [Figure 39A] FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in an unarticulated configuration. [Figure 39B] FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in an unarticulated configuration. [Diagram 40] FIG. 13 is a partial cross-sectional view of an end effector with a joint system including a joint lock in accordance with at least one embodiment. [Diagram 41] FIG. 41 is a partially exploded view of the end effector of FIG. 40. [Diagram 42]FIG. 41 is a cross-sectional view of the end effector of FIG. 40. [Diagram 43] FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the articulation lock in an engaged state. [Diagram 44] FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the joint lock in an unlocked state. [Diagram 45] FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the joint lock in a locked state. [Diagram 46] FIG. 13 is a partial cross-sectional view of an end effector including a slidable locking plate in accordance with at least one embodiment. [Figure 47] FIG. 13 is a partial cross-sectional view of another end effector including a slidable locking plate in accordance with at least one embodiment. [Figure 48] FIG. 48 is a partial cross-sectional view of the end effector of FIG. 47 illustrating the self-adjusting nature of the locking plate. [Figure 49] FIG. 48 is a partial cross-sectional view of the end effector of FIG. 47 in a locked state. [Figure 50] FIG. 13 is a partial cross-sectional view of an end effector including an alternative slidable locking plate in accordance with at least one embodiment. [Figure 51] FIG. 51 is a partial cross-sectional view of the end effector of FIG. 50 shown in a locked state. [Figure 52] FIG. 51 is a partial cross-sectional view of the end effector of FIG. 50 shown in another locked state. [Figure 53] FIG. 2 is a partial cross-sectional view of an end effector including an articulation lock and articulation system shown with some components removed in accordance with at least one embodiment; [Figure 53A] FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 articulated in a first direction. [Figure 53B] FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 articulated in a second direction. [Figure 54] FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in an unlocked state. [Figure 55]FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in a partially locked state. [Figure 56] FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in a locked state. [Figure 57] 54 is a chart illustrating the progressive locking of the end effector of FIG. 53. [Figure 58] FIG. 2 is a partial cross-sectional view of an end effector including an articulation lock and articulation system shown with some components removed in accordance with at least one embodiment; [Figure 59] FIG. 59 is a partial cross-sectional view of the end effector of FIG. 58 shown in a partially locked state. [Figure 60] FIG. 59 is a partial cross-sectional view of the end effector of FIG. 58 in a locked state. [Figure 61] FIG. 2 is a partial cross-sectional view of an end effector including an articulation lock and articulation system shown with some components removed in accordance with at least one embodiment; [Figure 62] FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the articulation lock being moved towards the articulation system. [Figure 63] FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the articulation lock engaged with the articulation system. [Figure 64] FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock in a locked state. [Figure 65] FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock in a locked state. [Figure 66] FIG. 2 is a partial cross-sectional view of an end effector including an articulation lock and articulation system shown with some components removed in accordance with at least one embodiment; [Figure 67] FIG. 67 is a partial cross-sectional view of the end effector of FIG. 66 showing the articulation lock engaged with the articulation system. [Figure 68] FIG. 67 is a partial cross-sectional view of the end effector of FIG. 66 showing the joint lock in a locked state. [Figure 69]FIG. 2 is a partial cross-sectional view of an end effector including an articulation lock and articulation system shown with some components removed in accordance with at least one embodiment; [Figure 70] FIG. 70 is a partial cross-sectional view of the end effector of FIG. 69 showing the articulation lock being moved towards the articulation system. [Figure 71] FIG. 70 is a partial cross-sectional view of the end effector of FIG. 69 showing the joint lock in a locked state. [Figure 72] FIG. 2 is a partial perspective view of an end effector articulation drive system according to at least one embodiment; [Figure 73] FIG. 73 is a top view of the end effector articulation drive system of FIG. 72; [Figure 74] FIG. 73 is an elevational view of the end effector articulation drive system of FIG. 72; [Figure 75] FIG. 2 is a partial perspective view of an end effector articulation drive system according to at least one embodiment; [Figure 76] FIG. 76 is a top view of the end effector articulation drive system of FIG. 75; [Figure 77] FIG. 76 is an elevational view of the end effector articulation drive system of FIG. 75; [Figure 78] FIG. 76 is a detailed view of the end effector articulation drive system of FIG. 75. [Figure 79] FIG. 76 is another detailed view of the end effector articulation drive system of FIG. 75. [Figure 80] FIG. 1 illustrates a perspective view of a surgical instrument in accordance with at least one embodiment comprising a shaft and an end effector. [Figure 81] FIG. 81 is a perspective view of the surgical instrument of FIG. 80 showing the end effector articulated relative to the shaft. [Figure 82] FIG. 81 is a perspective view of the end effector of FIG. 80 in an open configuration. [Figure 83] FIG. 13 is a partial elevation view of a firing member according to at least one embodiment. [Figure 84] FIG. 84 is a partial cross-sectional plan view of the firing member of FIG. 83; [Figure 85]FIG. 13 is a partial cross-sectional view of a distal end of a staple cartridge with a shortened nose in accordance with at least one embodiment; [Figure 86] FIG. 13 is a partial cross-sectional view of a distal end of a staple cartridge having an elongated nose in accordance with at least one embodiment; [Figure 87] FIG. 86 is a top view of various internal components of the staple cartridge of FIG. 85 showing a triple staple driver spanning three longitudinal rows of staple cavities located on top of a portion of the wedge sled; [Figure 88] FIG. 88 is a cross-sectional view of the triple staple driver of FIG. 87 showing the centerline of the triple staple driver relative to the sled. [Figure 89] FIG. 87 is a partial plan view of the staple cartridge of FIG. 85 showing one side of the staple cartridge deck in cross section and illustrating the position of the sled of FIG. 88 within a recess defined in the shortened nose of the cartridge after completion of the firing stroke. [Figure 90] 90 is a partial cross-sectional view of the staple cartridge of FIG. 85 taken along line 90-90 of FIG. 89 illustrating the position of the sled after completion of the firing stroke; [Figure 91] 87A and 87B are diagrams comparing the ease of use of end effectors equipped with the staple cartridges of FIGS. 85 and 86 during a surgical procedure in the pelvic cavity. [Figure 92] FIG. 86 is a partial perspective view of an end effector with a staple cartridge of FIG. 85 and a shortened opposing anvil with a protective tip according to at least one embodiment. [Figure 93] FIG. 93 is a side view of the end effector of FIG. 92. [Figure 94] FIG. 93 is a partial plan view of one embodiment of the anvil shown in FIG. 92 including a protective tip in an assembled configuration. [Figure 95] 95 is a partial cross-sectional view of the anvil shown in FIG. 94 taken along line 95-95 of FIG. 94, shown in a partially disassembled configuration and illustrating an exemplary attachment means for removably attaching the protective tip to the anvil. [Figure 96]96 is a partial cross-sectional view of the anvil shown in FIG. 95 taken along line 96-96 of FIG. 95, shown in a partially exploded configuration, illustrating the shape of the anvil's attachment features for connecting to corresponding shapes on the protective tip. [Figure 97] FIG. 93 is a partial cross-sectional view of an additional embodiment of the anvil shown in FIG. 92 in a partially disassembled configuration, showing a protective tip disposed within a temporary holder. [Figure 98] 98 is a partial cross-sectional view of the anvil shown in FIG. 97 taken along line 98-98 of FIG. 97 in a partially disassembled configuration, illustrating the shape of the anvil's tip mounting feature. [Figure 99] 98 is a cross-sectional view of the anvil shown in FIG. 97 taken along line 99-99 of FIG. 97 in an assembled configuration with the temporary holder still attached. [Figure 100] FIG. 2 is a cross-sectional view of the trocar seal system before the end effector is inserted. [Figure 101] 101 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector shown in FIG. 100 inserted. [Figure 102] 101 is a cross-sectional view of the trocar seal system of FIG. 100 showing insertion of the end effector shown in FIG. 100. [Figure 103] 101 is a cross-sectional view of the trocar seal system of FIG. 100 showing an end effector including the shortened staple cartridge of FIG. 85 and a shortened anvil with a protective tip inserted. [Figure 104] 100 in front of an end effector including an elongated cartridge of FIG. 86 and a shortened anvil with a sharpened tip inserted. [Figure 105] 105 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector shown in FIG. 104 inserted. [Figure 106] 105 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector shown in FIG. 104 inserted.

[0003] Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set forth herein are illustrative of various embodiments of the invention in one form only, and such exemplifications are not to be construed as limiting the scope of the invention in any manner. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0004] The applicant of this application has the following U.S. patent applications filed on even date herewith, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT", Attorney Docket No. END8207USNP / 170098; - U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8210USNP / 170099; - U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8204USNP / 170100; -U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", Attorney Docket No. END8217USNP / 070102; - U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM", Attorney Docket No. END8211USNP / 170103; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT", Attorney Docket No. END8215USNP / 170107; - U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS", Attorney Docket No. END8201USNP / 170104; - U.S. Patent Application No. ____, entitled "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES", Attorney Docket No. END8206USNP / 170105; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE", Attorney Docket No. END8212USNP / 170106; - U.S. Patent Application No. ________, entitled "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT", Attorney Docket No. END8200USNP / 170089M; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS", Attorney Docket No. END8214USNP / 170090; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING", Attorney Docket No. END8202USNP / 170091; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOT AXIS", Attorney Docket No. END8213USNP / 170092, - U.S. Patent Application No. ________, entitled "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS," Attorney Docket No. END8203USNP / 170093; - U.S. Patent Application No. ________, entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT", Attorney Docket No. END8205USNP / 170094; - U.S. Patent Application No. ________, entitled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW", Attorney Docket No. END8216USNP / 170095; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES", Attorney Docket No. END8208USNP / 170096; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER", Attorney Docket No. END8209USNP / 170097; - U.S. Patent Application No. ________, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", Attorney Docket No. END8233USNP / 170084; - U.S. Design Patent Application No. ____, entitled "STAPLE FORMING ANVIL", Attorney Docket No. END8236USDP / 170109D; - U.S. Design Patent Application No. ____, entitled "SURGICAL INSTRUMENT SHAFT," Attorney Docket No. END8239USDP / 170108D, and -U.S. Design Patent Application No. ____, entitled "SURGICAL FASTENER CARTRIDGE," Attorney Docket No. END8240USDP / 170110D.

[0005] The applicant of this application owns the following U.S. patent applications, each filed on June 27, 2017, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application No. ________, entitled "SURGICAL ANVIL MANUFACTURING METHODS," Attorney Docket No. END8165USNP / 170079M; - U.S. Patent Application No. ________, entitled "SURGICAL ANVIL ARRANGEMENTS," Attorney Docket No. END8168USNP / 170080; - U.S. Patent Application No. ________, entitled "SURGICAL ANVIL ARRANGEMENTS," Attorney Docket No. END8170USNP / 170081; - U.S. Patent Application No. ________, entitled "SURGICAL ANVIL ARRANGEMENTS," Attorney Docket No. END8164USNP / 170082; - U.S. Patent Application No. ________, entitled "SURGICAL FIRING MEMBER ARRANGEMENTS," Attorney Docket No. END8169USNP / 170083; - U.S. Patent Application No. ________, entitled "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket No. END8167USNP / 170085; - U.S. Patent Application No. ________, entitled "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket No. END8232USNP / 170086; - U.S. Patent Application No. ________, entitled "SURGICAL END EFFECTORS AND ANVILS," Attorney Docket No. END8166USNP / 170087, and -U.S. Patent Application No. _______, entitled "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS," Attorney Docket No. END8171USNP / 170088.

[0006] The applicant of this application has the following U.S. patent applications, filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application No. 15 / 386,185, entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF"; - U.S. Patent Application No. 15 / 386,230, entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS"; - U.S. Patent Application No. 15 / 386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS"; - U.S. Patent Application No. 15 / 386,209, entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF"; - U.S. Patent Application No. 15 / 386,198, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES"; -U.S. Patent Application No. 15 / 386,240, entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR." - U.S. Patent Application No. 15 / 385,939, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; - U.S. Patent Application No. 15 / 385,941, entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS"; - U.S. Patent Application No. 15 / 385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; - U.S. Patent Application No. 15 / 385,950, entitled "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES"; - U.S. Patent Application No. 15 / 385,945, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; - U.S. Patent Application No. 15 / 385,946, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; - U.S. Patent Application No. 15 / 385,951, entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE"; - U.S. Patent Application No. 15 / 385,953, entitled "METHODS OF STAPLING TISSUE"; - U.S. Patent Application No. 15 / 385,954, entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS"; - U.S. Patent Application No. 15 / 385,955, entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS"; - U.S. Patent Application No. 15 / 385,948, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; - U.S. Patent Application No. 15 / 385,956, entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES"; - U.S. Patent Application No. 15 / 385,958, entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT"; - U.S. Patent Application No. 15 / 385,947, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; - U.S. Patent Application No. 15 / 385,896, entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT"; - U.S. Patent Application No. 15 / 385,898, entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES"; - U.S. Patent Application No. 15 / 385,899, entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL"; - U.S. Patent Application No. 15 / 385,901, entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN"; - U.S. Patent Application No. 15 / 385,902, entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER"; - U.S. Patent Application No. 15 / 385,904, entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT"; - U.S. Patent Application No. 15 / 385,905, entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT"; - U.S. Patent Application No. 15 / 385,907, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT"; - U.S. Patent Application No. 15 / 385,908, entitled "FIRING ASSEMBLY COMPRISING A FUSE"; - U.S. Patent Application No. 15 / 385,909, entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE"; - U.S. Patent Application No. 15 / 385,920, entitled "STAPLE FORMING POCKET ARRANGEMENTS"; - U.S. Patent Application No. 15 / 385,913, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLE / FASTENERS"; - U.S. Patent Application No. 15 / 385,914, entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT"; - U.S. Patent Application No. 15 / 385,893, entitled "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS"; - U.S. Patent Application No. 15 / 385,929, entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS"; - U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS"; - U.S. Patent Application No. 15 / 385,927, entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES"; - U.S. Patent Application No. 15 / 385,917, entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS"; - U.S. Patent Application No. 15 / 385,900, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS"; - U.S. Patent Application No. 15 / 385,931, entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLE / FASTENERS"; - U.S. Patent Application No. 15 / 385,915, entitled "FIRING MEMBER PIN ANGLE"; - U.S. Patent Application No. 15 / 385,897, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES"; - U.S. Patent Application No. 15 / 385,922, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES"; - U.S. Patent Application No. 15 / 385,924, entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS"; - U.S. Patent Application No. 15 / 385,912, entitled "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS"; - U.S. Patent Application No. 15 / 385,910, entitled "ANVIL HAVING A KNIFE SLOT WIDTH"; -U.S. Patent Application No. 15 / 385,906, entitled "FIRING MEMBER PIN CONFIGURATIONS"; - U.S. Patent Application No. 15 / 386,188, entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES"; - U.S. Patent Application No. 15 / 386,192, entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES"; - U.S. Patent Application No. 15 / 386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES"; - U.S. Patent Application No. 15 / 386,226, entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS"; - U.S. Patent Application No. 15 / 386,222, entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES"; - U.S. Patent Application No. 15 / 386,236, entitled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS"; - U.S. Patent Application No. 15 / 385,887, entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT"; - U.S. Patent Application No. 15 / 385,889, entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM"; - U.S. Patent Application No. 15 / 385,890, entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS"; - U.S. Patent Application No. 15 / 385,891, entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS"; - U.S. Patent Application No. 15 / 385,892, entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM"; - U.S. Patent Application No. 15 / 385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT"; - U.S. Patent Application No. 15 / 385,895, entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS"; - U.S. Patent Application No. 15 / 385,916, entitled "SURGICAL STAPLING SYSTEMS"; - U.S. Patent Application No. 15 / 385,918, entitled "SURGICAL STAPLING SYSTEMS"; - U.S. Patent Application No. 15 / 385,919, entitled "SURGICAL STAPLING SYSTEMS"; - U.S. Patent Application No. 15 / 385,921, entitled "SURGICAL STAPLE / FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES"; - U.S. Patent Application No. 15 / 385,923, entitled "SURGICAL STAPLING SYSTEMS"; - U.S. Patent Application No. 15 / 385,925, entitled "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR"; - U.S. Patent Application No. 15 / 385,926, entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS"; - U.S. Patent Application No. 15 / 385,928, entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT"; - U.S. Patent Application No. 15 / 385,930, entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS"; - U.S. Patent Application No. 15 / 385,932, entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT"; - U.S. Patent Application No. 15 / 385,933, entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK"; - U.S. Patent Application No. 15 / 385,934, entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM"; - U.S. Patent Application No. 15 / 385,935, entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION"; and -U.S. Patent Application No. 15 / 385,936, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES."

[0007] The applicant of this application owns the following U.S. patent applications, filed on June 24, 2016, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 15 / 191,775, entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES"; - U.S. Patent Application No. 15 / 191,807, entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES"; - U.S. Patent Application No. 15 / 191,834, entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME"; - U.S. Patent Application No. 15 / 191,788, entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES"; and -U.S. Patent Application No. 15 / 191,818, entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS."

[0008] The applicant of this application owns the following U.S. patent applications, filed on June 24, 2016, the entire contents of each of which are incorporated herein by reference: - U.S. Design Patent Application No. 29 / 569,218, entitled "SURGICAL FASTENER"; - U.S. Design Patent Application No. 29 / 569,227, entitled "SURGICAL FASTENER"; - U.S. Design Patent Application No. 29 / 569,259, entitled "SURGICAL FASTENER CARTRIDGE"; and -U.S. Design Patent Application No. 29 / 569,264, entitled "SURGICAL FASTENER CARTRIDGE."

[0009] The applicant of this application owns the following patent applications, filed on April 1, 2016, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 15 / 089,325, entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM"; - U.S. Patent Application No. 15 / 089,321, entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY"; - U.S. Patent Application No. 15 / 089,326, entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD"; - U.S. Patent Application No. 15 / 089,263, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION"; - U.S. Patent Application No. 15 / 089,262, entitled "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM"; - U.S. Patent Application No. 15 / 089,277, entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER"; - U.S. Patent Application No. 15 / 089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS"; - U.S. Patent Application No. 15 / 089,258, entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION"; - U.S. Patent Application No. 15 / 089,278, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE"; - U.S. Patent Application No. 15 / 089,284, entitled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT"; - U.S. Patent Application No. 15 / 089,295, entitled "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT"; - U.S. Patent Application No. 15 / 089,300, entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT"; - U.S. Patent Application No. 15 / 089,196, entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT"; - U.S. Patent Application No. 15 / 089,203, entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT"; - U.S. Patent Application No. 15 / 089,210, entitled "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT"; - U.S. Patent Application No. 15 / 089,324, entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM"; - U.S. Patent Application No. 15 / 089,335, entitled "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS"; - U.S. Patent Application No. 15 / 089,339, entitled "SURGICAL STAPLING INSTRUMENT"; - U.S. Patent Application No. 15 / 089,253, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS"; - U.S. Patent Application No. 15 / 089,304, entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET"; - U.S. Patent Application No. 15 / 089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE / FASTENERS"; - U.S. Patent Application No. 15 / 089,336, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES"; - U.S. Patent Application No. 15 / 089,312, entitled "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT"; - U.S. Patent Application No. 15 / 089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and -U.S. Patent Application No. 15 / 089,349, entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL"

[0010] The applicant of this application also owns the following identified U.S. patent applications, filed on December 31, 2015, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 14 / 984,488, entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS"; - U.S. Patent Application No. 14 / 984,525, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and -U.S. Patent Application No. 14 / 984,552, entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS."

[0011] The applicant of this application also owns the following identified U.S. patent applications, filed on February 9, 2016, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR"; - U.S. Patent Application No. 15 / 019,228, entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS"; - U.S. Patent Application No. 15 / 019,196, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT"; - U.S. Patent Application No. 15 / 019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY"; - U.S. Patent Application No. 15 / 019,215, entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS"; - U.S. Patent Application No. 15 / 019,227, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS"; - U.S. Patent Application No. 15 / 019,235, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS"; - U.S. Patent Application No. 15 / 019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; and -U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS."

[0012] The applicant of this application also owns the following identified U.S. patent applications, filed on February 12, 2016, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 15 / 043,254, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; - U.S. Patent Application No. 15 / 043,259, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; - U.S. Patent Application No. 15 / 043,275, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and -U.S. Patent Application No. 15 / 043,289, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS."

[0013] The applicant of this application owns the following patent applications, filed on June 18, 2015, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 14 / 742,925, entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS," now U.S. Patent Application Publication No. 2016 / 0367256; -U.S. Patent Application Serial No. 14 / 742,941, entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES," now U.S. Patent Application Publication No. 2016 / 0367248; - U.S. Patent Application No. 14 / 742,914, entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0367255; -U.S. Patent Application No. 14 / 742,900, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT," now U.S. Patent Application Publication No. 2016 / 0367254; - U.S. Patent Application No. 14 / 742,885, entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0367246; and - U.S. Patent Application No. 14 / 742,876, entitled "PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0367245;

[0014] The applicant of this application owns the following patent applications, filed on March 6, 2015, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application Serial No. 14 / 640,746, entitled "POWERED SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016 / 0256184; -U.S. Patent Application No. 14 / 640,795, entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 02561185; -U.S. Patent Application No. 14 / 640,832, entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES," now U.S. Patent Application Publication No. 2016 / 0256154; - U.S. Patent Application No. 14 / 640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION," now U.S. Patent Application Publication No. 2016 / 0256071; -U.S. Patent Application No. 14 / 640,831, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0256153; -U.S. Patent Application No. 14 / 640,859, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES," now U.S. Patent Application Publication No. 2016 / 0256187; - U.S. Patent Application No. 14 / 640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0256186; - U.S. Patent Application Serial No. 14 / 640,844, entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE," now U.S. Patent Application Publication No. 2016 / 0256155; -U.S. Patent Application Serial No. 14 / 640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING," now U.S. Patent Application Publication No. 2016 / 0256163; - U.S. Patent Application No. 14 / 640,765, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLE / FASTENER," now U.S. Patent Application Publication No. 2016 / 0256160; - U.S. Patent Application Serial No. 14 / 640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT," now U.S. Patent Application Publication No. 2016 / 0256162; and -U.S. Patent Application No. 14 / 640,780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING," now U.S. Patent Application Publication No. 2016 / 0256161.

[0015] The applicant of this application owns the following patent applications, filed on February 27, 2015, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 14 / 633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION," now U.S. Patent Application Publication No. 2016 / 0249919; - U.S. Patent Application No. 14 / 633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND," now U.S. Patent Application Publication No. 2016 / 0249915; -U.S. Patent Application No. 14 / 633,560, entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES," now U.S. Patent Application Publication No. 2016 / 0249910; -U.S. Patent Application No. 14 / 633,566, entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY," now U.S. Patent Application Publication No. 2016 / 0249918; - U.S. Patent Application No. 14 / 633,555, entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED," now U.S. Patent Application Publication No. 2016 / 0249916; -U.S. Patent Application Serial No. 14 / 633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016 / 0249908; -U.S. Patent Application No. 14 / 633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016 / 0249909; - U.S. Patent Application No. 14 / 633,526, entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE," now U.S. Patent Application Publication No. 2016 / 0249945; -U.S. Patent Application No. 14 / 633,541, entitled "MODULAR STAPLING ASSEMBLY," now U.S. Patent Application Publication No. 2016 / 0249927; -U.S. Patent Application Serial No. 14 / 633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER," now U.S. Patent Application Publication No. 2016 / 0249917.

[0016] The applicant of this application owns the following patent applications, filed on December 18, 2014, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 14 / 574,478, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER," now U.S. Patent Application Publication No. 2016 / 0174977; - U.S. Patent Application No. 14 / 574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS," now U.S. Patent Application Publication No. 2016 / 0174969; - U.S. Patent Application No. 14 / 575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0174978; - U.S. Patent Application Serial No. 14 / 575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS," now U.S. Patent Application Publication No. 2016 / 0174976; - U.S. Patent Application No. 14 / 575,130, entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE," now U.S. Patent Application Publication No. 2016 / 0174972; - U.S. Patent Application Serial No. 14 / 575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS," now U.S. Patent Application Publication No. 2016 / 0174983; - U.S. Patent Application No. 14 / 575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. Patent Application Publication No. 2016 / 0174975; - U.S. Patent Application Serial No. 14 / 575,154, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. Patent Application Publication No. 2016 / 0174973; - U.S. Patent Application No. 14 / 574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM," now U.S. Patent Application Publication No. 2016 / 0174970; and -U.S. Patent Application No. 14 / 574,500, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM," now U.S. Patent Application Publication No. 2016 / 0174971.

[0017] The applicant of this application owns the following patent applications, filed on March 1, 2013, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 13 / 782,295, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION," now U.S. Patent Application Publication No. 2014 / 0246471; - U.S. Patent Application No. 13 / 782,323, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0246472; - U.S. Patent Application No. 13 / 782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0249557; - U.S. Patent Application No. 13 / 782,499, entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT," now U.S. Patent No. 9,358,003; - U.S. Patent Application No. 13 / 782,460, entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,554,794; - U.S. Patent Application No. 13 / 782,358, entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,326,767; - U.S. Patent Application No. 13 / 782,481, entitled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR", now U.S. Patent No. 9,468,438; - U.S. Patent Application No. 13 / 782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS," now U.S. Patent Application Publication No. 2014 / 0246475; - U.S. Patent Application No. 13 / 782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM," now U.S. Patent No. 9,398,911; - U.S. Patent Application No. 13 / 782,536, entitled "SURGICAL INSTRUMENT SOFT STOP", now U.S. Patent No. 9,307,986;

[0018] The applicant of this application also owns the following patent applications, filed on March 14, 2013, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 13 / 803,097, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. Patent Application Publication No. 2014 / 0263542; - U.S. Patent Application No. 13 / 803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT," now U.S. Patent No. 9,332,987; - U.S. Patent Application No. 13 / 803,053, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0263564; - U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014 / 0263541; - U.S. Patent Application No. 13 / 803,210, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0263538; -U.S. Patent Application No. 13 / 803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0263554; - U.S. Patent Application No. 13 / 803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,629,623; and - U.S. Patent Application No. 13 / 803,117, entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent No. 9,351,726; - U.S. Patent Application No. 13 / 803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,351,727; and -U.S. Patent Application Serial No. 13 / 803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0277017.

[0019] The applicant of this application also owns the following patent applications, filed on March 7, 2014, the entire contents of which are incorporated herein by reference: - U.S. Patent Application No. 14 / 200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,629,629;

[0020] The applicant of this application also owns the following patent applications, filed on March 26, 2014, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015 / 0272582; -U.S. Patent Application No. 14 / 226,099, entitled "STERILIZATION VERIFICATION CIRCUIT," now U.S. Patent Application Publication No. 2015 / 0272581; -U.S. Patent Application No. 14 / 226,094, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT," now U.S. Patent Application Publication No. 2015 / 0272580; -U.S. Patent Application No. 14 / 226,117, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL," now U.S. Patent Application Publication No. 2015 / 0272574; - U.S. Patent Application No. 14 / 226,075, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES," now U.S. Patent Application Publication No. 2015 / 0272579; - U.S. Patent Application No. 14 / 226,093, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015 / 0272569; - U.S. Patent Application Serial No. 14 / 226,116, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION," now U.S. Patent Application Publication No. 2015 / 0272571; -U.S. Patent Application No. 14 / 226,071, entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR," now U.S. Patent Application Publication No. 2015 / 0272578; - U.S. Patent Application No. 14 / 226,097, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS," now U.S. Patent Application Publication No. 2015 / 0272570; -U.S. Patent Application Serial No. 14 / 226,126, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015 / 0272572; - U.S. Patent Application No. 14 / 226,133, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015 / 0272557; -U.S. Patent Application No. 14 / 226,081, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT," now U.S. Patent Application Publication No. 2015 / 0277471; -U.S. Patent Application No. 14 / 226,076, entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION," now U.S. Patent Application Publication No. 2015 / 0280424; - U.S. Patent Application Serial No. 14 / 226,111, entitled "SURGICAL STAPLING INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015 / 0272583; and -U.S. Patent Application Serial No. 14 / 226,125, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT," now U.S. Patent Application Publication No. 2015 / 0280384.

[0021] The applicant of this application also owns the following patent applications, filed on September 5, 2014, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016 / 0066912; -U.S. Patent Application Serial No. 14 / 479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION," now U.S. Patent Application Publication No. 2016 / 0066914; -U.S. Patent Application No. 14 / 478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION," now U.S. Patent Application Publication No. 2016 / 0066910; -U.S. Patent Application Serial No. 14 / 478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION," now U.S. Patent Application Publication No. 2016 / 0066909; -U.S. Patent Application No. 14 / 479,110, entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE," now U.S. Patent Application Publication No. 2016 / 0066915; -U.S. Patent Application No. 14 / 479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION," now U.S. Patent Application Publication No. 2016 / 0066911; - U.S. Patent Application No. 14 / 479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016 / 0066916; and -U.S. Patent Application Serial No. 14 / 479,108, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION," now U.S. Patent Application Publication No. 2016 / 0066913.

[0022] The applicant of this application also owns the following patent applications, filed on April 9, 2014, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 14 / 248,590, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS," now U.S. Patent Application Publication No. 2014 / 0305987; - U.S. Patent Application No. 14 / 248,581, entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT," now U.S. Patent No. 9,649,110; -U.S. Patent Application Serial No. 14 / 248,595, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0305988; -U.S. Patent Application Serial No. 14 / 248,588, entitled "POWERED LINEAR SURGICAL STAPLE / FASTENER," now U.S. Patent Application Publication No. 2014 / 0309666; -U.S. Patent Application Serial No. 14 / 248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0305991; - U.S. Patent Application No. 14 / 248,584, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS," now U.S. Patent Application Publication No. 2014 / 0305994; -U.S. Patent Application Serial No. 14 / 248,587, entitled "POWERED SURGICAL STAPLE / FASTENER," now U.S. Patent Application Publication No. 2014 / 0309665; - U.S. Patent Application Serial No. 14 / 248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0305990; and -U.S. Patent Application No. 14 / 248,607, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS," now U.S. Patent Application Publication No. 2014 / 0305992.

[0023] The applicant of this application also owns the following patent applications, filed on April 16, 2013, the entire contents of each of which are incorporated herein by reference: - U.S. Provisional Patent Application No. 61 / 812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR"; - U.S. Provisional Patent Application No. 61 / 812,376, entitled "LINEAR CUTTER WITH POWER"; - U.S. Provisional Patent Application No. 61 / 812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP"; - U.S. Provisional Patent Application No. 61 / 812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL"; and -U.S. Provisional Patent Application No. 61 / 812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR."

[0024] As described in the specification and illustrated in the accompanying drawings, numerous specific details are described to provide a thorough 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. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus the specific structural and functional details disclosed herein may be representative and exemplary. Variations and modifications may be made thereto without departing from the scope of the claims.

[0025] The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "include" (any form of include, such as "includes" and "including"), and "contain" (any form of contain, such as "contains" and "containing") are open-ended linking verbs. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has one or more of those elements, but is not limited to having only one or more of those elements. Similarly, a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features has one or more of those features, but is not limited to having only one or more of those features.

[0026] The terms "proximal" and "distal" are used herein with reference to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further understood that for convenience and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0027] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. As the reader continues to read through the Detailed Description of the Invention section of this specification, the reader will further appreciate that the various instruments disclosed herein may be inserted into the body in any manner, such as through a natural opening, through an incision or puncture made in tissue, etc. The working or end effector portions of these instruments may be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

[0028] The surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, although other embodiments are contemplated in which the staple cartridge is not removable from the first jaw, or at least not easily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. Other embodiments are contemplated in which the second jaw is pivotable relative to the first jaw about a closure axis, while the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes an articulation joint configured to rotate or articulate the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

[0029] The 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. In use, the staple cartridge is positioned on a first side of tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored within the cartridge body can then be deployed into the tissue. The cartridge body includes staple cavities defined therein, the staples being removably stored within the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

[0030] The staples are supported by staple drivers within the cartridge body. The drivers are movable between a first, or unfired, position and a second, or fired, position that ejects the staples from the staple cavities. The drivers are retained within the cartridge body by a retainer that extends around a bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and hold the retainer against the cartridge body. The drivers are movable between their unfired and their fired positions by a sled. The sled is movable between a proximal position adjacent a proximal end and a distal position adjacent a distal end. The sled includes a plurality of angled surfaces configured to slide under the drivers and lift the drivers, on which the staples are supported, toward the anvil.

[0031] In addition to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and urge the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages the first jaw and a second cam that engages the second jaw. When advancing the firing member distally, the first cam and the second cam can control the distance between the deck of the staple cartridge and the anvil, i.e., the tissue gap. The firing member also includes a knife configured to sever tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximally relative to the ramp such that the staples are ejected forward of the knife.

[0032] FIGURE 1 illustrates a motorized surgical system 10 that may be used to perform a variety of different surgical procedures. As can be seen in FIGURE 1, one example of a surgical system 10 includes four exchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, each adapted for interchangeable use with a handle assembly 500. Each of the exchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 may be designed for use in conjunction with the performance of one or more specific surgical procedures. In another surgical system embodiment, one or more of the exchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 may also be effectively used with an instrument drive assembly of a robotically controlled or automated surgical system. For example, the surgical tool assemblies disclosed herein may be used in conjunction with various robotic systems, instruments, components and methods, such as, but not limited to, those disclosed in U.S. Pat. No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," the entire contents of which are incorporated herein by reference.

[0033] FIG. 2 illustrates the attachment of the exchangeable surgical tool assembly 1000 to the handle assembly 500. It will be appreciated that any of the other exchangeable tool assemblies 3000, 5000, and 7000 can be coupled to the handle assembly 500 in a similar manner. The attachment mechanism and process illustrated in FIG. 2 can also be used in connection with attachment of any of the exchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 to an instrument drive portion or housing of a robotic system. The handle assembly 500 may include a handle housing 502 that includes a pistol grip portion 504 that can be grasped and manipulated by a clinician. As discussed briefly below, the handle assembly 500 operably supports a number of drive systems 510, 530 configured to generate and apply various control motions to corresponding portions of the exchangeable surgical tool assemblies 1000, 3000, 5000, and / or 7000 operably attached to the handle assembly.

[0034] As seen in FIG. 2 , the handle assembly 500 can further include a handle frame 506 that operably supports a number of drive systems. For example, the handle frame 506 can operably support a “first” or closure drive system, generally designated as 510, that can be used to apply an opening and closing motion to the interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 operably attached or coupled to the handle assembly 500. In at least one form, the closure drive system 510 pivotally supported by the handle frame 506 can include an actuator in the form of a closure trigger 512. Such an arrangement allows the closure trigger 512 to be manipulated by a clinician such that when the clinician grasps the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 can be easily pivoted from a starting or “unactuated” position to an “actuated” position, and more specifically, to a fully compressed or actuated position. In various configurations, the closure drive system 510 further includes a closure link assembly 514 pivotally coupled to or otherwise operably interfacing with the closure trigger 512. As discussed in more detail below, in the illustrated example, the closure link assembly 514 includes a lateral mounting pin 516 that facilitates attachment to a corresponding drive system on a surgical tool assembly. In use, to actuate the closure drive system 510, the clinician depresses the closure trigger 512 toward the pistol grip portion 504. As described in more detail in U.S. Patent Application Serial No. 14 / 226,142, now U.S. Patent Application Publication No. 2015 / 0272575, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM," which is incorporated herein by reference in its entirety, the closure drive system 510 is configured to lock the closure trigger 512 in a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to achieve a full closure stroke.When the clinician desires to unlock the closure trigger 512 and bias it to its inactivated position, the clinician actuates the closure release button assembly 518, which can return the closure trigger to its inactivated position. The closure release button assembly 518 may also be configured to interface with various sensors in communication with the microprocessor 560 within the handle assembly 500 to track the position of the closure trigger 512. Further details regarding the construction and operation of the closure release button assembly 518 can be found in U.S. Patent Application Publication No. 2015 / 0272575.

[0035] In at least one form, the handle assembly 500 and handle frame 506 can operatively support another drive system, referred to herein as a firing drive system 530, configured to apply a firing motion to a corresponding portion of an attached interchangeable surgical tool assembly. As described in detail in U.S. Patent Application Publication No. 2015 / 0272575, the firing drive system 530 can use an electric motor 505 located within a pistol grip portion 504 of the handle assembly 500. In various forms, the motor 505 can be a brushed DC drive motor with a maximum speed of, for example, about 25,000 RPM. In other configurations, the motor 505 can include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 505 can be powered by a power source 522, which in one form can include a removable power pack. The power pack can support a number of lithium ion ("LI") or other suitable batteries therein. Multiple batteries, which may be connected in series, may be used as the power source 522 for the surgical system 10. Additionally, the power source 522 may be replaceable and / or rechargeable.

[0036] The electric motor 505 is configured to drive the longitudinally movable drive member axially in the distal and proximal directions depending on the polarity of the voltage applied to the motor. For example, when the motor drives in one rotational direction, the longitudinally movable drive member may be driven axially in the distal direction "DD". When the motor 505 drives in the opposite rotational direction, the longitudinally movable drive member will be driven axially in the proximal direction "PD". The handle assembly 500 may include a switch 513 that may be configured to reverse the polarity applied to the electric motor 505 by the power source 522 or to otherwise control the motor 505. The handle assembly 500 may also include one or more sensors configured to detect the position of the drive member and / or the direction in which the drive member moves. Actuation of the motor 505 may be controlled by a firing trigger 532 (FIG. 1) pivotally supported on the handle assembly 500. The firing trigger 532 may pivot between an unactuated position and an actuated position. When the clinician releases the firing trigger 532, the firing trigger 532 may be biased to the inactivated position by a spring or other biasing arrangement, may pivot to the inactivated position by a spring or biasing arrangement, or may otherwise return to the inactivated position. In at least one form, the firing trigger 532 may be positioned "outside" the closure trigger 512, as described above. As described in U.S. Patent Application Publication No. 2015 / 0272575, the handle assembly 500 may be provided with a firing trigger safety button to prevent inadvertent actuation of the firing trigger 532. When the closure trigger 512 is in the inactivated position, the safety button is contained within the handle assembly 500 and cannot be easily accessed by the clinician to move between a safety position that prevents actuation of the firing trigger 532 and a firing position in which the firing trigger 532 may be fired. When the clinician presses the closure trigger 512, the safety button and firing trigger 532 pivot downward and are then available for operation by the clinician.

[0037] In at least one form, the longitudinally movable drive member may have a rack of teeth formed thereon for meshing engagement with a corresponding drive gear arrangement that interconnects with the motor. Further details regarding these features may be found in U.S. Patent Application Publication No. 2015 / 0272575. In at least one form, the handle assembly 500 also includes a manually actuable "emergency" assembly configured to allow a clinician to manually retract the longitudinally movable drive member and disable the motor 505. The emergency assembly may include a lever or emergency handle assembly stored within the handle assembly 500 below the releasable door portion 550. See FIG. 2. The lever may be configured to be manually pivoted into ratcheting engagement with the teeth of the drive member. Thus, the clinician may manually retract the drive member by ratcheting the drive member in the proximal direction "PD" using the emergency breakaway handle assembly. U.S. Pat. No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," the entire disclosure of which is incorporated herein by reference, discloses emergency release mechanisms as well as other components, mechanisms, and systems that may be used with any of the various interchangeable surgical tool assemblies disclosed herein.

[0038] 3 and 4, the exchangeable surgical tool assembly 1000 includes a surgical end effector 1500 having a first jaw 1600 and a second jaw 1800. In one configuration, the first jaw 1600 includes an elongated channel member 1602 configured to operably support a surgical staple / fastening element cartridge 1700 therein. The second jaw 1800 includes an anvil 1810 pivotally supported relative to the elongated channel member 1602. The exchangeable surgical tool assembly 1000 may further include an articulation system 1300 including an articulation joint 1302 and an articulation lock 1400 (FIGS. 4-6) that may be configured to releasably hold the surgical end effector 1500 in a desired articulated position relative to the shaft axis SA1.

[0039] As further seen in Figures 4 and 7-9, the exchangeable surgical tool assembly 1000 includes a tool frame assembly 1200 with a tool chassis 1210 that operably supports a nozzle assembly 1240. In one form, the nozzle assembly 1240 is comprised of nozzle portions 1242, 1244 and an actuator wheel portion 1246 configured to couple to the nozzle portions 1242, 1244 assembled together, for example, by snaps, lugs, and / or screws. The exchangeable surgical tool assembly 1000 includes a proximal closure assembly 1900 that is operably coupled to a distal closure assembly 2000 that is utilized to close and / or open the anvil 1810 of the surgical end effector 1500, as discussed in further detail below. Additionally, the exchangeable surgical tool assembly 1000 includes a spine assembly 1250 that operably supports the proximal closure assembly 1900 and is coupled to the surgical end effector 1500. In various circumstances, to facilitate assembly, the spine assembly 1250 may be fabricated from an upper spine portion 1251 and a lower spine portion 1252 interconnected to one another by, for example, snap features, adhesives, and / or welding. In an assembled form, the spine assembly 1250 includes a proximal end 1253 rotatably supported in the tool chassis 1210. In one configuration, for example, the proximal end 1253 of the spine assembly 1250 is mounted to a spine bearing configured to be supported within the tool chassis 1210. Such a configuration facilitates rotatable mounting of the spine assembly 1250 to the tool chassis 1210, enabling the spine assembly 1250 to be selectively rotated about the shaft axis SA1 relative to the tool chassis 1210. Specifically, in at least one configuration, the proximal end 1253 of the spine assembly 1250 has, for example, an upper protrusion seat 1254 and a lower protrusion seat (FIGS. 4, 5, 7, 8 and 10), each configured to receive a corresponding nozzle protrusion 1245 extending inwardly from each of the nozzle portions 1242, 1244.Such an arrangement facilitates rotation of the spine assembly 1250 about the shaft axis SA1 by rotating the actuator wheel portion 1246 of the nozzle assembly 1240.

[0040] As seen in Figures 4 and 5, the spine assembly 1250 further includes a mid-spine shaft portion 1256 having a diameter smaller than the diameter of the proximal end 1253 of the spine assembly 1250. The mid-spine shaft portion 1256 of the upper spine portion 1251 terminates in an upper lug mounting element 1260, and the mid-spine shaft portion of the lower spine portion 1252 terminates in a lower lug mounting element 1270. As seen in Figure 6, the upper lug mounting element 1260 is formed with a lug slot 1262 adapted to mountably support an upper mounting link 1264 therein. Similarly, the lower lug mounting element 1270 is formed with a lug slot 1272 adapted to mountably support a lower mounting link 1274 therein. The upper mounting link 1264 includes a pivot socket 1266 offset from the shaft axis SA1. The pivot socket 1266 is adapted to rotatably receive therein a pivot pin 1634 formed on a channel cap or anvil retainer 1630 that is attached to the proximal end portion 1610 of the elongated channel 1602. The lower mounting link 1274 has a lower pivot pin 1276 adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated channel 1602. See FIG. 6. The lower pivot pin 1276 and the pivot hole 1611 are offset from the shaft axis SA1. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define an articulation axis AA1 about which the surgical end effector 1500 can articulate relative to the shaft axis SA1. Although the articulation axis AA1 is transverse to the shaft axis SA1, the articulation axis AA1 is laterally offset from the shaft axis SA1 and does not intersect with the shaft axis SA1.

[0041] 6 and 15, the anvil 1810 has an anvil body 1812 terminating in an anvil mounting portion 1820. The anvil mounting portion 1820 is movably or pivotally supported on the elongated channel member 1602 for selective pivotal movement about a fixed anvil pivot axis PA1 (FIG. 15) that is transverse to the shaft axis SA1. Pivot members or anvil trunnions 1822 extend laterally from each side of the anvil mounting portion 1820 and are received in corresponding trunnion cradles 1614 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongated channel member 1602. The anvil trunnions 1822 are pivotally retained in their corresponding trunnion cradles 1614 by channel member caps or anvil retainers 1630. The channel member cap or anvil retainer 1630 has a pair of mounting projections 1636 configured to be received and retained within corresponding projection grooves or notches 1616 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongated channel member 1602.

[0042] The surgical end effector 1500 is selectively articulatable about an articulation axis AA1 by an articulation system 1300. In one form, the articulation system 1300 has a proximal articulation drive 1310 pivotally coupled to an articulation link 1320. As seen in FIG. 6 , an offset mounting projection 1314 is formed on a distal end 1312 of the proximal articulation drive 1310. A pivot hole 1316 is formed in the offset mounting projection 1314 and configured to pivotally receive a proximal link pin 1326 formed on a proximal end 1325 of the articulation link 1320. The distal end 1322 of the articulation link 1320 has a pivot hole 1324 configured to pivotally receive a slot pin 1618 formed on a proximal end portion 1610 of the elongated slot member 1602 therein. Thus, axial movement of the proximal articulation drive 1310 imparts articulation to the elongate channel member 1602, causing the surgical end effector 1500 to articulate relative to the spine assembly 1250 about articulation axis AA1.

[0043] Movement of the anvil 1810 relative to the elongate channel member 1602 is effected by axial movement of the proximal closure assembly 1900 and the distal closure assembly 2000. Referring now to Figures 4 and 7, the proximal closure assembly 1900 includes a proximal closure tube 1910 having a proximal closure tube portion 1920 and a distal portion 1930. The distal portion 1930 has a diameter smaller than the diameter of the proximal closure tube portion 1920. A proximal end 1922 of the proximal closure tube portion 1920 is rotatably supported within a closure shuttle 1940 that is slidably supported within the tool chassis 1210 such that the closure shuttle 1940 can move axially relative to the tool chassis 1210. In one form, the closure shuttle 1940 has a pair of proximal protruding hooks 1942 configured to mount to a mounting pin 516 attached to the closure link assembly 514 of the handle assembly 500. The proximal end 1922 of the proximal closure tube portion 1920 is rotatably coupled to the closure shuttle 1940. For example, a U-shaped connector 1944 is inserted into an annular slot 1924 of the proximal closure tube portion 1920 and retained within a vertical slot 1946 of the closure shuttle 1940. Such a configuration serves to attach the proximal closure assembly 1900 to the closure shuttle 1940 for axial movement therewith while allowing the proximal closure assembly 1900 to rotate relative to the closure shuttle 1940 about the shaft axis SA1. A closure spring 1948 (FIGS. 12-14) extends over the proximal closure tube portion 1920 to bias the closure shuttle 1940 in the proximal direction PD, which serves to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to a non-actuated position when the interchangeable surgical tool assembly 1000 is operably coupled to the handle assembly 500.

[0044] 5 and 6, the distal portion 1930 of the proximal closure tube 1910 is attached to a distal closure assembly 2000. For example, the distal closure assembly 2000 includes an articulation connector 2010 coupled to the distal closure tube portion 2030. The distal closure tube portion 2030 has a diameter greater than the diameter of the distal portion 1930 of the proximal closure tube 1910. The articulation connector 2010 has a proximally extending end 2012 adapted to be received on a connection flange 1934 formed at a distal end of the distal portion 1930. The articulation connector 2010 may be retained on the connection flange 1934 by, for example, a suitable fastening element arrangement, adhesive, and / or welding. The articulation connector 2010 includes an upper protrusion 2014 and a lower protrusion 2016 projecting distally from a distal end of the articulation connector 2010 which is movably coupled to an end effector closure sleeve, or distal closure tube portion 2030. The distal closure tube portion 2030 has an upper protrusion 2032 and a lower protrusion projecting proximally from a proximal end thereof. The upper double pivot link 2060 has proximal and distal pins 2061, 2062 which engage corresponding holes 2015, 2034 in the upper protrusions 2014, 2032 of the articulation connector 2010 and the distal closure tube portion 2030, respectively. Similarly, the lower double pivot link 2064 has proximal and distal pins 2065, 2066 which engage corresponding holes 2019 in the lower protrusion 2016 of the articulation connector 2010 and the distal closure tube portion 2030, respectively. As described in further detail below, axial translation in the distal and proximal directions of the proximal closure assembly 1900 and the distal closure assembly 2000 opens and closes the anvil 1810 relative to the elongate channel member 1602 .

[0045] The exchangeable surgical tool assembly 1000 further includes a firing system, generally designated 2100. The firing system 2100 further includes a firing member assembly 2110 supported for axial movement within the spine assembly 1250. The firing member assembly 2110 includes an intermediate firing shaft portion 2120 configured for attachment to a distal cutting portion or knife bar 2130. The firing member assembly 2110 may also be referred to herein as a "second shaft" and / or a "second shaft assembly." As can be seen in FIG. 5, the intermediate firing shaft portion 2120 may have a longitudinal slot 2124 at its distal end 2122 that may be configured to receive a proximal end 2132 of the knife bar 2130. The longitudinal slot 2124 and the proximal end 2132 of the knife bar 2130 may be sized and configured to permit relative movement therebetween and may define a slip joint 2134. The slip joint 2134 allows the intermediate firing shaft portion 2120 of the firing member assembly 2110 to move to articulate the end effector 1500 without moving, or at least substantially moving, the knife bar 2130. After the end effector 1500 is properly oriented, the intermediate firing shaft portion 2120 can be advanced distally until the proximal sidewall of the longitudinal slot 2124 contacts a portion of the knife bar 2130 to advance the knife bar 2130 and fire the surgical staple / fastening element cartridge 1700 disposed within the elongate channel member 1602. The proximal end 2127 of the intermediate firing shaft portion 2120 is formed with a firing shaft mounting projection 2128 ( FIG. 8 ) configured to be disposed within a mounting cradle at the distal end of a longitudinally movable drive member of the firing drive system 530 in the handle assembly 500. Such a configuration facilitates axial movement of the intermediate firing shaft portion 2120 upon actuation of the firing drive system 530.

[0046] In addition to the above, the exchangeable tool assembly 1000 can have a shifter assembly 2200 that can be configured to selectively and releasably couple the proximal articulation drive 1310 to the firing system 2100. In one form, the shifter assembly 2200 includes a locking collar, or locking sleeve 2210, disposed about the intermediate firing shaft portion 2120 of the firing system 2100, the locking sleeve 2210 being rotatable between an engaged position in which the locking sleeve 2210 couples the proximal articulation drive 1310 to the firing member assembly 2110 and a disengaged position in which the proximal articulation drive 1310 is not operably coupled to the firing member assembly 2110. When the locking sleeve 2210 is in its engaged position, distal movement of the firing member assembly 2110 can move the proximal articulation drive 1310 in a distal direction and correspondingly, proximal movement of the firing member assembly 2110 can move the proximal articulation drive 1310 in a proximal direction. When the locking sleeve 2210 is in its disengaged position, motion of the firing member assembly 2110 is not transferred to the proximal joint drive 1310, such that the firing member assembly 2110 can move independently of the proximal joint drive 1310. In various circumstances, the proximal joint drive 1310 can be held in place by the joint lock 1400 when the proximal joint drive 1310 is not being moved in a proximal or distal direction by the firing member assembly 2110.

[0047] The intermediate firing shaft portion 2120 of the firing member assembly 2110 is formed with two opposing planar surfaces 2121, 2123 having drive notches 2126 formed therein. See FIG. 8. As also seen in FIG. 13, the locking sleeve 2210 has a cylindrical, or at least approximately cylindrical, body having a longitudinal opening 2212 configured to receive the intermediate firing shaft portion 2120 therethrough. The locking sleeve 2210 has diametrically opposed inwardly directed locking projections 2214, 2216 that are received for engagement within corresponding portions of the drive notches 2126 of the intermediate firing shaft portion 2120 when the locking sleeve 2210 is in one position and are not received within the drive notches 2126 when the locking sleeve 2210 is in another position, thereby allowing relative axial movement between the locking sleeve 2210 and the intermediate firing shaft portion 2120.

[0048] 8 and 12-14, the locking sleeve 2210 further includes a locking member 2218 sized and configured to be movably received within a notch 1319 in the proximal end 1318 of the proximal articulation drive 1310. Such a configuration allows the locking sleeve 2210 to rotate slightly into and out of engagement with the intermediate firing shaft portion 2120 while engaged with the notch 1319 in the proximal articulation drive 1310. For example, when the locking sleeve 2210 is in its engaged position, the locking projections 2214, 2216 are disposed within the drive notches 2126 of the intermediate firing shaft portion 2120 such that a distal push force and / or a proximal pull force may be transferred from the firing member assembly 2110 to the locking sleeve 2210. Such axial pushing or pulling motion is then transferred from the locking sleeve 2210 to the proximal articulation drive 1310, thereby articulating the surgical end effector 1500. In practice, the firing member assembly 2110, the locking sleeve 2210, and the proximal articulation drive 1310 move together when the locking sleeve 2210 is in its engaged (articulated) position. On the other hand, when the locking sleeve 2210 is in its disengaged position, the locking projections 2214, 2216 are not received within the drive notches 2126 of the intermediate firing shaft portion 2120, and as a result, distal pushing and / or proximal pulling forces may not be transferred from the firing member assembly 2110 to the locking sleeve 2210 (and the proximal articulation drive 1310).

[0049] The relative movement of the locking sleeve 2210 between the engaged and disengaged positions can be controlled by a shifter assembly 2200 interconnected with the proximal closure tube 1910 of the proximal closure assembly 1900. More specifically, with reference to FIGS. 8 and 9, the shifter assembly 2200 further includes a shifter key 2240 configured to be slidably received within a keyway 2217 formed on the outer periphery of the locking sleeve 2210. Such a configuration allows the shifter key 2240 to move axially relative to the locking sleeve 2210. With reference to FIGS. 8-11, the shifter key 2240 includes an actuator projection 2242 that extends through a cam slot or cam opening 1926 in the proximal closure tube portion 1920. See FIG. 9. Additionally, a cam surface 2243 is also provided adjacent the actuator projection 2242 that is configured to cam with the cam opening 1926 to cause the shifter key 2240 to rotate in response to axial movement of the proximal closure tube portion 1920 .

[0050] The shifter assembly 2200 further includes a switch drum 2220 that is rotatably received on the proximal end portion of the proximal closure tube portion 1920. As seen in FIGS. 10-14, an actuator projection 2242 extends through an axial slot portion 2222 in the switch drum 2220 and is movably received in an arcuate slot portion 2224 of the switch drum 2220. A switch drum torsion spring 2226 (FIGS. 12-14) is mounted on the switch drum 2220 and engages the nozzle portion 1244 to provide a torsional bias or rotation (arrow SR in FIGS. 10 and 11) that functions to rotate the switch drum 2220 until the actuator projection 2242 reaches the end of the arcuate slot portion 2224. See FIGS. 11 and 12. When in that position, the switch drum 2220 can provide a torsional bias to the shifter key 2240, which rotates the locking sleeve 2210 with the intermediate firing shaft portion 2120 to its engaged position. This position also corresponds to the unactuated configuration of the proximal closure assembly 1900. In one embodiment, for example, when the proximal closure assembly 1900 is in the unactuated configuration, the actuator projection 2242 is positioned above the cam opening 1926 of the proximal closure tube portion 1920 (the anvil 1810 is in an open position spaced apart from the surgical staple / fastening element cartridge 1700). When in that position, actuation of the intermediate firing shaft portion 2120 moves the proximal articulation drive 1310 axially. Once the user has articulated the surgical end effector 1500 in a desired orientation, the user can then actuate the proximal closure assembly 1900. Actuation of the proximal closure assembly 1900 causes the proximal closure tube portion 1920 to move distally, ultimately imparting a closure motion to the anvil 1810. This distal movement of the proximal closure tube portion 1920 causes the cam openings 1926 to cam against the cam surfaces 2243 of the actuator projections 2242, which in turn causes the shifter key 2240 to rotate the locking sleeve 2210 in the actuation direction AD. Such rotation of the locking sleeve 2210 disengages the locking projections 2214, 2216 from the drive notches 2126 of the intermediate firing shaft portion 2120.When in such a configuration, the firing drive system 530 can be actuated to actuate the intermediate firing shaft portion 2120 without actuating the proximal articulation drive 1310. Further details regarding the operation of the switch drum 2220 and locking sleeve 2210, as well as alternative articulation and firing drive mechanisms that may be used with the various interchangeable surgical tool assemblies described herein, can be found in U.S. patent application Ser. No. 13 / 803,086 (now U.S. Patent Application Publication No. 2014 / 0263541), entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," and U.S. patent application Ser. No. 15 / 019,196, filed Feb. 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," the disclosures of which are incorporated herein by reference in their entireties.

[0051] 8-13, the switch drum 2220 may further define openings 2228, 2230 having at least a partial periphery that may receive circumferential projections / mounts 1245 extending from the nozzle portions 1242, 1244 to permit relative rotation between the switch drum 2220 and the nozzle assembly 1240 but not translational movement. Such nozzle projections 1245 extend through corresponding openings 1923 in the proximal closure tube portion 1920 and are seated in projection seats 1254 of the spine assembly 1250. See FIGS. 8 and 9. With such an arrangement, a user may rotate the nozzle assembly 1240 to rotate the spine assembly 1250 about the shaft axis.

[0052] As also shown in FIGS. 7 and 12-14, the exchangeable tool assembly 1000 can include a slip ring assembly 1230 that can be configured, for example, to conduct power to and / or from the surgical end effector 1500 and / or communicate signals to and / or from the surgical end effector back to the handle assembly 500 or to a microprocessor 560 (FIG. 2) in a robotic system controller. Further details regarding the slip ring assembly 1230 and associated connectors can be found in U.S. patent application Ser. No. 13 / 803,086 (now U.S. Patent Application Publication No. 2014 / 0263541), entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," and U.S. patent application Ser. No. 15 / 019,196, filed Feb. 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," each of which is incorporated by reference in its entirety, and U.S. patent application Ser. No. 13 / 800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014 / 0263552), each of which is incorporated by reference in its entirety. As described in further detail in the aforementioned patent application, which is incorporated by reference herein, the exchangeable surgical tool assembly 1000 may also include at least one sensor configured to detect the position of the switch drum 2220.

[0053] 2, the tool chassis 1210 is formed with at least one tapered mounting portion 1212 adapted to be received within a corresponding dovetail slot 507 formed within a distal end of the handle frame 506 of the handle assembly 500. Various interchangeable surgical tool assemblies employ a latch system 1220 for removably coupling the interchangeable surgical tool assembly 1000 to the handle frame 506 of the handle assembly 500. In at least one form, as seen in FIG. 7, the latch system 1220 includes a locking member or locking yoke 1222 movably coupled to the tool chassis 1210. The locking yoke 1222 has a U-shape with two spaced apart, downwardly extending legs 1223. Each of the legs 1223 is formed with a pivot protrusion adapted to be received within a corresponding hole formed in the tool chassis 1210. Such a configuration facilitates pivotable attachment of the locking yoke 1222 to the tool chassis 1210. The lock yoke 1222 can have two proximally extending locking projections 1224 configured to releasably engage corresponding locking detents or grooves 509 on the distal end of the handle frame 506 of the handle assembly 500. See FIG. 2. In various configurations, the lock yoke 1222 is proximally biased by a spring or biasing member 1225. Actuation of the lock yoke 1222 can be accomplished by a latch button 1226 slidably mounted on a latch actuator assembly 1221 mounted to the tool chassis 1210. The latch button 1226 can be biased proximally against the lock yoke 1222. The lock yoke 1222 can be moved to an unlocked position by distally biasing the latch button 1226, which further pivots the lock yoke 1222 out of retaining engagement with the distal end of the handle frame 506. When the locking yoke 1222 is in “retaining engagement” with the distal end of the handle frame 506 , the locking projections 1224 are positioned to be retained within corresponding locking detents or grooves 509 in the distal end of the handle frame 506 .

[0054] The locking yoke 1222 has at least one locking hook 1227 adapted to contact a corresponding locking protrusion portion 1943 formed on the closure shuttle 1940. When the closure shuttle 1940 is in the unactuated position, the locking yoke 1222 can be pivoted distally to unlock the exchangeable surgical tool assembly 1000 from the handle assembly 500. When in that position, the locking hook 1227 is not in contact with the locking protrusion portion 1943 of the closure shuttle 1940. However, when the closure shuttle 1940 is moved to the actuated position, the locking yoke 1222 is prevented from pivoting to the unlocked position. In other words, if a clinician attempts to pivot the locking yoke 1222 to the unlocked position, or, for example, if the locking yoke 1222 is inadvertently bumped or contacted in a manner that causes it to pivot distally, the locking hook 1227 of the locking yoke 1222 will contact the locking protrusion portion 1943 of the closure shuttle 1940 to prevent the locking yoke 1222 from moving to the unlocked position.

[0055] Referring again to FIG. 6, the knife bar 2130 can have a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands that are interconnected to one another, for example, by welding and / or pins at their proximal ends and / or elsewhere along their length. In alternative embodiments, the distal ends of the bands are not connected to one another to allow the laminates or bands to spread relative to one another when the end effector is articulated. Such a configuration allows the knife bar 2130 to be sufficiently flexible to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. Patent Application Serial No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," which is incorporated herein by reference in its entirety. 6, the firing shaft support assembly 2300 is used to provide lateral support to the knife bar 2130 as the firing shaft support assembly flexes to accommodate articulation of the surgical end effector 1500. Further details regarding the operation of the firing shaft support assembly 2300 and alternative knife bar support mechanisms can be found in U.S. patent application Ser. No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," and U.S. patent application Ser. No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR," each of which is incorporated by reference herein in its entirety.

[0056] As also seen in FIG. 6, a firing member or knife member 2140 is attached to the distal end of the knife bar 2130. In one exemplary form, the firing member 2140 includes a body portion 2142 that supports a knife or tissue-cutting portion 2144. The body portion 2142 projects through an elongated slot 1604 in the elongated channel member 1602 and terminates in foot members 2146 extending laterally on each side of the body portion 2142. When the firing member 2140 is driven distally through the surgical staple / fastener cartridge 1700, the foot members 2146 are positioned within the passage of the elongated channel member 1602 that is located below the surgical staple / fastener cartridge 1700. In one configuration, the body portion 2142 has two laterally protruding central tabs 2145 that may be located above a central passage within the surgical staple / fastener cartridge 1700. See FIG. 6. The tissue cutting portion 2144 is disposed between the distally projecting upper nose portion 2143 and the foot member 2146. As can be further seen in FIG. 6, the firing member 2140 can further include two upper laterally extending tabs, pins, or anvil engagement mechanisms 2147. When the firing member 2140 is driven distally, the upper portion of the body portion 2142 extends through the centrally located anvil slot 1814 and the anvil engagement mechanisms 2147 rest on corresponding anvil ledges 1816 formed on either side of the anvil slot 1814. To facilitate assembly of the anvil 1810 and firing member 2140 configuration, in one configuration, the upper portion of the anvil body 1812 includes an opening 1817. Once the anvil 1810 is assembled onto the elongate channel member 1602 and the firing member 2140 is installed, the opening 1817 is covered by an anvil cap 1819 which is attached to the anvil body 1812 by welding and / or other suitable fastening means.

[0057] Returning to FIG. 6 , the firing member 2140 is configured to operably interconnect with a sled assembly 2150 operably supported within the body 1702 of the surgical staple / fastening element cartridge 1700. The sled assembly 2150 is slidably displaceable within the surgical staple / fastening element cartridge body 1702 from a proximal start position adjacent the proximal end 1704 of the cartridge body 1702 to an end position adjacent the distal end 1706 of the cartridge body 1702. The cartridge body 1702 operably supports therein a plurality of staple drivers aligned in rows on either side of a centrally located slot 1708. The centrally located slot 1708 allows the firing member 2140 to pass therethrough and sever tissue clamped between the anvil 1810 and the surgical staple / fastening element cartridge 1700. Associated with each driver is a respective corresponding pocket 1712 that opens into the upper deck surface 1710 of the cartridge body 1702. Each of the staple drivers supports one or more surgical staples or fastening elements thereof thereon. The sled assembly 2150 includes a plurality of angled or wedge-shaped cams 2152, each corresponding to a particular line of fastening elements or drivers located on the side of the slot 1708.

[0058] 2, to attach the interchangeable surgical tool assembly 1000 to the handle assembly 500, a clinician can position the tool chassis 1210 of the interchangeable surgical tool assembly 1000 over or adjacent to the distal end of the handle frame 506 such that a tapered mounting portion 1212 formed on the tool chassis 1210 is aligned with a dovetail slot 507 on the handle frame 506. The clinician can then move the surgical tool assembly 1000 along an installation axis IA perpendicular to the shaft axis SA1 to place the tapered mounting portion 1212 in "operable engagement" with a corresponding dovetail receiving slot 507 on the distal end of the handle frame 506. In so doing, the firing shaft mounting projection 2128 of the intermediate firing shaft portion 2120 is also positioned within a mounting cradle of a longitudinally movable drive member within the handle assembly 500, and a portion of the mounting pin 516 on the closure link 514 is positioned within a corresponding hook 1942 of the closure shuttle 1940. As used herein, the term "operably engaged" in the context of two components means that the two components are sufficiently engaged with one another such that, upon application of an actuation motion thereto, the components perform their intended action, function, and / or procedure.

[0059] During a typical surgical procedure, a clinician may introduce the surgical end effector 1500 to a surgical site through a trocar or other opening in a patient to access a target tissue. To do so, the clinician axially aligns, or at least substantially aligns, the surgical end effector 1500 in a non-articulated state along the shaft axis and inserts the surgical end effector 1500 through the trocar. After passing the surgical end effector 1500 through the trocar, the clinician may need to articulate the end effector 1500 to advantageously position it adjacent to the target tissue. In addition to the above, the firing drive system 530 is operated through a limited range of motion to articulate the articulation drive 1310 and the end effector 1500. Such articulation occurs prior to closing the anvil on the target tissue. Once the end effector reaches a desired articulated position, the clinician may then actuate the closure drive system 510 to close the anvil 1810 onto the target tissue. Such closure drive system 510 actuates the shifter assembly 2200 to disengage the articulation drive 1310 from the intermediate firing shaft portion 2120. Thus, once the target tissue is properly captured within the surgical end effector 1500, the clinician can again actuate the firing drive system 530 to advance the firing member 2140 axially through the surgical staple / fastening element cartridge 1700 to fire staples into and sever the target tissue. Other closure and firing drive configurations, such as, for example, handheld, manual, automated, and / or robotic configurations, can be used to control the axial movement of the closure system components, articulation system components, and / or firing system components of the surgical tool assembly 1000.

[0060] An end effector 10500 of the surgical instrument 10000 is shown in FIGS. 16-16B. The end effector 10500 includes a cartridge jaw 10600 (FIG. 18) that includes a staple cartridge 10700, and further includes an anvil 10800 configured to deform staples ejected from the staple cartridge 10700. In use, the anvil 10800 is rotatable between an open, unclamped position and a closed, clamped position. However, the cartridge jaw 10600 may be rotatable toward the anvil 10800 in other embodiments. The surgical instrument 10000 further includes a shaft 10100, and the end effector 10500 is rotatably connected to the shaft 10100 about the articulation joint 10200. In use, the end effector 10500 rotates through an angle θ R The fully articulated right position shown in Fig. 16A and the angle θ L 16B ) and / or any suitable position therebetween. R and θ L is limited by the design of the articulation drive system of the surgical instrument 10000. In at least one example, the angle θ R and θ L is limited to approximately 45 degrees relative to the non-articulated position of the end effector 10500 (FIG. 16).

[0061] 18 , the shaft 10100 of the surgical instrument 10000 includes an outer closure tube including an outer housing 10110 that is distally movable to engage the anvil 10800 and move the anvil 10800 toward the staple cartridge 10700. The shaft 10100 further includes a distal housing portion 10130 that is rotatably connected to the outer housing 10110 by two connector plates 10120 disposed on either side of the articulation joint 10200. Each connector plate 10120 is connected to the outer housing 10110 at a pivot 10115 and is similarly connected to the distal housing portion 10130 at a pivot 10125. The connector plates 10120 allow the closure tube to slide relative to the articulation joint 10200 when the end effector 10500 is in an articulated position such that the anvil 10800 can be opened and closed while the end effector 10500 is in an articulated position. Further to the above, the distal housing 10130 has an opening defined therein configured to receive a tab extending from the proximal end of the anvil 10800, and its sidewalls configured to engage the tab and transmit proximal, or opening, movement of the closure tube to the anvil 10800.

[0062] An end effector 11500 of the surgical instrument 11000 is shown in FIGS. 17-17B. The end effector 11500 includes a cartridge jaw 11600 (FIG. 19) that includes a staple cartridge 11700, and further includes an anvil 11800 configured to deform staples ejected from the staple cartridge 11700. In use, the anvil 11800 is rotatable between an open, unclamped position and a closed, clamped position. However, embodiments are envisioned in which the cartridge jaw 11600 is moveable relative to the anvil 11800. The surgical instrument 11000 further includes a shaft 11100, and the end effector 11500 is rotatably connected to the shaft 11100 about the articulation joint 11200. In use, the end effector 11500 rotates at an angle α R The fully articulated right position shown in Fig. 17A and the angle α L17B ) and / or any suitable position therebetween. R and α L is ultimately limited by the design of the articulation drive system of the surgical instrument 11000, but the angle α R and α L In at least one example, the angle α R and α L is, for example, about 60 degrees relative to the non-articulated position of the end effector 11500 (FIG. 17).

[0063] 19 , the shaft 11100 of the surgical instrument 11000 includes an outer closure tube including an outer housing 11110 that is distally movable to engage the anvil 11800 and move the anvil 11800 toward the staple cartridge 11700. The shaft 11100 further includes a distal housing 11130 that is rotatably connected to the outer housing 11110 by two connector plates 11120 disposed on either side of the articulation joint 11200. Each connector plate 11120 is connected to the outer housing 11110 at a pivot 11115 and, in turn, connected to the distal housing 11130 at a pivot 11125. Similar to above, the connector plates 11120 allow the closure tube to slide relative to the articulation joint 11200 when the end effector 11500 is in an articulated position such that the anvil 11800 can be opened and closed while the end effector 11500 is in an articulated position. In addition to the above, the distal housing 11130 has an opening defined therein configured to receive a tab extending from the proximal end of the anvil 11800, and its side walls are configured to engage the tab and transmit proximal or opening movement of the closure tube to the anvil 11800.

[0064] 18, the surgical instrument 10000 further comprises an articulation drive system 10300 including an articulation drive actuator 10310 extending through an internal opening 10105 defined in a closure tube 10110 of the shaft 10100. The articulation drive actuator 10310 comprises a distal end that operably engages with a cartridge jaw 10600 of the end effector 10500. More specifically, the distal end of the articulation drive actuator 10310 comprises an opening or slot 10320 defined therein, and the cartridge jaw 10600 comprises a pin 10620 that extends into the slot 10320. When the articulation drive actuator 10310 is pushed distally, the end effector 10500 is driven to the right about a fixed axis defined by a pivot 10210 that rotatably connects the cartridge jaw 10600 to a frame of the shaft 10100 (FIG. 16A). Similarly, when the articulation drive actuator 10310 is pulled in the proximal direction, the end effector 10500 rotates to the left about the pivot 10210 (FIG. 16B).

[0065] 19, the surgical instrument 11000 further comprises an articulation drive system 11300 including an articulation drive actuator 11310 extending through an internal opening 11105 defined in the closure tube 11110. The articulation drive system 11300 further comprises an articulation link 11320 rotatably coupled to a distal end of the articulation drive actuator 11310 about a pin 11315. Similarly, the articulation link 11320 is rotatably coupled to the cartridge jaw 11600 about a drive pin 11620 that extends through an opening defined in the articulation link 11320. When the articulation drive actuator 11310 is pushed distally, the end effector 11500 is driven to the right about a fixed axis defined by a pivot 11210 that rotatably connects the cartridge jaw 11600 to the frame of the shaft 11100 (FIG. 17A). Similarly, when the articulation drive actuator 11310 is pulled proximally, the end effector 11500 rotates to the left about pivot 11210 (FIG. 17B).

[0066] In addition to the above, the articulation link 11320 of the articulation system 11300 allows the end effector 11500 to be articulated through a wider range of articulation angles than the end effector 10500 for a given or equal stroke length of the articulation actuators 10310 and 11310. A side-by-side comparison of the end effectors 10500 and 11500 is provided in FIGS. 20 and 21, which show the end effectors 10500 and 11500 in a full right articulation configuration and also show that the end effector 11500 can be articulated further to the right than the end effector 10500. Similarly, a comparison can be made where the end effectors 10500 and 11500 are shown in a full left articulation configuration. Also, FIG. 22 shows the full articulation range of the end effector 10500, while FIG. 23 shows the full articulation range of the end effector 11500.

[0067] 22, the articulation actuator 10310 of the surgical instrument 10000 advances a distal stroke length (DSL) relative to its non-articulated position, fully articulating the end effector 10500 to the right. Correspondingly, the articulation actuator 10310 retracts a proximal stroke length (PSL) relative to its non-articulated position, fully articulating the end effector 10500 to the left. The distal stroke length (DSL) and proximal stroke length (PSL) of the articulation actuator 10310 are equal, or at least substantially equal. Now referring to FIG. 23, the articulation actuator 11310 advances a distal stroke length (DSL) relative to its non-articulated position, fully articulating the end effector 11500 to the right. Correspondingly, the articulation actuator 11310 retracts a proximal stroke length (PSL) relative to its non-articulated position, fully articulating the end effector 11500 to the left. The distal stroke length (DSL) and proximal stroke length (PSL) of the articulation actuator 11310 are not equal, instead, the distal stroke length (DSL) is less than the proximal stroke length (PSL). In other embodiments, the proximal stroke length (DSL) is less than the distal stroke length (PSL). In any event, referring now to FIGS. 31-31B, the combination of the proximal stroke length (PSL) and distal stroke length (DSL) equals the total stroke length (SL).

[0068] In addition to the above, the articulation actuator 10310 is configured to apply a torque to the first jaw 10600 of the end effector 10500 via the pin 10620 to rotate the end effector 10500 about the articulation joint 10200. Referring again to FIG. 22 , a lateral torque arm defined between the pivot joint 10210 of the articulation joint 10200 and the pin 10620 has a length TA C1 It has a length TA C1is measured orthogonally to the longitudinal axis 10190 extending through the articulation pivot joint 10210. Similarly, a lateral torque arm defined between the pivot joint 10210 and the pin 10620 has a length TA R1 and similarly, the length TA when the end effector 10500 is fully articulated to the left. L1 and both lengths are measured perpendicular to the longitudinal axis 10190. In particular, the length TA R1 and T.A. L1 and the torque arms they define are equal, or at least substantially equal. R1 and T.A. L1 is the non-articulated lateral torque arm length TA C1 Therefore, the maximum torque arm or mechanical advantage of the articulation system 10300 exists when the end effector 10500 is in its unarticulated position.

[0069] In at least one example, for example, arm length TA C1 is approximately 0.180 inches, and the arm length TA R1 is approximately 0.130 inches, and the arm length TA L1 is approximately 0.130 inches.

[0070] Further to the above, the articulation actuator 11310 of the surgical instrument 11000 is configured to apply a torque to the first jaw 11600 of the end effector 11500 via the pin 11620 to rotate the end effector 11500 about the articulation joint 11200. With reference to Figures 23, 28 and 30, a lateral torque arm (LTA) defined between the pivot joint 11210 of the articulation joint 11200 and the pin 11620 has a length TA C2 The length TA is defined by C2is measured orthogonally to a longitudinal axis 11190 that extends through the articulation pivot joint 11210. In particular, as will be described in more detail below in connection with FIG. 25 , the longitudinal axis 11190 is offset from and parallel to the centerline of the shaft 11100. Similar to above, a lateral torque arm defined between the pivot joint 11210 and the pin 11620 has a length TA when the end effector 11500 is fully articulated to the right. R2 30A , and similarly, when the end effector 11500 is fully articulated to the left, the length TA L2 (FIG. 30B), both lengths being measured perpendicular to the longitudinal axis 11190. In particular, the length TA R2 is the non-articulated lateral torque arm length TA C1 Larger, length TA L2 is the non-articulated lateral torque arm length TA C1 Furthermore, the length TA R2 and T.A. L2 , and the torque arms they define are not equal. Instead, the right-articulated torque arm length TA R2 is the torque arm length TA articulated to the left L2 In fact, the torque arm length TA R2 and the torque arm length TA articulated to the left L2 extend in different directions. Such a configuration provides a larger push torque arm compared to a smaller pull torque arm. In various examples, as a result, the retract pull force applied by the articulation actuator 11310 to articulate the end effector 11500 to the left (FIG. 30B) may be or may need to be greater than the distal push force to articulate the end effector 11500 to the right (FIGS. 29 and 30A). Advantageously, the articulation actuator 11310 can accommodate a larger pull force such that the articulation actuator 11310 does not suffer buckling failure when pulled.

[0071] In at least one example, for example, arm length TA C2 is approximately 0.149 inches, and the arm length TA R2 is approximately 0.154 inches, and the arm length TA L2 is approximately 0.015 inches.

[0072] In addition to the above, the surgical instrument 11000 is constructed and arranged to provide a large torque to the end effector 11500 while at the same time providing a large articulation range or curve in response to a short articulation stroke. That is, several design ratios of these relationships can be established and used in the design of the surgical instrument 11000. For example, a first ratio includes the torque arm length (TA) fully articulated to the right divided by the full articulation stroke length (SL) of the articulation actuator 11310. The value of this first ratio is unitless. In at least one example, the torque arm length (TA) fully articulated to the right is 0.154 inches and the full articulation stroke length (SL) is 0.275 inches, with a ratio value of, for example, 0.56. A larger ratio value of the first ratio indicates a more efficient articulation system. In various examples, the value of the first ratio is less than 1.0, but may be greater than 1.0. In at least one example, the torque arm length (TA) fully articulated to the right is 2.79 mm and the full articulation stroke length (SL) is 11.43 mm, with a ratio value of, for example, 0.24.

[0073] The above example of the first ratio was based on the torque arm length (TA) when the end effector 11500 is in a fully right articulated position. This particular position of the end effector 11500 is notable because the articulation actuator 11310 is in compression and may be subject to buckling when the load transmitted therethrough is excessive. Thus, the first ratio may also be used to analyze any suitable position of the end effector 11500, such as, for example, its unarticulated position and its fully articulated left position. In at least one example, the torque arm length (TA) without articulation is 6.17 mm, resulting in a ratio value of, for example, a stroke length (SL) of 11.43 mm of 0.54. Also, in at least one example, the torque arm length (TA) fully left articulated is 1.41 mm, resulting in a ratio value of, for example, a stroke length (SL) of 11.43 mm of 0.12.

[0074] The second ratio comprises the arc length traveled by the drive pin 11620 as the end effector 11500 articulates between its fully articulated right and fully articulated left positions, i.e., the arc length curve (ALS). More specifically, the second ratio comprises the arc length curve (ALS) of the drive pin 11620 divided by the full articulation stroke length (SL) of the articulation actuator 11310. The value of this second ratio is unitless. In at least one example, the arc length curve (ALS) of the drive pin 11620 is 0.387 inches and the full articulation stroke length (SL) is 0.275 inches, resulting in, for example, a ratio value of 1.41. In at least one example, the arc length curve (ALS) is 0.444 inches and the full articulation stroke length (SL) is 0.306 inches, resulting in, for example, a ratio value of 1.45. In at least one example, the arc length curve (ALS) is 12.94 mm and the full articulation stroke length (SL) is 11.43 mm, resulting in, for example, a ratio value of 1.13. A higher ratio value of the second ratio indicates a more efficient articulation system. In various examples, the value of the second ratio is greater than 1.0, such as between 1.0 and 3.0. In at least one example, for example, the value of the second ratio is about 2.0. In certain examples, the value of the second ratio is about 1.1, but is between 0.9 and 1.3, for example.

[0075] The third ratio includes the sum of the torque arm length (TA) fully articulated to the right and the arc length curve (ALS) of the drive pin 11620 divided by the full articulation stroke length (SL). The value of this third ratio is unitless. In at least one example, the torque arm length (TA) fully articulated to the right is 0.154 inches, the arc length curve (ALS) of the drive pin 11620 is 0.387 inches, and the full articulation stroke length (SL) is 0.275 inches, with a ratio value of, for example, 1.97. In at least one example, the torque arm length (TA) fully articulated to the right is 2.79 mm, the arc length curve (ALS) of the drive pin 11620 is 12.94 mm, and the full articulation stroke length (SL) is 1.143 mm, with a ratio value of, for example, 1.38. A higher ratio value of the third ratio indicates a more efficient articulation system. In various examples, the value of the third ratio is greater than 1.0, such as between 1.0 and 3.0. In at least one example, for example, the value of the third ratio is about 2.0 or greater.

[0076] Similar to above, a third ratio can be used to evaluate the articulation system when the end effector 11500 is in any suitable position, such as a non-articulated position and a fully articulated position to the left.

[0077] A fourth ratio includes the product of the torque arm length (TA) fully articulated to the right and the arc length curve (ALS) of the drive pin 11620 divided by the full articulation stroke length (SL). The value of this fourth ratio is not unitless, but instead is measured in distance. In at least one example, the torque arm length (TA) fully articulated to the right is 0.154 inches, the arc length curve (ALS) of the drive pin 11620 is 0.387 inches, and the full articulation stroke length (SL) is 0.275 inches, with a ratio value of, for example, 0.217 inches. Dividing this value again by the stroke length (SL) makes the value unitless, which may result in a value of 0.79. In at least one example, the torque arm length (TA) fully articulated to the right is 2.79 mm, the arc length curve (ALS) of the drive pin 11620 is 12.94 mm, the fully articulated stroke length (SL) is 11.43 mm, and the ratio value is, for example, 3.15 mm. In a particular example, the value of the fourth ratio is about 3.1 mm, but may be between 0.9 mm and 5.4 mm, for example. As above, dividing this value again by the stroke length (SL) makes this value unitless, and may be a value of 0.28. A higher ratio value for the fourth ratio indicates a more efficient articulation system.

[0078] Similar to above, the fourth ratio can be used to evaluate the articulation system when the end effector 11500 is in any suitable position, such as a non-articulated position and a fully articulated position to the left.

[0079] As discussed above, the end effector 11500 is rotatably mounted to the shaft 11100 about the fixed pivot 11210 of the articulation joint 11200. Referring now to Figures 24 and 25, the shaft 11100 includes a distal mounting tab 11220 extending from and fixedly attached to a frame or spine of the shaft 11100. The first distal mounting tab 11220 is attached to a first jaw 11600 comprising a lower frame portion, and the second distal mounting tab 11220 is attached to an upper frame portion 11230. The interconnections between the mounting tabs 11220 and the first jaw 11600 and upper frame portion 11230 define the fixed pivot 11210. Also as discussed above, the fixed axis pivot 11210 is laterally offset relative to a central longitudinal axis LA of the shaft 11100 by an offset distance OD. In at least one example, the fixed axis pivot 11210 is laterally offset, for example, by about .036 inches. Further, with reference to Figures 28-30B, the pin 11620 is longitudinally offset relative to the fixed pivot 11210, which creates a longitudinal or axial torque arm (ATA).

[0080] As mentioned above, the closure tube of the shaft 11100 is movable distally to engage the anvil jaw 11800 of the end effector 11500 and move the anvil jaw 11800 toward the staple cartridge 11700 disposed in the cartridge jaw 11600. Stated differently, the closure tube is configured to move the anvil 11800 from an open position (FIGS. 26-26B) to a closed position (FIGS. 27-27B) to clamp the patient's tissue against the staple cartridge 11700. In such a case, the closure tube comprising the housing 11110, the connector plate 11120, and the distal housing 11130 is slid distally relative to the articulation joint 11200 during a closure stroke. When the end effector 11500 is in an open, non-articulating configuration, now referring to FIG. 26, the connector plate 11120 extends in a direction slightly transverse to the central longitudinal axis LA of the shaft 11100. More specifically, axis CA extending between joints 11115 and 11125 is slightly transverse to central longitudinal axis LA of shaft 11100 when end effector 11500 is in an open, unarticulated configuration. When end effector 11500 is articulated to the right (FIG. 26A) or left (FIG. 26B), the orientation of axis CA relative to central longitudinal axis LA can change.

[0081] Further to the above, in various examples, the orientation of axis CA varies with respect to a longitudinal axis extending between the proximal and distal ends of the end effector 11500. In at least one example, axis CA transverses the longitudinal end effector axis, except in one configuration in which axis CA is parallel to such longitudinal end effector axis.

[0082] In addition to the above, the orientation of axis AA defined between articulation pivot 11210 and distal pivot 11125 of connector plate 11120 changes as end effector 11500 is articulated. With reference to FIG. 26, axis AA extends at an angle β relative to axis CA when end effector 11500 is in an open, unarticulated configuration. When end effector 11500 is articulated to an open, right configuration (FIG. 26A), angle β decreases. When end effector 11500 is articulated to an open, left configuration (FIG. 26B), angle β increases. However, when open end effector 11500 is articulated, axis AA is not collinear with or parallel to axis CA. Instead, axis AA transverses axis CA when end effector 11500 is articulated in the open configuration.

[0083] 27, axis AA extends at an angle γ relative to axis CA when the end effector 11500 is in a closed, unarticulated configuration. When the end effector 11500 is articulated to a closed, right configuration (FIG. 27A), angle γ increases. When the end effector 11500 is articulated to a closed, left configuration (FIG. 27B), angle δ also increases. However, axis AA is not collinear with axis CA when the end effector 11500 is articulated in the closed configuration and / or any other configuration between the open and closed configurations. Instead, axis AA intersects axis CA when the end effector 11500 is articulated in the closed configuration and / or any other configuration between the open and closed configurations.

[0084] 20 and 21 , the design of the surgical instrument 11000 allows for a shortened end effector 11500 as compared to the end effector 10500. Also, the distance between the articulation joint 10200 and the proximal end of the staple line applied by the end effector 10500 to the patient's tissue is a distance L1, while the distance between the articulation joint 11200 and the proximal end of the staple line applied by the end effector 11500 is a distance L2, which is shorter than distance L1.

[0085] 40-45, the surgical instrument 11000 further comprises a joint lock 11400 configured to selectively lock the articulation drive system 11300 and the end effector 11500 in position. The joint lock 11400 comprises a distal end 11402 attached to a frame 11180 of the shaft 11100. More specifically, the shaft frame 11180 comprises a pin or protrusion 11182 closely received and / or pressed into an opening defined in the distal end 11402. The joint lock 11400 further comprises a proximal end 11404 configured to move relative to the distal end 11402. In at least one respect, the joint lock 11400 comprises a cantilever beam, with the distal end 11402 comprising a fixed end and the proximal end 11404 comprising a free end. The proximal end 11404 is disposed within a cavity 11184 defined in the shaft frame 11180 and is configured to move laterally toward and away from the articulation drive actuator 11310, as described in more detail below.

[0086] Further to the above, the proximal end 11404 of the joint lock 11400 includes one or more teeth 11406 defined thereon configured to engage with the articulation drive actuator 11310. As shown in FIG. 40, the teeth 11406 are arranged in a longitudinal array. However, any suitable arrangement may be used. The articulation drive actuator 11310 includes a longitudinal array of teeth 11316 defined thereon configured to be engaged by the articulation lock teeth 11406. With reference to FIG. 41, the shaft frame 11180 further includes a longitudinal array of teeth 11186 defined therein that are further configured to engage with the articulation lock teeth 11406. As described in more detail below, when the joint lock 11400 is in a fully locked state, the joint lock teeth 11406 engage with the drive actuator teeth 11316 and the shaft frame teeth 11186, causing the joint lock 11400 to lock the articulation drive actuator 11310 to the shaft frame 11180 and preventing, or at least inhibiting, relative motion between the articulation drive actuator 11310 and the shaft frame 11180.

[0087] In addition to the above, the joint lock 11400 is configurable in three states: a self-locked state, an unlocked state, and a fully locked state. When the joint lock 11400 is in the self-locked state, referring to FIG. 43, the teeth 11406 of the joint lock 11400 engage with the drive actuator teeth 11316 and the shaft frame teeth 11186. In such a case, the joint lock 11400 can resist the force transmitted through the articulation drive actuator 11310. However, proximal and / or distal movement of the articulation drive actuator 11310 can overcome the holding force of the joint lock 11400 and displace the joint lock 11400 to its unlocked configuration, as shown in FIG. 44. In such a case, the joint lock 11400 can bend or flex laterally away from the drive actuator 11310. The joint lock 11400 comprises a spring member 11403 extending between the distal portion 11402 and the proximal portion 11404 that is configured to resiliently return or at least bias the joint lock to its self-locking configuration ( FIG. 42 ). As a result, the articulation drive system 11300 can lock and unlock itself and articulate the end effector 11500 as a result of its own movement unless the joint lock 11400 is disposed in its fully locked position, as discussed below.

[0088] As further described above, the shaft 11100 of the surgical instrument 11000 includes a closure tube 11110 that advances distally during a closure stroke to close the end effector 11500. Prior to the closure stroke, the joint lock 11400 is movable between its self-locking and unlocked configurations to allow the end effector 11500 to be articulated by the articulation drive system 11300. However, during the closure stroke, the closure tube 11110 is configured to engage the joint lock 11400 and place or hold the joint lock 11400 in its fully locked configuration. More specifically, the closure tube 11110 includes a protrusion or tab 11118 configured to engage a cam surface 11408 defined on a rear surface of the joint lock 11400 and prevent the joint lock teeth 11406 from falling off the drive actuator teeth 11316 and the shaft frame teeth 11186. When the closure tube 11110 is retracted proximally to open the end effector 11500, the tab 11118 disengages from the joint lock 11400, allowing the effector 11500 to be re-articulated as described above, as the joint lock 11400 is free to move between the self-locking and unlocked positions.

[0089] The surgical instrument 11000 described above is further illustrated in FIGS. 80-82. The surgical instrument 11000 includes a shaft 11100 configured for use with a trocar having a passage defined therein. The surgical instrument shaft 11100 includes different diameters at different points along the length of the surgical instrument shaft 11100. In particular, the surgical instrument shaft 11100 includes a central region 11160 that includes a smaller diameter than other regions of the surgical instrument shaft 11000. This geometry of the surgical instrument shaft 11100 provides significant advantages over previous designs and solves a long felt problem associated with the use of trocars. Typically, when a surgical instrument is used in combination with a trocar during a surgical procedure, the surgical procedure is limited by the range of angles the instrument may assume as a result of compression caused by the trocar passage. The configuration of the surgical instrument shaft 11100 is an improvement over existing shaft configurations because it increases the range of angles the surgical instrument may assume relative to the longitudinal axis of the trocar. As a result, a user of the surgical instrument 11000 can manipulate the surgical instrument 11000 at a variety of angles relative to the longitudinal axis of the trocar due to the smaller diameter of the central region 11160 of the surgical instrument shaft 11100.

[0090] 80 and 81, the surgical instrument shaft 11100 further includes a proximal region 11150 and a distal region 11170. The proximal region 11150 of the surgical instrument shaft 11000 is disposed adjacent the nozzle assembly 11140 of the shaft 11100. The distal region 11170 is located closest to the end effector 11500. The proximal region 11150 of the surgical instrument shaft includes a first diameter and the central region 11160 includes a second diameter. The distal region 11170 further includes a third diameter. The first diameter of the proximal region 11150 is different from the second diameter of the central region 11160. Similarly, the second diameter of the central region 11160 is different from the third diameter of the distal region 11170. The first diameter of the proximal region 11150 is different from the third diameter of the distal region 11170. However, embodiments are envisioned in which the first diameter and the third diameter are the same.

[0091] Further to the above, the proximal region 11150 defines a central longitudinal axis. The central region 11160 extends along the central longitudinal axis and is centered relative to the central longitudinal axis. Although the proximal region 11150 and the central region 11160 each define a circular outline, they may include any suitable configuration. The distal region 11170 is not centered relative to the central longitudinal axis. Instead, the distal region 11170 is laterally offset relative to the central longitudinal axis. Furthermore, more of the cross section and / or perimeter of the distal region 11170 is disposed on a first side of the central longitudinal axis than on a second side. In at least one example, the distal region 11170 includes an enlargement extending to one side of the central longitudinal axis. Furthermore, the distal region 11170 does not define a circular outline.

[0092] 80 and 81 , the central region 11160 includes a second width that is smaller than the first width of the proximal region 11150. The central region further includes a second width that is smaller than the third width of the distal region 11170. The proximal region 11150 further includes a width that is different than the width of the distal region 11170. For example, the width of the proximal region 11150 is smaller than the width of the distal region 11170, but still greater than the width of the central region 11160. Similarly, the width of the proximal region 11150 is greater than the width of the distal region 11170 and the width of the central region 11160. In other examples, the proximal region 11150 and the distal region 11170 include approximately the same width.

[0093] 80-82, the surgical instrument shaft 11100 of the surgical instrument 11000 is configured to fit through, for example, a 12 mm trocar. In at least one such example, the central region 11160 of the surgical instrument shaft 11100 includes a maximum diameter of about 9 mm. Such a diameter of the central region 11160 provides a greater range of angles that the shaft 11100 can assume relative to the centerline of the trocar. Such an arrangement may also reduce the likelihood of causing intercostal nerve injury associated with placing the surgical instrument shaft 11100 between the patient's ribs during certain surgical procedures. The distal region 11170 of the surgical instrument shaft 11100 is configured to fit through a 12 mm trocar and includes one or more flat surfaces 11172 to increase the level of access during procedures requiring a high level of articulation. Other embodiments are envisioned in which the shaft 11100 is inserted through, for example, an 8 mm trocar and / or a 5 mm trocar.

[0094] The proximal region 11150 includes a step down or tapered region near the proximal end of the surgical instrument shaft 11100 where the surgical instrument shaft 11100 transitions from the proximal region 11150 to a central region 11160. The central region 11160 further includes a step up or tapered region near the distal end of the surgical instrument shaft 11100 where the surgical instrument shaft 11100 transitions from the central region 11160 to a distal region 11170.

[0095] 80 and 81 , the proximal region 11150 includes a first perimeter, the central region 11160 includes a second perimeter, and the distal region 11170 includes a third perimeter. The perimeter of the proximal region 11150 differs from the perimeter of the central region 11160 due to the difference in diameter of such portion of the surgical instrument shaft 11100. Similarly, the perimeter of the central region 11160 differs from the perimeter of the distal region 11170. The perimeters of the proximal region 11150 and the distal region 11170 are the same, but may differ in other embodiments.

[0096] Referring again to FIGS. 80 and 81 , the surgical instrument shaft 11100 includes a single formed piece of material, although the surgical instrument shaft 11100 may in other examples include multiple pieces of material that are combined to form a single cohesive surgical instrument shaft. The pieces of material may be assembled using any suitable process. The surgical instrument shaft 11100 is configured to operate in a variety of surgical configurations, including but not limited to the surgical stapling instruments described above. The surgical instrument shaft 11100 may be used with other surgical instruments having articulatable end effectors. Other surgical instruments may include, for example, ultrasonic surgical devices, clip appliers, and fastener appliers. Additionally, the surgical instrument shaft 11100 may be configured for use with any surgical instrument for which the use of a trocar passage is appropriate.

[0097] Further to the above, the outer tube 11110 of the shaft 11100 includes a proximal end 11150 and a longitudinal portion 11160 that includes a diameter or width that is narrower than the diameter or width of the proximal end 11150. Thus, the surgical instrument 11000 is constructed and arranged to provide a large torque to the end effector 11500, while at the same time, the longitudinal portion 11160 includes a narrow diameter. That is, at least one design ratio of this relationship can be predefined and used in designing the surgical instrument 11000. For example, one ratio includes the diameter (D) of the longitudinal portion 11160 divided by the torque arm length (TA) fully articulated to the right. The value of this ratio is unitless. In at least one example, the diameter (D) of the longitudinal portion 11160 is 0.316 inches and the torque arm length (TA) is 0.154 inches, resulting in a ratio value of, for example, 2.06. A lower ratio value indicates a more efficient joint system. In various cases, the ratio value is less than 2.0, such as between 1.0 and 2.0. In at least one example, the ratio value is between 2.0 and 3.0. For example, the ratio value may be less than 3.38.

[0098] Further to the above, the outer tube 11110 of the shaft 11100 includes a longitudinal portion 11160 and an enlarged distal end 11170 (FIG. 80). Referring again to FIG. 40, the entirety of the joint lock 11400 is disposed in the longitudinal portion 11160, but not in the enlarged distal end 11170. However, embodiments are envisioned in which at least a portion of the joint lock 11400 is disposed in the enlarged distal end 11170. In at least one such example, the joint lock 11400 is attached to the shaft frame such that the distal end 11402 of the joint lock 11400 is at the enlarged distal end 11170 of the outer tube 11110. In certain examples, the joint lock 11400 is repositioned such that the movable end of the joint lock 11400 is disposed in the enlarged distal end 11170 of the outer tube 11110. In various cases, the entire joint lock 11400 is disposed at the enlarged distal end 11170 .

[0099] 46, the surgical instrument 14000 comprises a shaft 14100, an end effector 11500, and an articulation drive system including an articulation drive actuator 14310 configured to articulate the end effector 11500. The shaft 14100 comprises a joint lock system configured to selectively lock the articulation drive actuator 14310 and the end effector 14500 in position. The joint lock system comprises a joint lock 14400 including proximal and distal ends attached to a frame 14180 of the shaft 14100. In at least one respect, the joint lock 14400 comprises a beam that is fixed and / or simply supported at both ends. The joint lock 14400 further comprises an intermediate portion 14404 disposed in a cavity 14184 defined in the shaft frame 14180, the shaft frame configured to move laterally toward and away from an articulation drive actuator 14310 of the articulation drive system 14300. Similar to above, the joint lock 14400 comprises one or more spring portions 14403 configured to allow the joint lock 14400 to flex toward and away from the articulation drive actuator 14310.

[0100] Further to the above, the intermediate portion 14404 of the joint lock 14400 includes one or more teeth 14406 defined thereon configured to engage with the articulation drive actuator 14310. The teeth 14406 are arranged in a longitudinal array. However, any suitable arrangement may be used. The articulation drive actuator 14310 includes a longitudinal array of teeth 14316 defined thereon configured to be engaged by the articulation lock teeth 14406. The joint lock system further includes a locking plate 14420 slidably disposed within the shaft cavity 14184, the shaft cavity including a longitudinal array of teeth 14226 configured to be engaged by the articulation lock teeth 14406. As described in more detail below, when the joint lock 14400 is in a fully locked state, the joint lock teeth 14406 engage with the drive actuator teeth 14316 and the lock plate teeth 14226, causing the joint lock 14400 to lock the articulation drive actuator 14310 in position and preventing, or at least inhibiting, relative motion between the articulation drive actuator 14310 and the shaft frame 14180.

[0101] The lock plate 14420 includes a shoulder 14424 disposed below the articulation drive actuator 14310. The lock plate teeth 14426 are defined on a lateral edge of the shoulder 14424 and are substantially aligned with the teeth 14316 defined on the articulation drive actuator 14310. In at least one example, the articulation drive actuator teeth 14316 are aligned along a first tooth axis and the lock plate teeth 14406 are defined along a second tooth axis that is parallel or at least substantially parallel to the first tooth axis. In various examples, the drive actuator teeth 14316 are defined in a plane that is parallel to a plane that includes the lock plate teeth 14406. Such a configuration allows the articulation lock 14400 to simultaneously engage the lock plate 14420 and the articulation drive actuator 14310. The first tooth axis and the second tooth axis are parallel to the longitudinal axis of the shaft 14100, although embodiments are envisioned in which the first tooth axis and the second tooth axis are oblique or transverse to the longitudinal axis of the shaft 14100.

[0102] Referring again to FIG. 46 , the lock plate 14420 is slidable longitudinally within the cavity 14184. However, the longitudinal movement of the lock plate 14420 is limited by the proximal and distal end walls 14427. As a result, the lock plate 14420 can enter the shaft cavity 14184 between the end walls 14427. In various examples, when the articulation lock 14400 engages the teeth 14426 and 14316, the lock plate teeth 14426 may not be fully aligned with the drive actuator teeth 14316. In such cases, the lock plate 14420 can move longitudinally to a certain extent such that the lock plate teeth 14426 are aligned with the drive actuator teeth 14316. In various examples, the lock plate 14420 can move in response to a locking force applied thereto by the articulation lock 14400. In at least one example, the locking plate 14420 can move one tooth pitch distance distally and one tooth pitch distance proximally relative to its central position, e.g., a tooth pitch distance is the distance between the peaks of adjacent locking teeth 14426 of the locking plate 14420. In other examples, the locking plate 14420 can move ¼ of a tooth pitch distance distally and ¼ of a tooth pitch distance proximally relative to its central position, for example. In various examples, the locking plate 14420 can move proximally and distally two or more tooth pitch distances.

[0103] In addition to the above, the joint lock 14400 is configurable in three states: a self-locked state, an unlocked state, and a fully locked state. When the joint lock 14400 is in the self-locked state, the teeth 14406 of the joint lock 14400 engage with the drive actuator teeth 14316 and the shaft frame teeth 14186. In such a case, the joint lock 14400 can resist the force transmitted through the articulation drive actuator 14310. However, proximal and / or distal movement of the articulation drive actuator 14310 can overcome the holding force of the joint lock 14400 and displace the joint lock 14400 to its unlocked configuration. In such a case, the joint lock 14400 can bend or flex laterally away from the drive actuator 14310 to allow the end effector 11500 to articulate. Similar to above, the spring member 14403 of the joint lock 14400 can resiliently return, or at least bias, the joint lock 14400 to its self-locking configuration such that, as described below, the articulation drive system can lock and unlock itself as a result of its own movement unless it is disposed in its fully locked position.

[0104] Similarly, the shaft 14100 of the surgical instrument 14000 includes a closure tube that advances distally during a closure stroke to close the end effector 11500. Prior to the closure stroke, the joint lock 14400 is movable between its self-locking and unlocked configurations to allow the end effector 11500 to be articulated by the articulation drive system. During the closure stroke, the closure tube is configured to engage the joint lock 14400 and position, block, and / or hold the joint lock 14400 in its fully locked configuration. More specifically, the closure tube includes a cam 14118 configured to engage a cam surface 14405 defined on a rear surface of the joint lock 14400 and prevent the joint lock teeth 14406 from falling off the drive actuator teeth 14316 and the shaft frame teeth 14186. The cam 14118 includes an angled surface 14115 that engages a corresponding angled surface defined on the cam surface 14405, although any suitable configuration may be used. Once the closure tube is retracted proximally, thereby allowing the end effector 11500 to open, the tab 14118 disengages from the joint lock 14400, which is free to move between the self-locking and unlocked positions, as described above, thereby allowing the end effector 11500 to be re-articulated.

[0105] When the joint lock 14400 is moved to the fully locked configuration by the closure tube, referring again to FIG. 46 , the joint lock 14400 presses the lock plate 14420 against the lateral side wall 14183 of the shaft cavity 14184. In effect, the joint lock 14400 engages the lock plate 14420 with sufficient force to pin the lock plate 14420 to the side wall 14183, such that the lock plate 14420 cannot move, or at least cannot move substantially, longitudinally relative to the shaft frame 14180. The locking plate 14420 has one or more protrusions 14422 extending therefrom which are configured to dig into, bite into, and / or deflect the side wall 14183 of the shaft cavity 14184 when the locking plate 14420 is pressed against the side wall 14183, preventing, or at least reducing the likelihood of, the locking plate 14420 moving longitudinally relative to the shaft frame 14180.

[0106] Further to the above, the shaft frame 14180 includes one or more cavities or openings defined therein that are configured to permit and / or facilitate deflection of the sidewall 14183. For example, as shown in FIG. 46, the shaft frame 14180 includes a cavity 14182 defined therein that is aligned or at least substantially aligned with the protrusion 14422. As described above, when the locking plate 14420 is laterally displaced by the closure tube, the sidewall 14183 is elastically displaced into the cavity 14182 and the locking plate 14420 is locked in position. In such a case, engagement of the shaft frame 14180 and the locking plate 14420 prevents the articulation drive actuator 14310 from moving longitudinally and locks the end effector 11500 in position. As the closure tube is retracted and disengaged from the articulation lock 14400, the side wall 14183 returns to its unflexed state, allowing the locking plate 14420 to be laterally displaced. At such point, the locking plate 14420 is unlocked and the end effector 11500 can be articulated, as outlined above.

[0107] The surgical instrument 15000 is shown in Figures 47-49 and is similar in many respects to the surgical instrument 14000, most of which will not be repeated here for the sake of brevity. Among other things, the surgical instrument 15000 comprises a shaft, an end effector 11500, and an articulation drive system including an articulation drive actuator 14310. The surgical instrument 15000 further comprises a joint locking system including a joint lock 15400 movable between a self-locking position, an unlocked position, and a fully locked position, similar to that described above. The joint locking system further comprises a locking plate 15420 similar in many respects to the locking plate 14420. For example, the locking plate 15420 can be laterally movable to engage the wall 14183. Also, for example, the locking plate 15420 is longitudinally movable into a proper locked position in which an array of teeth 15426 defined on the locking plate 15420 engages the teeth 14406 of the joint lock 15400, as shown in FIG. 48. Thus, the shaft of the surgical instrument 15000 further includes a distal spring 15429 located intermediate the locking plate 15420 and a distal end wall 15427 defined on the shaft frame, and a proximal spring 15429 located intermediate the locking plate 15420 and a proximal end wall 15427 defined on the shaft frame. The spring 15429 is configured to position the locking plate 15420 in a centered or balanced position between the end walls 15427, as shown in FIG. Such a centered position creates a proximal gap (PG) and a distal gap (DG) between the end wall 15427 and the locking plate 15420 that are equal, or at least substantially equal, to one another. Thus, the springs 15429 may be subject to different deflections or loads when the locking plate 15420 is positioned to mate with the joint lock 15400, as shown in FIG. 49, which may create unequal gaps in the PG and DG.

[0108] The surgical instrument 16000 is shown in FIGS. 50-52 and is similar in many respects to the surgical instruments 14000 and 15000, most of which will not be repeated here for the sake of brevity. Among other things, the surgical instrument 16000 comprises a shaft, an end effector 11500, and an articulation drive system including an articulation drive 16310. Referring to FIG. 50, the surgical instrument 16000 further comprises a joint locking system including a joint lock 16400, which, as described above, can be configured in a self-locking configuration, an unlocked configuration, and a fully locked configuration. The joint locking system further comprises a locking plate 16420, which is similar in many respects to the locking plate 14420. For example, as shown in FIG. 51, the locking plate 16420 can be laterally movable to engage the wall 14183. Also, for example, the locking plate 16420 is longitudinally movable into a suitable locked position where the teeth 16426 of the locking plate 16420 engage with the teeth 16406 of the joint lock 16400, as shown in FIG. 52. Furthermore, the teeth 16406 of the joint lock 16400, the teeth 16426 of the locking plate 16420, and the locking teeth 16316 of the joint drive 16310 are constructed and arranged to provide a plurality of positions or permutations of positions where the joint lock 16400 can lock the joint drive 16310 to the locking plate 16420. For example, the joint locking system can reach a fully locked configuration in one set of positions shown in FIG. 51 and a different set of positions shown in FIG. 52.

[0109] The above adaptability of the joint locking system can be achieved via the tooth pitches of the joint lock teeth 16406, the joint drive teeth 16316 and the locking plate teeth 16426. For example, referring primarily to FIG. 50 , the joint lock teeth 16406 are set at a first pitch 16407, the joint drive teeth 16316 are set at a second pitch 16317 and the locking plate teeth 16426 are set at a third pitch 16427. Although the first pitch is different from the second pitch and the third pitch, which is different from the first pitch and the third pitch, which is different from the first pitch and the second pitch, the embodiment assumes that the two of the first pitch, second pitch and third pitch are the same. Referring again to FIG. 50, the third pitch 16427 of the lock plate teeth 16426 is greater than the second pitch 16317 of the articulation drive teeth 16316, which is greater than the first pitch 16407 of the articulation lock teeth 16406, although any suitable configuration may be used.

[0110] The surgical instrument 17000 is shown in Figures 53-56 and is similar in many respects to the surgical instrument 11000, most of which will not be repeated here for the sake of brevity. The surgical instrument 17000 comprises a shaft, an end effector 11500 rotatably connected to the shaft about an articulation joint 11200, and an articulation drive system configured to articulate the end effector 11500 about the articulation joint 11200. As above, the articulation drive system comprises an articulation link 17320 rotatably mounted to the jaw 11600 about a pin 11620, and an articulation drive 17310 rotatably mounted to the articulation link 17320 about a pin 17315. The surgical instrument 17000 further comprises an articulation lock 17400 movably mounted to a shaft frame of the surgical instrument 17000, which is movable between an unlocked position and a locked position. The joint lock 17400 includes a distal end 17402 fixedly attached to the shaft frame and a proximal end 17404 slidably attached to the shaft frame. More specifically, the shaft frame includes a pin that extends into an opening defined in the distal end 17402 of the joint lock 17400 and a guide protrusion 17114 that extends into an elongated opening defined in the proximal end 17404. In certain examples, the shaft frame can include two or more pins that extend into openings defined in the distal end 17402 of the joint lock 17400 to secure the distal end 17402 to the shaft frame and prevent the distal end 17402 from rotating relative to the shaft frame. As a result of the above, at least the proximal end 17404 of the joint lock 17400 is movable relative to the shaft frame to engage the articulation drive 17310 and lock the articulation system and end effector 11500 in place.

[0111] Further to the above, the joint drive 17310 includes a longitudinal rack of teeth 17316 defined thereon and the joint lock 17400 includes a longitudinal rack of teeth 17406 defined thereon. When the joint lock 17400 is in its unlocked position, as shown in FIGS. 53 and 54 , the teeth 17406 of the joint lock 17400 are not engaged with the teeth 17316 of the joint drive 17310. In such a case, the joint drive 17310 is free to move relative to the joint lock 17400 to articulate the end effector 11500. When the joint lock 17400 is in a partially locked position, as shown in FIG. 55 , the joint lock teeth 17406 are partially engaged with the joint drive teeth 17316. In such a case, proximal and distal movement of the joint drive 17310 is prevented by the joint lock 17400. However, the joint drive 17310 can still move relative to the joint lock 17400 to articulate the end effector 11500. When the joint lock 17400 is in a fully locked position, as shown in FIG. 56 , the joint lock teeth 17406 are fully engaged with the joint drive teeth 17316. In such a case, proximal and distal movement of the joint drive 17310, and articulation of the end effector 11500, is prevented by the joint lock 17400.

[0112] Further to the above, the surgical instrument 17000 does not include a biasing member other than the closure member or tube 17110 configured to move the joint lock 17400 towards the articulation drive 17310. The closure tube 17110 is configured to engage the joint lock 17400 and move the joint lock 17400 from its unlocked position ( FIG. 54 ) to its partially locked position ( FIG. 55 ) and fully locked position ( FIG. 56 ). As above, the closure tube 17110 includes a cam 17118 configured to engage a cam surface defined on the joint lock 17400, although other configurations may be used. The closure tube 17110 is configured to move the joint lock 17400 between its unlocked position and its partially locked position as the closure tube 17110 moves distally through a partial closure stroke (PCS) that at least partially closes the end effector 11500. In such a case, the end effector 11500 of the surgical instrument 17000 can be used, for example, to grasp tissue of a patient. The closure tube 17110 is configured to move the articulation lock 17400 to its fully locked position when the closure tube 17110 moves distally through a fully closed stroke (FCS) that fully closes the end effector 11500. In such a case, the end effector 11500 of the surgical instrument 17000 can be used, for example, to fully clamp tissue of a patient.

[0113] As discussed above, the locking force applied by the joint lock 17400 to the joint drive 17310 increases as the closure tube 17110 advances distally. Stated another way, the joint locking force is a function of the closure tube 17110 stroke. In addition to the above, and with reference to FIG. 57, the locking force between the joint drive 17310 and the joint lock 17400 is represented by line 17101. As shown in FIG. 57, the joint lock tooth 17406 first becomes engaged with the joint drive tooth 17316 during the partial closure stroke. In at least one example, such initial engagement of the tooth 17406 and 17316 occurs after approximately 0.050 inches of the closure stroke of the closure tube 17110, although any suitable distance may be used. Notably, such initial engagement of the tooth 17406 and 17316 does not necessarily coincide with the end of the partial closure stroke. Rather, it may occur at some point in the partial closure stroke (PCS). It also occurs at some point during the full closure stroke (FCS). However, such initial engagement does not include a locking force combination. Instead, the locking force combination between teeth 17406 and 17316 is established only during the full closure stroke (FCS). In at least one example, the length of the full closure stroke (FCS) is, for example, about 0.260 inches.

[0114] The surgical instrument 18000 is shown in Figures 58-60 and is similar in many respects to the surgical instruments 11000 and 17000, most of which will not be repeated here for the sake of brevity. The surgical instrument 18000 comprises a shaft, an end effector 11500 rotatably connected to the shaft about an articulation joint, and an articulation system configured to articulate the end effector 11500. The shaft comprises a frame 18180 including first and second longitudinal racks of teeth 18186 that are parallel or at least substantially parallel to one another, although the racks of teeth 18186 can extend laterally from one another. The surgical instrument 18000 further comprises an articulation lock 18400 and a closure member including a cam 18118. The articulation lock 18400 includes a first locking arm 18410 configured to engage a first longitudinal rack of the teeth 18186 and a second locking arm 18420 configured to engage a second longitudinal rack of the teeth 18186. Referring primarily to FIGS. 59 and 60 , the first locking arm 18410 has a first cam surface 18415 defined thereon and the second locking arm 18420 has a second cam surface 18425 defined thereon that are configured to contact the cam 18118 during a closing stroke of the closure member and displace or flex outwardly into fully locked engagement with the longitudinal rack of the teeth 18186. Additionally, one or both of the locking arms 18410 and 18420 also engage the articulation system to lock the end effector 11500 in place when the locking arms 18410 and 18420 are displaced outwardly into engagement with the shaft frame 18180.

[0115] Once displaced or bent to the fully locked state, the locking arms 18410 and 18420 define a longitudinal slot 18430 therebetween that is configured to allow passage of, for example, the cam 18118 during the remainder of the closing stroke. Moreover, in such case, the cam 18118 urges the articulation lock 18400 into engagement with the frame 18180 to securely hold the locking arms 18410 and 18420 in their fully locked position.

[0116] In at least one alternative embodiment, further to the above, the first lock arm 18410 of the joint lock 18400 can be configured to engage with the shaft frame 18180 of the surgical instrument 18000, and the second lock arm 18420 of the joint lock 18400 can be configured to engage with the articulation system of the surgical instrument 18000.

[0117] The surgical instrument 19000 is shown in Figures 61-65 and is similar in many respects to the surgical instrument 11000, most of which will not be repeated here for the sake of brevity. The surgical instrument 19000 comprises a shaft 19100 including a closure member 19110, an end effector 11500 rotatably connected to the shaft 19100 about an articulation joint 11200, and an articulation drive system 19300 including an articulation drive 19310 configured to articulate the end effector 11500 about the articulation joint 11200. Referring primarily to Figure 61, the surgical instrument 19000 further comprises an articulation lock 19400 configured to selectively engage the articulation drive system 19300 and lock the end effector 11500 in place. The shaft 19100 further comprises a frame 19180, and the joint lock 19400 is movably mounted to the frame 19180 between an unlocked position ( FIG. 61 ), a partially locked position ( FIG. 63 ), and a locked position ( FIG. 64 ). As described in more detail below, the joint lock 19400 is movable laterally towards the joint drive 19310 to bring the joint lock 19400 into closer proximity with the joint drive 19310 ( FIG. 63 ), and into laterally interfering with the joint drive 19310 ( FIG. 64 ).

[0118] Further to the above, the shaft frame 19180 includes a proximal guide post 19182 and a distal guide post 19184. The proximal guide post 19182 extends into a transversely elongated slot defined in a proximal end 19402 of the joint lock 19400, and similarly, the distal guide post 19184 extends into a transversely elongated slot defined in a distal end 19404 of the joint lock 19400. The transversely elongated slot allows the joint lock 19400 to move laterally toward and away from the articulation drive 19310, as outlined above. The transversely elongated slot also defines a lateral path of the joint lock 19400 and prevents, or at least substantially prevents, longitudinal movement of the joint lock 19400 relative to the shaft frame 19180. As a result, the elongated slot of the joint lock 19400 can guide the joint lock 19400 between an unlocked position ( FIG. 61 ) in which the locking teeth 19406 of the joint lock 19400 do not engage with the longitudinal rack of teeth 19316 defined on the articulation drive part 19310, a partially locked position ( FIG. 63 ) in which the locking teeth 19406 partially engage with the teeth 19316, and a fully locked position ( FIG. 64 ) in which the locking teeth 19406 fully engage with the teeth 19316.

[0119] In addition to the above, the articulation lock 19400 further comprises a longitudinal cam slot 19408 defined therein, and the closure member 19110 comprises a cam pin 19188 disposed in the cam slot 19408. When the closure member 19110 is in the unactuated or open position ( FIG. 61 ), the cam pin 19188 is disposed in a proximal portion 19408a of the cam slot 19408. When the closure member 19110 is moved distally to a partially actuated or partially closed position, as shown in FIG. 62 , the cam pin 19188 moves to a central portion 19408b of the cam slot 19408. In such a case, the cam pin 19188 displaces the articulation lock 19400 toward the articulation drive 19310. However, in such a case, the teeth 19406 of the joint lock 19400 may not engage the teeth 19316 of the articulation drive 19310, such that the articulation drive 19310 can still move to articulate the end effector 11500 relative to the shaft 19100. As a result, the end effector 11500 can only be articulated when the closing stroke of the closure member 19110 is partially completed.

[0120] As the closure member 19110 is moved further distally, as shown in FIG. 63 , the cam pin 19188 is moved into the distal portion 19408c of the cam slot 19408. In such case, the cam pin 19188 displaces the joint lock 19400 into closer approximation with the joint drive 19310 and further into partial meshing with the teeth 19316 of the joint drive 19310. Thus, such partial meshing between the teeth 19406 and 19316 can only withstand a certain amount of force transmitted through the joint drive 19310, and such resistance can be overcome to move the joint drive 19310 relative to the joint lock 19400 and articulate the end effector 11500.

[0121] Further to the above, the joint lock 19400 is not lifted or lowered laterally relative to the shaft frame 19180 during the partial closing stroke of the closure member 19110 (FIGS. 61-63). Rather, the joint lock 19400 is lifted upwards such that the teeth 19406 of the joint lock 19400 fully engage the teeth 19316 of the articulation drive 19310 during the final or last portion of the closing stroke of the closure member 19110, locking the articulation drive 19310 in place, as shown in FIG. 64. The joint lock 19400 is moved upwards by a different cam pin extending from the closure member 19110, namely the cam pin 19189, which engages the joint lock 19400 at the end of the closing stroke of the closure member 19110. In particular, the cam pin 19189 does not engage the joint lock 19400 at the beginning of the closing stroke or during the partial closing stroke of the closure member 19110. At most, the cam pin 19189 may make sliding contact with the bottom of the joint lock 19400 during the partial closing stroke. Thus, referring primarily to FIG. 65, the joint lock 19400 includes a notch or recess 19409 defined therein to provide clearance between the cam pin 19189 and the joint lock 19400 during the partial closing stroke. That is, when the cam pin 19189 reaches the end of the recess 19409, the cam pin 19189 contacts the joint lock 19400 and drives the joint lock 19400 laterally upwards until the lock teeth 19406 interfere and engage with the teeth 19316 of the joint drive 19310, as shown in FIG. 64, and the joint lock 19400 is placed in a fully locked position. At such point, the joint drive 19310 is locked in place and cannot be moved longitudinally to articulate the end effector 11500.

[0122] 65, the teeth 19316 of the articulation drive 19310 are angled or tilted relative to the longitudinal axis of the shaft 19100. The locking teeth 19406 of the joint lock 19400 are not angled or are angled in a different orientation than the teeth 19316. As a result, the locking teeth 19406 of the joint lock 19400 can partially engage with the teeth 19316 of the articulation drive 19310 when the joint lock 19400 is in its lowered position (FIG. 63) and can fully engage with the teeth 19316 when the joint lock 19400 is in its raised position (FIG. 64).

[0123] To unlock the articulation system 19300 of the surgical instrument 19000, the closure member 19110 must be retracted to disengage the cam pin 19189 from the joint lock 19400 so that the joint lock 19400 can return to its lowered position. Once the cam pin 19189 is disengaged from the joint lock 19400, the proximal retraction of the cam pin 19188 can drive the joint lock 19400 downward when the cam pin 19188 is pulled proximally through the cam slot 19408. Additionally, the cam pin 19188 can displace the joint lock 19400 away from the articulation drive 19310 when pulled proximally. In various embodiments, the shaft 19110 can include one or more biasing members, such as, for example, a spring configured to bias or push the joint lock 19400 downward to quickly reset the joint lock to the unlocked position.

[0124] The surgical instrument 20000 is shown in Figures 66-68 and is similar in many respects to the surgical instruments 11000, 17000, 18000 and 19000, most of which will not be repeated here for the sake of brevity. The surgical instrument 20000 comprises a shaft including an closure tube 20110, an end effector 11500 rotatably attached to the shaft about an articulation joint 11200, and an articulation system configured to articulate the end effector 11500 relative to the shaft about the articulation joint 11200. As above, the articulation system comprises an articulation link 20320 rotatably pinned to the end effector 11500, and an articulation actuator 20310 rotatably pinned to the articulation link 20320. In use, the articulation actuator 20310 is moved proximally and / or distally to drive the articulation link 20320 and articulate the end effector 11500. The surgical instrument 20000 further includes a joint lock system including a joint lock gear 20400 rotatably mounted to the shaft frame about a fixed axis. The joint lock gear 20400 includes an annular array of teeth 20406 that meshingly engage with a longitudinal array of teeth 20316 defined on the articulation actuator 20310. As a result, generally referring to FIG. 66 , the joint lock gear 20400 rotates in response to proximal and / or distal movement of the articulation actuator 20310 until the joint lock gear 20400 is locked in place by the closure tube 20110, as shown in FIG. 68 .

[0125] Further to the above, the joint lock system further comprises a lock arm 20405 extending from the shaft frame into a central opening defined in the joint lock gear 20400, the closure tube 20110 being moved distally during a closing stroke to close the end effector 11500, a cam or wedge 20118 of the closure tube 20110 configured to engage the lock arm 20405 and open the lock arm 20405 outwardly to engage the joint lock gear 20400. When the lock arm 20405 engages the joint lock gear 20400, the lock arm 20405 can prevent rotation of the joint lock gear 20400 and longitudinal movement of the articulation actuator 20310. In such a case, the locking arms 20405 can prevent, or at least substantially prevent, articulation of the end effector 11500 until the wedges 20118 of the closure tube 20110 are retracted proximally during the opening stroke and the locking arms 20405 resiliently return to their unbent, or unlocked, configuration.

[0126] In addition to the above, the articulation system of the surgical instrument 20000 can be disposed in an unlocked configuration (FIG. 66), a partially locked configuration (FIG. 67), and a fully locked configuration (FIG. 68). The articulation system can be disposed in its partially locked configuration (FIG. 67) when the closure tube 20110 is advanced distally through a partial closed stroke (PCS). In such a case, the end effector 11500 can be articulated even though the lock arm 20405 is at least partially closed but partially engaged with the articulation lock gear 20400. More specifically, the articulation lock gear 20400 can still rotate despite the drag caused by the partial engagement of the lock arm 20405 with the articulation lock gear 20400. In at least one example, the PCS is about .050 inches, for example. The articulation system can be disposed in its fully locked configuration (FIG. 68) when the closure tube 20110 is advanced distally through a fully closed stroke (FCS). In such a case, the end effector 11500 is fully closed and cannot be articulated until the articulation system returns to its partially locked and / or unlocked configuration.

[0127] The surgical instrument 21000 is shown in Figures 69-71 and is similar in many respects to the surgical instruments 11000, 17000, 18000, 19000 and 20000, most of which will not be repeated here for the sake of brevity. The surgical instrument 21000 comprises a shaft including a closure member 21110, an end effector 11500 rotatably mounted to the shaft about an articulation joint 11200, and an articulation system including an articulation actuator 21130 configured to articulate the end effector 11500 relative to the shaft about the articulation joint 11200. The surgical instrument 21000 further includes an articulation locking system including an articulation locking gear 21400 rotatably mounted to the frame of the shaft about a fixed axis. The joint lock gear 21400 comprises an annular array of teeth 21406 that meshingly engage with a longitudinal array of teeth 21316 defined on the articulation actuator 21310. As a result, referring to FIG. 69, the joint lock gear 21400 rotates in response to proximal and / or distal longitudinal movement of the articulation actuator 21310 until the joint lock gear 21400 is locked in place by the closure member 21110 (FIG. 71), as described in more detail below.

[0128] In addition to the above, the articulation lock system of the surgical instrument 21000 further comprises a movable locking element 21405 slidably mounted to the shaft frame. More specifically, referring primarily to FIG. 69, the locking element 21405 includes a guide protrusion 21402 extending into a laterally elongated slot 21403 defined in the shaft frame configured to allow the locking element 21405 to slide laterally toward and / or away from the articulation drive 21310. Further, referring to FIG. 70, the locking element 21405 slides laterally within an opening defined in the articulation lock gear 21400 between an unlocked position (FIG. 69) and a locked position (FIG. 71). The locking element 21405 comprises an annular arrangement of locking teeth 21407 and the articulation lock gear 21400 comprises an annular arrangement of locking teeth 21408 defined about an inner opening thereof, and when the locking element 21405 is in its unlocked position ( FIG. 69 ), the locking teeth 21407 of the locking element 21405 are not engaged with the locking teeth 21408 of the articulation lock gear 21400. When the locking element 21405 is in its locked position ( FIG. 71 ), the locking teeth 21407 of the locking element 21405 engage with the locking teeth 21408 of the articulation lock gear 21400 and the articulation lock gear 21400 cannot rotate and as a result, the articulation actuator 21300 is prevented from being moved longitudinally to articulate the end effector 11500.

[0129] 69-71 illustrate the distal progression of the closure member 21110 during a closing stroke. FIG. 69 illustrates the closure member 21110 in an unactuated or open position. In such position, the closure member 21110 does not engage the locking element 21405. FIG. 70 illustrates the closure member 21110 in a partially closed position, in which the closure member 21110 has at least partially closed the end effector 11500. In such position, the cam surface 21115 of the closure member 21110 engages the locking element 21405. In at least one example, the closure member 21110 moves approximately 0.050 inches distally from its open position (FIG. 69) to its partially closed position (FIG. 70). FIG. 71 illustrates the closure member 21110 in a fully closed position, in which the closure member 21110 has fully closed the end effector 11500. In such a position, the cam surface 21115 is moved by the locking element 21405 and the locking element 21405 is displaced by the entire thickness of the closure member 21110 .

[0130] In view of the above, a surgical instrument may include a joint locking system configured to prevent an end effector of the surgical instrument from being articulated and / or unintentionally back-driven by a load or torque applied to the end effector. At least a portion of the joint locking system may be moved into engagement with an articulation drive system of the surgical instrument to prevent articulation of the end effector. In at least one example, the joint lock may be integral with the articulation drive system, as described in more detail below.

[0131] 72-74, the surgical instrument 22000 comprises a shaft and an articulation drive system 22300 configured to articulate an end effector, such as, for example, the end effector 11500 of the surgical instrument 22000, relative to the shaft. The articulation drive system 22300 comprises an articulation drive 22310 and a pinion gear 22320. The articulation drive 22310 includes a longitudinal rack of teeth 22316 defined thereon that operably mesh with teeth 22326 of the pinion gear 22320. Distal translation of the articulation drive 22310 causes the pinion gear 22320 to rotate in a first direction. Similarly, proximal translation of the articulation drive 22310 causes the pinion gear 22320 to rotate in a second direction. The pinion gear 22320 has a bevel gear 22330 fixedly attached thereto, which rotates with the pinion gear 22320 about a common axis of rotation. The combined assembly of the pinion gear 22320 and the bevel gear 22330 is rotatably mounted within the shaft of the surgical instrument 22000.

[0132] Further to the above, the teeth 22336 of the bevel gear 22330 meshingly engage with the teeth 22346 of the bevel gear 22340, which is rotatably mounted about the rotatable threaded articulation lead screw 22350. More specifically, the bevel gear 22340 includes a nut portion including an at least partially threaded opening that threadably engages with the articulation lead screw 22350. When the bevel gear 22340 is rotated in a first direction by the articulation drive 22310 via the bevel gear 22330, the bevel gear 22340 rotates the articulation lead screw 22350 in the first direction. Similarly, when the bevel gear 22340 rotates in a second direction, the bevel gear 22340 rotates the articulation lead screw 22350 in the second direction. Furthermore, when the articulation lead screw 22350 rotates in its first direction, the end effector 11500 rotates in a first direction, and correspondingly, when the threaded articulation drive shaft 22350 rotates in its second direction, it rotates in a second direction.

[0133] In addition to the above, the thread pitch of the threaded articulation lead screw 22350 can be selected to prevent backdriving within the articulation drive system 22300. Stated another way, the thread steepness defined in the articulation lead screw 22350 can resist forces and / or torques transmitted proximally from the end effector 11500 through the articulation drive system 22300, thereby preventing the end effector 11500 from being unintentionally articulated. Thus, the thread pitch can function as a joint lock integral with the articulation drive system 22300. In at least one example, the articulation lead screw includes, for example, an ACME lead screw.

[0134] 75-79, the surgical instrument 23000 comprises a shaft and an articulation drive system 23300 configured to articulate an end effector, such as, for example, the end effector 11500 of the surgical instrument 23000, relative to the shaft. The articulation drive system 23300 comprises an articulation drive 23310 and a pinion gear 23320. The articulation drive 23310 includes a longitudinal rack of teeth 23316 defined thereon that operably mesh with teeth 23326 of the pinion gear 23320. Distal translation of the articulation drive 23310 causes the pinion gear 23320 to rotate in a first direction. Similarly, proximal translation of the articulation drive 23310 causes the pinion gear 23320 to rotate in a second direction. The pinion gear 23320 has a worm gear 23330 fixedly attached thereto, which rotates with the pinion gear 23320 about a common axis of rotation. The combined assembly of the pinion gear 23320 and the worm gear 23330 is rotatably mounted within the shaft of the surgical instrument 23000.

[0135] Further to the above, the teeth 23336 of the worm gear 23330 meshingly engage with the teeth 23346 of a worm 23340 rotatably mounted to the shaft frame. The worm 23340 includes a pinion gear 23350 fixedly mounted thereto, which rotates with the worm 23340 about a common axis of rotation. The pinion gear 23350 is operatively engaged with a translatable articulation output driver 23360. More specifically, the pinion gear 23350 includes teeth 23356 that meshingly engage with a rack of teeth 23366 defined on the output driver 23360. When the worm 23340 is rotated in a first direction by the articulation drive 23310 via the worm gear 23330, the pinion gear 23350 drives the output driver 23360 distally. Correspondingly, when the worm 23340 is rotated in a second direction by the worm gear 23330, the worm 23340 and pinion gear 23350 drive the output driver 23360 proximally. Further, the end effector 11500 rotates in a first direction when the output driver 23350 is driven distally by the articulation drive system 23330 and in a second direction when the output driver 23350 is driven proximally by the articulation drive system 23330.

[0136] In addition to the above, the thread pitch of the worm 23340 can be selected to prevent back driving within the articulation drive system 23300. Stated another way, the steepness of the threads defined in the worm 23340 can resist forces and / or torques transmitted proximally from the end effector 11500 through the articulation drive system 23300, for example, and can prevent the end effector 11500 from being unintentionally articulated. Thus, the thread pitch can function as a joint lock integral with the articulation drive system 23300.

[0137] The surgical instrument 12000 shown in FIGS. 32-34B is similar to the surgical instrument 11000 in several respects, many of which will not be repeated here for the sake of brevity. In addition to the shaft 11100, the end effector 11500, and the articulation joint 11200, the surgical instrument 12000 further comprises a staple firing system 12900 including, for example, a firing bar 12910 extending through the articulation joint 11200. In use, the firing bar 12910 is translatable distally to perform a staple firing stroke and retractable proximally after at least a portion of the staple firing stroke is completed. The firing bar 12910 extends through a channel member or slot 11190 defined in a frame 11180 of the shaft 11100, the channel member or slot configured to closely receive and / or guide the firing bar 12910 as it moves relative to the shaft 11100. Similarly, the end effector 11500 includes a groove member or slot 11590 defined in the frame 11580 of the end effector 11500, the groove member or slot configured to closely receive and / or guide the firing bar 12910 as it moves relative to the end effector 11500.

[0138] Further to the above, the channel members 11190 and 11590 do not extend into the articulation joint 11200 and the firing bar 12910 may not be supported within the articulation joint 11200. When the end effector 11500 is in a non-articulating configuration ( FIG. 34 ), the firing bar 12910 is unlikely to buckle within the articulation joint 11120 during the staple firing stroke, but when the end effector 11500 is in an articulating configuration, the likelihood of the firing bar 12910 buckling laterally during the staple firing stroke increases ( FIGS. 34A and 34B ). To reduce the likelihood of such buckling, the surgical instrument 12000 further comprises a firing bar support 12400 configured to support the firing bar 12910. The firing bar support 12400 includes a proximal portion 12410 connected to the shaft frame 11180, a distal portion 12430 connected to the end effector frame 11580, and an intermediate portion 12420 extending between the proximal portion 12410 and the distal portion 12430. The portions 12410, 12420, and 12430 of the firing bar support 12400 are integrally formed. However, other embodiments are envisioned in which the portions 12410, 12420, and 12430 are assembled together and / or comprise separate components.

[0139] Further to the above, the distal portion 12430 of the firing bar support 12400 is fixedly attached to the end effector frame 11580 and does not move, or at least does not move substantially, relative to the end effector frame 11580. The intermediate portion 12420 of the firing bar support 12400 includes one or more sections of reduced cross-section that, among other things, allow the firing bar support 12400 to flex within the articulation joint 11200 when the end effector 11500 articulates. The proximal portion 12410 of the firing bar support 12400 is slidably attached to the shaft frame 11180 such that the firing bar support 12400 can translate relative to the shaft frame 11180 when the end effector 11500 articulates. That is, the proximal portion 12410 of the firing bar support 12400 includes a proximal head 12415 that is slidable within a chamber or cavity 11185 defined in the shaft frame 11180 that can limit movement of the firing bar support 12400. However, embodiments without such movement constraints are envisioned. In any event, the proximal portion 12410, intermediate portion 12420, and distal portion 12430 of the firing bar support 12400 cooperatively define a channel member or slot 12490 that supports the firing bar 12910, particularly within the articulation joint 11200, and is configured to reduce the likelihood of the firing bar 12910 buckling during a staple firing stroke, for example.

[0140] In various examples, the firing bar 12910 is comprised of a plurality of parallel, or at least substantially parallel, layers that are secured to the distal cutting member and can partially translate or slide longitudinally relative to one another, particularly within the articulation joint 11200. Each such layer is configured to transfer loads in the same direction, i.e., proximally or distally, even when such layers can move or slide relative to one another. In addition to the above, such layers may spread laterally relative to one another when the end effector 11500 is articulated, particularly within the articulation joint 11200. The intermediate portion 12420 of the firing bar support 12400 includes a plurality of connected control elements that can at least reduce, if not prevent, the relative lateral spread of the firing bar layers. Alternatively, as described above, one or more of the control elements can be unconnected to one another.

[0141] In addition to, or instead of, the firing bar support 12400, the surgical instrument 12000 includes one or more partitions that separate and control the layers of the firing bar 12910. With reference to FIGS. 34-34B, the shaft 11110 includes a partition 12920 disposed within the layers of the firing bar 12910. Two layers of the firing bar 12910 are disposed on one side of the partition 12920 and two layers are disposed on the other side of the partition 12920, although any suitable arrangement can be used. The partition 12920 prevents half of the layers of the firing bar 12910 from splaying outward when the end effector 11500 is articulated. Stated another way, the partition 12920 prevents the two rightmost firing bar layers from spreading to the left when the end effector 11500 articulates to the right (FIG. 34A), and similarly, the partition 12920 prevents the two leftmost firing bar layers from spreading to the right when the end effector 11500 articulates to the left (FIG. 34B). The partition 12920 extends through the articulation joint 11200 and the firing bar support 12400 into the end effector 11500 and can bend when the end effector 11500 articulates. Thus, in such a case, the partition 12920 is flexible. The partition 12920 is attached to the frame 11180 of the shaft 11110 and does not move relative to the frame 11180. However, embodiments are envisioned in which the partition 12920 is not attached to the frame 11180 and can float within the firing bar layers.

[0142] The surgical instrument 13000 shown in Figures 35-39B is similar in several respects to surgical instruments 11000 and 12000, many of which will not be repeated here for the sake of brevity. In addition to the shaft 13100, end effector 13500, and articulation joint 11200, the surgical instrument 13000 further comprises a staple firing system 12900 including, for example, a firing bar 12910 extending through the articulation joint 11200. In use, the firing bar 12910 is translatable distally to perform a staple firing stroke and retractable proximally after at least a portion of the staple firing stroke is completed. 39-39B, the firing bar 12910 extends through a channel or slot 13190 defined in a frame 13180 of the shaft 13100, the channel or slot configured to closely receive and / or guide the firing bar 12190 as the firing bar 12910 moves relative to the shaft 11100. Similarly, the end effector 13500 includes a channel or slot defined in a frame 13580 of the end effector 13500, the channel or slot configured to closely receive and / or guide the firing bar 12190 as the firing bar 12910 moves relative to the end effector 13500.

[0143] Further to the above, when the end effector 13500 is in a non-articulating configuration (FIG. 39), the firing bar 12910 is less likely to buckle within the articulation joint 11120 during the staple firing stroke, but when the end effector 13500 is in an articulating configuration, the likelihood of the firing bar 12910 buckling laterally during the staple firing stroke increases (FIGS. 39A and 39B). To reduce the likelihood of such buckling, the surgical instrument 13000 further comprises a firing bar support 13400 configured to support the firing bar 12190. The firing bar support 13400 comprises a first side plate 13410 and a second side plate 13420. The side plates 13410 and 13420 are disposed on opposite sides of the firing bar 12910. Each side plate 13410, 13420 includes a proximal portion connected to the shaft frame 13180, a distal portion connected to the end effector frame 13580, and an intermediate portion extending between the proximal and distal portions. The portions of each plate 13410, 13420 are integrally formed. However, other embodiments are envisioned in which portions are assembled together and / or include separate components.

[0144] Further to the above, the first side plate 13410 includes a distal portion 13416 that is fixedly attached to the end effector frame 13580 and does not move, or at least does not substantially move, relative to the end effector frame 13580. Similarly, the second side plate 13420 includes a distal portion 13426 that is fixedly attached to the end effector frame 13580 and does not move, or at least does not substantially move, relative to the end effector frame 13580. The first side plate 13410 includes a proximal portion 13412 that is slidably attached to the shaft frame 13180 such that the first side plate 13410 can translate relative to the shaft frame 13180 when the end effector 13500 is articulated. The proximal portion 13412 includes a head that is slidable within a chamber or cavity 13185 defined in the shaft frame 13180 that can limit the movement of the firing bar support 13400. Similarly, the second side plate 13420 includes a proximal portion 13422 that is slidably attached to the shaft frame 13180 such that the firing bar support 13400 can translate relative to the shaft frame 13180 when the end effector 13500 articulates. The proximal portion 13422 includes a head that is slidable within a chamber 13185 defined in the shaft frame 13180 that can also limit the movement of the firing bar support 13400.

[0145] The first side plate 13410 includes a flexible portion 13414 located within the articulation joint 11200, which allows a distal portion 13416 of the first side plate 13410 to flex relative to the proximal portion 13412 to accommodate articulation of the end effector 13500. The flexible portion 13414 extends laterally from the first side plate 13410 and includes a hinge including a gap 13413 defined therein that allows rotation within the first side plate 13410. Additionally or alternatively, the first side plate 13410 includes a longitudinal opening 13415 defined therein that allows the first side plate 13410 to flex within the end effector 13500 to accommodate articulation of the end effector 13500. The first side plate 13410 can include any suitable number and configuration of openings and / or recesses defined in any suitable location defined therein that is configured to allow the first side plate 13410 to flex during articulation of the end effector 13500. Similarly, the second side plate 13412 includes a flexible portion 13424 located within the articulation joint 11200 that allows a distal portion 13426 of the second side plate 13420 to flex relative to the proximal portion 13422 to accommodate articulation of the end effector 13500. The flexible portion 13424 extends laterally from the first side plate 13420 and includes a hinge that includes a gap defined in the hinge that allows rotation within the second side plate 13420. Additionally or alternatively, the second side plate 13420 includes longitudinal openings defined therein that allow the second side plate 13420 to flex within the end effector 13500 to accommodate articulation of the end effector 13500. The second side plate 13420 can include any suitable number and configuration of openings and / or recesses defined therein at any suitable locations that are configured to allow the second side plate 13420 to flex during articulation of the end effector 13500.

[0146] In addition to the above, the side plates 13410 and 13420 are flexible and can resiliently return to their unbent configuration when the end effector 13500 is returned to its unarticulated configuration. In various examples, the side plates 13410 and 13420 include springs that resiliently bias the end effector 13500 to its unarticulated configuration.

[0147] The firing member 24900 is shown in FIG. 83 and FIG. 84 and may be used with any of the surgical stapling instruments disclosed herein. The firing member 24900 includes a firing bar 24910 including multiple layers, as described above. More specifically, the firing bar 24910 includes two outer layers 24911 and two inner layers 24912. The firing member 24900 further includes a distal cutting member 24920 including a tissue cutting edge 24926. The distal cutting member 24920 further includes a first cam 24922 configured to engage with a first jaw of an end effector and a second cam 24924 configured to engage with a second jaw of an end effector. That is, embodiments are envisioned in which the distal cutting member 24920 is configured to engage only one jaw of an end effector, or alternatively, none of the jaws of an end effector.

[0148] The layers 24911 and 24912 of the firing bar 24910 are welded to the distal cutting member 24920 at a weld 24930. As shown in FIG. 84 , a first weld 24930 is on a first side of the firing member 24900 and a second weld 24930 is on a second side of the firing member 24900. The first weld 24930 penetrates the first outer layer 24911 and the adjacent inner layer 24912. In various examples, the first weld 24930 penetrates completely through the adjacent inner layer 24912 and / or through other inner layers 24912 as well. The second weld 24930 penetrates the second outer layer 24911 and the adjacent inner layer 24912. In various examples, the second weld 24930 passes completely through the adjacent interior layer 24912 and / or through other interior layers 24912 as well.

[0149] Referring primarily to FIG. 83 , each weld 24930 of the firing member 24900 includes a weld line configured to securely hold the firing bar 24910 to the cutting member 24920 while simultaneously providing a flexible connection therebetween. Each weld 24930 includes a butt weld 24931 that connects the cutting member 24920 to the distal ends of the plates 24911 and 24912 and is in tension and / or compression when a longitudinal firing force is transmitted through the firing member 24900. The butt welds 24931 are perpendicular or at least substantially perpendicular to the longitudinal firing axis (FA) of the firing member 24900. The butt welds 24931 may include any suitable configuration, such as a square, closed square, single bevel, double bevel, single J-shaped, double J-shaped, single V-shaped, double V-shaped, single U-shaped, double U-shaped, flange, flare, and / or tee configuration.

[0150] Further to the above, each weld 24930 further comprises a distal hook weld 24932 and a proximal hook weld 24933. Each hook weld 24932 and 24933 includes a longitudinal portion that is aligned or parallel to the longitudinal firing axis (FA) of the firing member 24900 and is placed in shear when a longitudinal firing force is transmitted through the firing member 24900. Additionally, each hook weld 24932 and 24933 includes an abutment portion that is perpendicular, or at least substantially perpendicular, to the longitudinal firing axis (FA) and is placed in tension and / or compression when a longitudinal firing force is transmitted through the firing member 24900. Notably, each set of hook welds 24932 and 24933 includes an interlocking connection between the firing bar 24910 and the cutting member 24920 that can transmit the flow of stress therebetween without causing failure and / or improperity.

[0151] Each weld 24930 may, for example, be generally L-shaped. However, the welds 24930 may include any suitable configuration.

[0152] Although surgical instruments 10000, 11000, 12000, 13000, 14000, 15000, 16000, 17000, 18000, 19000, 20000, 21000, 22000, and 23000 are surgical staplers, their designs can be readily adapted to other surgical instruments, particularly those having articulatable end effectors. Such other surgical instruments can include, for example, clip appliers, fastener appliers, and / or surgical instruments capable of delivering electrical and / or vibrational energy to tissue.

[0153] FIG. 86 depicts a surgical staple cartridge 25100 with an elongated nose 25150 located at its distal end, generally designated as 25102. The elongated nose 25150 has a base 25152 defined by a first length 25154 that extends a distance between the end of the staple line 25056 and a distal tip 25142 of the staple cartridge 25100. The distal tip 25142 is formed at an angle σ from the base 25152 of the staple cartridge 25100. The distal tip 25142 of the staple cartridge 25100 is pointed and configured to act as a parking area for a wedge sled (not shown) of the firing system upon completion of the staple firing stroke.

[0154] In an effort to shorten the overall length of the staple cartridge without sacrificing the length of stapled tissue, the surgical staple cartridge 25200 shown in FIG. 85 comprises a cartridge body 25210 including a shortened nose 25250 located at a distal end, generally shown as 25202. The shortened nose 25250 has a base 25252 defined by a second length 25254 that extends the distance between the end of the staple line 25056 and the blunted distal tip 25242 of the staple cartridge 25200. The second length 25254 of the shortened nose 25250 is minimized by blunting the parking area for the wedge sled 25270 (see FIG. 89). Because the blunt shortened nose 25250 of the staple cartridge 25200 of FIG. 85 still provides a parking area for the wedge sled, additional accommodation for storage may be required, as described below. The blunt distal tip 25242 is formed at an angle γ from the base 25252 of the staple cartridge 25200 .

[0155] 85 and 86, the reader should appreciate that the second length 25254 is shorter than the first length 25154. As a result, the length of the staple cartridge 25200 beyond the end of the staple line 25056 is minimized to allow, among other things, improved spatial access within the surgical site. The shortened nose 25250 also prevents the blunt distal tip 25242 from piercing a seal on a trocar system, as discussed further below. Additionally, the reader will appreciate that the angle γ of the blunt distal tip 25242 of the staple cartridge 25200 relative to the base 25252 is greater than the angle σ of the sharp distal tip 25142 of the staple cartridge 25100 relative to the base 25152. For example, the blunt distal tip 25242 can extend at an angle of approximately 45-50 degrees relative to the base 25252 of the staple cartridge 25200, and the pointed distal tip 25142 can extend at an angle of approximately 30 degrees relative to the base 25152 of the staple cartridge 25100. The steeper angle of the blunt distal tip 25242 provides increased stability throughout the distal region of the staple cartridge 25200 structure.

[0156] 89 is a top view of the staple cartridge 25200. The cartridge body 25210 of the staple cartridge 25200 includes an elongated slot 25230 extending from the proximal end 25204 of the staple cartridge 25200 toward the distal shortened nose 25250. A plurality of staple cavities 25220 are formed within the cartridge body 25210. The staple cavities 25220 extend between the proximal end 25204 and the distal end 25202 of the staple cartridge 25200. The staple cavities 25220 are arranged in six laterally spaced longitudinal rows 25221, 25222, 25223, 25224, 25225, 25226, with three rows on each side of the elongated slot 25230. A staple 25260 is removably disposed within the staple cavity 25220 .

[0157] 87 illustrates one embodiment of a triple staple driver 25240 in a staple cartridge 25200 for supporting and driving three staples 25260. The staple driver 25240 includes a first driver portion 25342, a second driver portion 25344, and a third driver portion 25346. A central base member 25348 connects the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344. The first driver portion 25342 is disposed at least partially distal to the second driver portion 25344. Additionally, the third driver portion 25346 is disposed at least partially distal to the second driver portion 25344. A plurality of first staple drivers 25240 are slidably mounted within corresponding staple cavities 25220 from three longitudinal rows 25221, 25222, 25223 on one side of the elongated slot 25230. In other words, each first staple driver 25240 is configured to support three staples 25260: a staple 25260 stored within the staple cavity 25220 of the first longitudinal row 25221, a staple 25260 stored within the staple cavity 25220 of the second longitudinal row 25222, and a staple 25260 stored within the staple cavity 25220 of the third longitudinal row 25223. The distal positions of the first driver portion 25342 and the third driver portion 25346 relative to the second driver portion 25344 cause the staples 25260 to be fired in a reverse arrow configuration. As shown in FIG. 89 , the last staples 25260 in the first longitudinal row 25221 and the third longitudinal row 25223 are closer to the shortened nose 25250 of the staple cartridge 25200 than the last staples 25260 in the second longitudinal row 25222.

[0158] Opposite the elongated slot 25230, a plurality of second staple drivers are mounted within corresponding staple cavities 25220 of the three longitudinal rows 25224, 25225, 25226. Similar to the staple driver 25240, each of the second staple drivers includes a first driver portion 25342, a second driver portion 25344, and a third driver portion 25346. A central base member 25348 connects the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344. The first driver portion 25342 is disposed at least partially distally relative to the second driver portion 25344. Additionally, the third driver portion 25346 is disposed at least partially distally relative to the second driver portion 25344. Like the staple drivers 25240 described above, each second staple driver is configured to support three staples 25260: a staple 25260 stored in the staple cavity 25220 of the fourth longitudinal row 25224, a staple 25260 stored in the staple cavity 25220 of the fifth longitudinal row 25225, and a staple 25260 stored in the staple cavity 25220 of the sixth longitudinal row 25226. The distal positions of the first driver portion 25342 and the third driver portion 25346 relative to the second driver portion 25344 cause the staples 25260 to be fired in a reverse arrow configuration. As shown in FIG. 89, the last staples 25260 in the fourth longitudinal row 25224 and the sixth longitudinal row 25226 are closer to the shortened nose 25250 of the staple cartridge 25200 than the last staple 25260 in the fifth longitudinal row 25225.

[0159] The first driver portion 25342 of the staple driver 25240 has a first front post 25352 and a first rear post 25354 that project upwardly from the first driver portion base. The first front post 25352 and the first rear post 25354 are spaced apart from one another to collectively form a first staple cradle (i.e., the prongs of the staple that face the anvil) for supporting the staple 25260 in an upright position. Similarly, the second driver portion 25344 has a second front post 25362 and a second rear post 25364 that project upwardly from the second driver portion base. The second front post 25362 and the second rear post 25364 are spaced apart from one another to collectively form a second staple cradle (i.e., the prongs of the staple that face the anvil) for supporting the staple 25260 in an upright position. The third driver portion 25346 has a third front post 25372 and a third rear post 25374 projecting upwardly from the third driver portion base. The third front post 25372 and the third rear post 25374 are spaced apart from one another and collectively form a third staple cradle (i.e., the protrusion of the staple that faces the anvil) for supporting the staple 25260 in an upright position.

[0160] The center of mass of the first and third driver portions 25342, 25346 is represented by dashed line DD. Similarly, dashed line PP represents the center of mass of the second driver portion 25344. The combined center of mass of the triple staple driver 25240 is represented as dashed line CC in FIGS. 87 and 88. In this manner, the staple driver 25240 is less likely to roll forward. In particular, because CC is closer to DD than PP, the staple driver 25240 is very stable.

[0161] As mentioned above, the central base member 25348 of the staple driver 25240 shown in FIG. 88 attaches the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344. The central base member 25348 extends laterally between the proximal ends of the first and third rear posts 25354, 25374 of the first and third driver portions 25342, 25346, respectively, and the proximal end of the second front post 25362 of the second driver portion 25344. As shown in FIG. 90, the central base member 25348 has an angled rearward facing edge 25349 adapted to be engaged by a wedge sled 25270, as will be discussed in further detail below. Due to the extension of the central base member 25348 between all three driver portions 25342, 25344, 25346, the midpoint of the rearwardly facing edge 25349 may diverge into a portion closer to the first portion 25342 and a portion closer to the third portion 25346. Such a configuration can balance moments that arise during the firing and formation of the staples 25260 stored within the staple cavities 25220.

[0162] 89 , each staple cavity 25220 defined in the cartridge body 25210 of the staple cartridge 25200 includes a proximal wall 25264 and a distal wall 25262. The reverse arrow orientation formed by the configuration of the first, second, and third driver portions 25342, 25344, 25346 of the triple staple driver 25240 described above reduces forward and / or lateral rolling of the staple driver 25240 during a staple firing stroke. In various examples, the distal end of the first front post 25352 and the distal end of the third front post 25372 are pressed into the distal wall 25262 of the respective staple cavity 25220, thereby stabilizing the driver 25240. Thus, as the sled 25270 (FIG. 89) lifts the staple driver 25240 upward during the staple firing stroke, the two distal walls 25262 of the staple cavity 25220 provide opposing forces against the front posts 25352, 25372, preventing undesired movement or rolling of the staple driver 25240.

[0163] As shown in FIGS. 87-90 , the elongated slot 25230 of the staple cartridge 25200 is configured to receive a portion of the firing assembly 25280. The firing assembly 25280 is configured to push the sled 25270 distally to eject the staples 25260 stored within the staple cavities 25220 and deform the staples 25260 against an anvil disposed on the opposite side of the staple cartridge 25200. More specifically, the coupling member 25282 pushes the wedge sled 25270 of the staple cartridge 25200 distally. The wedge sled 25270 includes four rails, two inner rails 25272, and two outer rails 25274, connected to one another by a central member 25276. One inner rail 25272 and one outer rail 25274 are disposed on one side of the elongated slot 25230 and the other inner rail 25272 and the other outer rail 25274 are disposed on the opposite side of the elongated slot 25230. When driven distally, the inner rail 25272 passes through an inner groove 25212 defined in the cartridge body 25210 and engages a rearwardly facing edge 25349 of the driver 25240 that supports the staple 25260, firing the staple toward the anvil. Similarly, the outer rail 25274 passes through an outer groove 25214 defined in the cartridge body 25210 and engages a portion of the driver 25240 that supports the staple 25260, pushing the staple toward the anvil. Distal movement of the wedge sled 25270 causes the rails 25272, 25274 to contact the rearwardly facing edge 25349 of the staple driver 25240, pushing the driver 25240 upwardly, ejecting the staples 25260 from the staple cartridge 25200 and into the tissue captured between the staple cartridge 25200 and the opposing anvil. The connecting member 25282 also includes a cutting end 25284 that cuts tissue as the connecting member 25282 advances distally to eject the staples 25260 from the cartridge body 25210.

[0164] 87, the positioning of the first, second, and third driver portions 25342, 25344, 25346 of the staple driver 25240 between or adjacent the inner rail 25272 and the outer rail 25274 of the wedge sled 25270 provides increased lateral stability. Two rails, one inner rail 25272 and one outer rail 25274, span the staple driver 25240, providing increased support and stability throughout the firing stroke. In addition to increasing the stability of the staple driver 25240, another advantage of having the staple driver 25240 span the two rails 25272, 25274 of the wedge sled 25270 is that the force required to execute the firing stroke is reduced. The force required is reduced because there is less flexure and loss in the system. Additionally, the additional drive surface provided by the rearwardly facing edge 25349 allows the rails 25272, 25274 of the wedge sled 25270 to extend at a steeper angle from the base 25278 of the wedge sled 25270. The steeper angle of the wedge sled 25270 allows for an overall reduction in the length of the base 25278 of the wedge sled 25270, further contributing to a reduction in the length of the shortened nose 25250 of the staple cartridge 25200. Once the staple firing stroke is complete, and referring again to FIG. 89 , the wedge sled 25270 of the firing assembly 25280 remains within the shortened nose 25250 of the staple cartridge 25200.

[0165] 89 illustrates the wedge sled 25270 of the firing assembly 25280 positioned on the shortened nose 25250 upon completion of a staple firing stroke. The shortened nose 25250 includes a plurality of openings 25292, 25294 at a distal end of the shortened nose 25250 to receive the four rails 25272, 25274. The shortened nose 25250 further includes an opening 25296 configured to receive the central thread member 25276 of the wedge sled 25270. Thus, portions of the rails 25272, 25274 and the central thread member 25276 of the wedge sled 25270 are exposed at the distal end 25202 of the staple cartridge 25200. The openings 25292, 25294 are a continuation of the channel members 25212, 25214 along which the rails 25272, 25274 of the wedge sled 25270 slideably move. The two inner openings 25292 are configured to receive the two inner rails 25272 of the wedge sled 25270 and the two outer openings 25294 are configured to receive the two outer rails 25274 of the wedge sled 25270. A central opening 25296 in the center of the distal portion 25202 of the shortened nose 25250 is configured to receive the central member 25276 of the wedge sled 25270. The openings 25292, 25294, 25296 in the distal end 25202 of the shortened nose 25250 allow the staple firing stroke to be completed and the wedge sled 25270 to be stapled to the shortened distal end.

[0166] 89 , the staple cartridge 25200 further includes projections 25262 extending around the proximal and distal ends of the staple cavities 25220. The projections 25262 in the first longitudinal row 25221 are shown as being unitary and the projections in the second and third longitudinal rows 25222, 25223 are shown as being connected. The projections 25262 are configured to provide additional support to the staples 25260 as the staples are fired upwardly from the staple cavities 25220. Additionally, the projections 25264 formed in the distal-most staple cavities 25220 are angled to control the flow of tissue into the end effector. A more detailed discussion of protrusions can be found in U.S. Patent Application Publication No. 2015 / 0297228, filed June 30, 2014, entitled "FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS," the entire disclosure of which is incorporated by reference.

[0167] FIG. 91 illustrates some of the advantages gained by using the shortened staple cartridge 25200 from FIG. 85 instead of the elongated staple cartridge 25100 from FIG. 86. Both staple cartridges are suitable for a variety of surgical procedures, such as, for example, low anterior resection (LAR). LAR is a common treatment for, for example, colon cancer. Such procedures require precise dissection and sealing of tissue deep within a patient's pelvic cavity. As described in more detail below, the shortened nose 25250 of FIG. 85 reduces the length of the staple cartridge 25200, which, among other things, allows an end effector of a surgical instrument to gain greater access to tissue within the pelvic cavity. The reader should understand that the staple cartridges described herein may be used in a variety of surgical procedures and are not limited to the specific procedures described herein.

[0168] Further to the above, the short staple cartridge 25200 is part of a first end effector 25202 on a first surgical instrument 25201 that also includes an anvil 25203. The first surgical instrument 25201 further comprises a first shaft 25206 rotatably connected to the first end effector 25202. The first end effector 25202 is articulatable about an articulation joint 25208 disposed intermediate the first end effector 25202 and the first shaft 25206. The first end effector 25202 can be articulated at an angle α relative to the first shaft 25206. Similarly, the elongated staple cartridge 25100 is part of a second end effector 25102 on a second surgical instrument 25101 that also includes an anvil 25103. The second surgical instrument 25101 also includes a second shaft 25106 rotatably connected to the second end effector 25102. The second end effector 25102 is articulatable about an articulation joint 25108 intermediate the second end effector 25102 and the second shaft 25106. The second end effector 25102 is articulatable at an angle β relative to the second shaft 25106.

[0169] Further to the above, in use, a clinician inserts the end effector 25202 into a patient through a cannula or trocar while the end effector 25202 is in an unarticulated state. Once through the trocar, the end effector 25202 can be articulated as shown in FIG. 91. At such point, the shaft 25206 can be moved to position the end effector 25202 within the pelvic cavity. A similar procedure is used to position the end effector 25102.

[0170] The first end effector 25202 can reach a distance X1 from the pelvic floor in the pelvic cavity during a LAR procedure. The second end effector 25102 can reach a distance X2 from the pelvic floor in the pelvic cavity during a LAR procedure. The distance X1 is less than the distance X2, allowing the first surgical instrument 25201 to be positioned deeper into the pelvic cavity than the second surgical instrument 25101, allowing the surgeon to target, access, and remove a greater array of diseased tissue in the colon, among other things. In addition, the articulation capability of the first surgical instrument 25201 allows deeper access to tissue in the surgical site while inflicting minimal trauma to the surrounding tissue. Because β is greater than α, the first end effector 25202 can articulate greater than the second end effector 25102. For example, the first end effector 25202 can articulate from the first shaft 25206 at an angle of 115 degrees, while the second end effector 25102 only needs to articulate from the second shaft 25106 at an angle of 135 degrees.

[0171] 91 , the staple cartridge 25100 and the anvil 25103 of the end effector 25102 have approximately the same length, however, the staple cartridge 25100 is significantly longer than the anvil 25103. In comparison, the staple cartridge 25200 and the anvil 25203 of the end effector 25202 are substantially the same length, if not the same length. In any event, the difference in length between the staple cartridge 25200 and the anvil 25203 of the end effector 25202, if any, is much less than that of the end effector 25102.

[0172] The extreme difference between the distal end of the staple cartridge and the distal end of the anvil can result in damage to the trocar when the end effector is inserted through the trocar. Referring to FIG. 92, the end effector 25810 includes a distal end 25802, an anvil 25820, and a staple cartridge 25830. The staple cartridge 25830 has a blunt, shortened nose 25840 similar to the shortened nose 25250 on the staple cartridge 25200 of FIG. 85. As seen in FIGS. 92 and 93, the anvil 25820 has a protective tip 25822 thereon. The protective tip 25822 is sized and positioned on the anvil 25820 in such a manner that the length of the anvil 25820 is shorter than the length of the staple cartridge 25830. Thus, the shortened nose 25840 of the staple cartridge 25830 extends distally relative to the anvil 25820. The protective tip 25822 may be integrally formed (molded, machined, etc.) into the distal end 25802 of the anvil 25820 or may comprise a separate piece configured to receive a complementary portion of the anvil. A more extensive discussion of protective tips can be found in U.S. Patent Application Publication No. 2008 / 0169328, entitled "IMPROVED BUTTRESS MATERIAL FOR USE WITH A SURGICAL STAPLER," the disclosure of which is incorporated herein by reference in its entirety.

[0173] 92 and 93 , the protective tip 25822 of the anvil 25820 has a first curved or angled outer surface 25824 and a second curved or angled outer surface 25826 configured to form a blunt distal end on the anvil 25820. The first angled outer surface 25824 extends downwardly from a top surface 25828 of the anvil 25820 at a first angle φ. The second angled outer surface 25826 extends downwardly from the first angled outer surface 25824 toward the staple cartridge 25830 at a second angle θ. The second angle θ is greater than the first angle φ. For example, various embodiments are envisioned in which the angle θ is about 90 degrees. Other embodiments of the protective tip 25822 are envisioned having only one of the first angled outer surface 25824 or the second angled outer surface 25826. The first angled outer surface 25824 serves to deflect the centering ring of the trocar seal assembly during insertion of the end effector 25810 through the trocar. If the second angle θ is further away from 90 degrees and / or if the first and second curved outer surfaces 25824, 25826 are not contiguous, the anvil 25820 may penetrate the trocar seal or displace the centering ring of the trocar seal system, as described in more detail below.

[0174] The protective tip may be attached to the anvil in any suitable manner. FIGS. 94-99 show exemplary embodiments of separately formed protective tips 25922, 26022 and various methods for attaching them to the anvil. As shown in FIGS. 94-96, a distal portion of the anvil 25920 includes attachment features including attachment members 25927, 25929 configured to retentively mate with complementary retention grooves 25926, 25928 formed in the protective tip 25922. More specifically, a central retention groove 25928 is formed in the protective tip 25922 for receiving a central attachment member 25929 of the anvil 25920. A pair of side retention grooves 25296 are formed in the protective tip 25922 for receiving a pair of corresponding side attachment members 25927 on the anvil 25920. FIG 96 is a cross-sectional view of the anvil 25920 of FIG 94 taken along line 96-96 of FIG 95 in an exploded configuration illustrating the alignment of the retention grooves 25926, 25928 with the respective attachment members 25927, 25929. An elongated slot 25994 extends longitudinally from the proximal end 25904 of the anvil 25920 toward the distal end 25902 of the anvil 25920. The elongated slot 25994 is configured to receive a portion of a firing assembly as discussed herein.

[0175] Additionally or alternatively, a rivet 25924 can be used to secure the protective tip 25922 to the anvil 25920. As shown in FIG. 96, a through hole 25925 extends through a central retention groove 25928 of the protective tip 25922. The through hole 25925 also extends through a central mounting member 25929 of the anvil 25920 such that when the protective tip 25922 is mounted to the anvil 25920, the through holes 25925 align to facilitate insertion of the rivet 25924. FIG. 95 is a cross-sectional view of the anvil 25920 of FIG. 94 taken along line 95-95 of FIG. 94 in an exploded configuration showing a rivet assembly for removably securing the protective tip 25922 to the anvil 25920. Additionally or alternatively, the protective tip 25922 may be secured to the anvil 25920 by an adhesive, such as, for example, a cyanoacrylate, a light curable acrylic, a polyurethane, a silicone, an epoxy, and / or a UV curable adhesive such as HENKEL LOCTITE®. In any event, a combination of attachment members and retention grooves may be provided on the anvil 25920 and the protective tip 25922. Still other forms of attachment and mounting configurations may be used to attach the protective tip 25922 to the anvil 25920.

[0176] 97-99 show another embodiment of a tip attachment configuration. A distal portion of the anvil 26020 includes an attachment member 26027 configured to retentively mate with a complementary retention groove 26026 defined in the protective tip 26022. Additionally, a central retention groove 26028 defined in the protective tip 26022 is configured to receive a central attachment member 26029 of the anvil 26020. FIG. 98 is a cross-sectional view of the anvil 26020 of FIG. 97 taken along line 98-98 of FIG. 97 in an exploded configuration showing the alignment of the retention grooves 26026, 26028 with the respective attachment members 26027, 26029. FIG. 99 is a cross-sectional view of the anvil 26020 of FIG. 97 taken along line 99-99 of FIG. 97 in an assembled configuration. The protective tip 26022 is secured to the anvil 26020 using a compression fit. The central attachment member 26029 is press fit into the central retention groove 26028 and remains in place due to the geometry of the central retention groove 26028. The central attachment member 26029 of the anvil 26020 of FIG. 98 has a trapezoidal shape that is mimicked by the central retention groove 26028. An elongated slot 26094 extends longitudinally from the proximal end 26004 of the anvil 26020 toward the distal end 26002 of the anvil 26020. The elongated slot 26094 is configured to receive a portion of a firing assembly as discussed herein.

[0177] Additionally or alternatively, the protective tip 26022 may be secured to the anvil 26020 by an adhesive, such as, for example, a cyanoacrylate, a light curable acrylic, a polyurethane, a silicone, an epoxy, and / or a UV curable adhesive, such as, for example, HENKEL LOCTITE®. In various embodiments, a combination of attachment members and retention grooves may be provided on the anvil 26020 and the protective tip 26022. Still other forms of attachment and mounting configurations may be used to attach the protective tip 26022 to the anvil 26020. FIGS. 97-99 further illustrate means to assist a user in attaching the protective tip 26022 to the anvil 26020. FIG. 97 illustrates the protective tip 26022 removably positioned within a temporary holder 26030. To releasably attach the protective tip 26022 to the anvil 26020, a user presses the temporary holder 26030 and the anvil 26020 together. The temporary holder 26030 may provide an additional sterility barrier for the protective tip 26022 while it is attached to the anvil 26020. Additionally, the temporary holder 26030 provides a user with a more substantial object to hold while attaching the protective tip 26022 to the anvil 26020 due to the potentially small size of the protective tip 26022. It is envisioned that the temporary holder 26030 may be used across various embodiments of the protective tip, including other embodiments disclosed herein.

[0178] Various protective anvil tips are described and illustrated herein as being used in connection with linear end effectors. However, one of ordinary skill in the art will readily appreciate that the protective anvil tips described herein may be used in connection with a variety of different end effector configurations, such as curved end effectors and other types of end effectors, without departing from the spirit and scope of the present disclosure. Thus, the above-described protective tips should not be limited to use only in connection with linear end effectors and / or staplers.

[0179] 100-106 show an exemplary practical application of various end effectors described herein as they are inserted through a trocar seal system prior to being introduced to a surgical site. The trocar seal system 27040 of FIGS. 100-106 comprises a housing 27042 configured to support a floating seal assembly 27050 and a central opening 27044 configured to receive a surgical instrument. The floating seal assembly 27050 includes a first seal door 27052 and a second seal door 27054 that work together to prevent gases from escaping an insufflated body cavity of a patient during a surgical procedure. The floating seal assembly 27050 further comprises a centering ring 27058 configured to guide a surgical instrument through the central opening 27044 of the trocar seal system 27040. The floating seal assembly 27050 is attached to the housing 27042 of the trocar seal system 27040 via an annular resilient member 27056.

[0180] FIG. 100 illustrates an end effector 27000 including an anvil 27010 and a staple cartridge 27020. The staple cartridge 27020 includes a blunt, shortened nose 27022 similar to the shortened nose 25250 depicted on the staple cartridge 25200 of FIG. 85. The distal end 27202 of the anvil 27010 is pointed and does not have a protective tip as shown in FIG. 92. As shown in FIG. 100, the anvil 27010 has a shorter length than the staple cartridge 27020. In other words, the shortened nose 27022 of the staple cartridge 27020 extends longitudinally beyond the distal end 27002 of the anvil 27010. Prior to insertion of the end effector 27000 through the trocar seal system 27040, the first and second seal doors 27052, 27054 extend inwardly to prevent gases from escaping the surgical site. FIG. 101 shows the end effector 27000 of FIG. 100 partially inserted into the trocar seal system 27040. The shortened nose 27022 of the staple cartridge 27020 is the first component of the end effector 27000 and contacts the first and second seal doors 27052, 27054 of the trocar seal system 27040, tilting the floating seal assembly 27050 to one side. Due to its blunt shape, the shortened nose 27022 does not damage the second seal door 27054 when force is applied to it.

[0181] FIG. 102 illustrates the end effector 27000 of FIGS. 100 and 101 as the end effector 27000 is further introduced into the central opening 27044 of the trocar seal system 27040. After the shortened staple cartridge nose 27022 makes initial contact with the trocar seal system 27040, the pointed distal end 27002 of the anvil 27010 contacts the first seal door 27052 of the trocar seal system 27040. In various instances, the pointed distal end 27002 of the anvil 27010 may break the first seal door 27052 of the trocar seal system 27040 because the contact between the shortened nose 27022 and the second seal door 27054 has already shifted the position of the floating seal assembly 27050 laterally. 103, the risk of rupturing the first seal door 27052 would be reduced if the distal end 27002 of the anvil 27010 was provided with a protective tip 27012 similar to the protective tip 25822 shown in FIG 92. The use of a protective tip 27012 on the anvil 27010 reduces the risk of rupture because the first seal door 27052 extends smoothly around the protective tip 27012. Additionally, the same length of the cartridge and anvil reduces or prevents pre-shifting of the floating seal assembly.

[0182] FIG. 104 depicts an end effector 27100 with an anvil 27110 and a staple cartridge 27120. The staple cartridge 27120 includes a pointed elongated nose 27122 similar to the elongated nose 25150 depicted on the staple cartridge 25100 of FIG. 86. The distal end 27102 of the anvil 27110 is pointed and does not have a protective tip as shown in FIG. 92. The anvil 27110 has a shorter length than the staple cartridge 27120. In other words, the elongated nose 27122 of the staple cartridge 27120 extends longitudinally beyond the distal end 27102 of the anvil 27110. Prior to insertion of the end effector 27100 through the trocar seal system 27040, the first and second seal doors 27052, 27054 of the trocar seal system 27040 extend inwardly to prevent gases from escaping the surgical site. FIG. 105 shows the end effector 27100 of FIG. 104 when the end effector 27100 is initially inserted into the trocar seal system 27040. The elongated nose 27122 of the staple cartridge 27120 is the first component of the end effector 27100 and contacts the first and second seal doors 27052, 27054 of the trocar seal system 27040, as described above, to tilt or pre-shift the floating seal assembly 27050 to one side.

[0183] 106 illustrates the end effector 27100 of FIGS. 104 and 105 as the end effector 27100 is further introduced into the central opening 27044 of the trocar seal system 27040. After initial contact of the elongated nose 27122 of the staple cartridge 27120, the pointed distal end 27102 of the anvil 27110 contacts the first seal door 27052 of the trocar seal system 27040. In various examples, the pointed distal end 27102 of the anvil 27110 can rupture the first seal door 27052 of the trocar seal system 27040 because contact between the elongated nose 27122 and the second seal door 27054 has displaced the position of the floating seal assembly 27050.

[0184] As described herein, the first staple cartridge can include a first cartridge length and the second staple cartridge can include a second cartridge length that is different from the first cartridge length. In various examples, the end effector of the surgical stapling instrument can include a cartridge jaw configured to receive the first staple cartridge and, alternatively, the second staple cartridge. Stated differently, the cartridge jaw is configured to receive the first staple cartridge and the second staple cartridge, but not simultaneously. The first staple cartridge and the second staple cartridge each include a proximal end that is aligned with the proximal cartridge jaw datum surface when disposed within the cartridge jaw. For example, if the length of the first cartridge is longer than the length of the second cartridge, the distal end of the first staple cartridge is disposed further away from the proximal cartridge jaw datum surface than the distal end of the second staple cartridge. The reader should understand that the second cartridge length can be longer than the first cartridge length in other cases.

[0185] Further to the above, the end effector includes an anvil jaw that is movable relative to the cartridge jaw between an open or unclamped position and a closed or clamped position. In alternative embodiments, the cartridge jaw is movable relative to the anvil jaw. In either case, the anvil jaw includes a distal anvil end that is supported by a first staple cartridge and a second staple cartridge depending on which staple cartridge is disposed in the cartridge jaw. The distal anvil end is supported at a first position on the first cartridge jaw and a second position on the second cartridge jaw. In various examples, the first position and the second position do not have to be the same distance from the proximal cartridge jaw datum. However, in some cases, they may be the same distance from the proximal cartridge jaw datum. Further, in various examples, the first position is located at a first distance from a distal end of the first staple cartridge and the second position is located at a second or different distance from a distal end of the second staple cartridge. In use, a patient's tissue is disposed between the anvil jaws and the cartridge jaws, yet the support location of the staple cartridge still supports the anvil jaws, or the clamping load applied by the anvil jaws.

[0186] In various cases, further to the above, when the end effector is in the clamped configuration and a first staple cartridge is disposed in the cartridge jaws, the distal anvil end can extend distally beyond the distal end of the first staple cartridge, and similarly, when the end effector is in the clamped configuration and a second staple cartridge is disposed in the cartridge jaws, the distal anvil end can extend distally beyond the distal end of the second staple cartridge. However, in various cases, when the length of the first cartridge is longer than the length of the second cartridge, the distal anvil tip can extend distally beyond the distal end of the second staple cartridge, but cannot extend distally beyond the distal end of the first staple cartridge. In such cases, the anvil jaws can be longer than the second staple cartridge when the second staple cartridge is disposed in the cartridge jaws, and shorter than the first staple cartridge when the first staple cartridge is disposed in the cartridge jaws. In some examples, the anvil jaws are the same length as the first staple cartridge or the second staple cartridge.

[0187] In addition to the above, the anvil jaws are deflected when moved to the clamping position. Due to different cartridge lengths of the staple cartridges, the deflection of the anvil jaws may differ depending on which staple cartridge is disposed in the cartridge jaws. As a result, the staple forming gap between the anvil jaws and the staple driver of the first cartridge jaw may differ from the staple forming gap between the anvil jaws and the staple driver of the second cartridge jaw. In some cases, the difference in the staple forming gap is negligible and the staples ejected from the first staple cartridge and the second staple cartridge are formed to the same, or at least to an appropriate height, to sufficiently staple the tissue captured between the anvil jaw and the cartridge jaws. In such cases, the unformed height of the staples in the first staple cartridge may be the same as the unformed height of the staples in the second staple cartridge. In other examples, the unformed height of the staples in the first staple cartridge is different from the unformed height of the staples in the second staple cartridge. In such cases, taller staples can be used in the first staple cartridge and shorter staples can be used in the second staple cartridge, depending, for example, on the expected deflection and / or orientation of the anvil jaws when clamped against the first and second staple cartridges. In at least one such example, each staple of the first staple cartridge has an unformed height in a first unformed height range and each staple of the second staple cartridge has an unformed height in a second unformed height range. In some cases, the first unformed height range is completely different from the second unformed height range, while in other cases, the first unformed height range partially overlaps with the second unformed height range.

[0188] As described above, the first and second staple cartridges are selectively disposed in the cartridge jaws of the end effector, and further to the above, the cartridge jaws further comprise a bottom support or surface configured to support the staple cartridge when the staple cartridge is disposed in the cartridge jaws. Such a support can include a vertical reference surface. In various cases, the first support position on the first staple cartridge and the second support position on the second staple cartridge described above are the same vertical distance from the vertical reference surface of the cartridge jaws. The vertical distance is measured orthogonally from the vertical reference surface, but can be measured in any suitable manner. In other examples, the first support position on the first staple cartridge has a different vertical height than the second support position on the second staple cartridge. In such cases, the orientation and / or deflection of the anvil jaws when the anvil jaws are in their clamping positions can be different as a result of the first and second support positions having different vertical heights. Such different vertical heights can arise, among other reasons, when the distal end, or nose, of a first staple cartridge is different from the distal end of a second staple cartridge.

[0189] Many of the surgical tool systems described herein are driven by electric motors. The surgical tool systems described herein may be operated in any suitable manner. In various instances, the surgical tool systems described herein may be operated, for example, by a manually operated trigger. In certain instances, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and / or tool assemblies disclosed herein may be utilized with a robotic surgical tool system. U.S. Patent Application Serial No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Patent Application Publication No. 2012 / 0298719, for example, discloses several examples of robotic surgical tool systems in further detail.

[0190] The surgical tool systems described herein have been described in connection with deploying and deforming staples. The embodiments described herein are not so limited. Various embodiments are contemplated that deploy fastening elements other than staples, such as, for example, clamps or tacks. Additionally, various embodiments are contemplated 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 apply vibrational energy to seal tissue. EXAMPLES

[0191] Example 1 - A surgical instrument including an end effector. The end effector includes a cartridge jaw and an anvil jaw, one of which is rotatable relative to the other about a closure axis. The surgical instrument further includes a shaft including a frame defining a longitudinal shaft axis and a closure actuator, the closure actuator being translatable relative to the frame. The closure actuator includes a proximal portion, a distal portion, and a link. The link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The proximal link axis and the distal link axis define a longitudinal link axis therebetween. The surgical instrument further includes an articulation joint, the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable in an articulation plane between a non-articulated position and an articulated position, the articulation axis being offset from the longitudinal shaft axis. When the end effector is in either the unarticulated or articulated position, the longitudinal link axis is not collinear with the longitudinal shaft axis.

[0192] Example 2 - The surgical instrument of Example 1, wherein the proximal link axis is disposed along the longitudinal shaft axis.

[0193] Example 3 - A surgical instrument as described in Example 1 or 2, wherein the cartridge jaws are provided with a staple cartridge including staples removably stored therein.

[0194] Example 4 - The surgical instrument of Example 3, wherein the staple cartridge is replaceable.

[0195] Example 5 - The surgical instrument of Example 3 or 4, further comprising a firing actuator separate and distinct from the closure actuator, the firing actuator operable to eject staples from the staple cartridge.

[0196] Example 6 - A surgical instrument as described in Examples 3, 4 or 5, wherein the longitudinal link axis is not parallel to the longitudinal shaft axis when the end effector is in either the non-articulated position or the articulated position.

[0197] Example 7 - The surgical instrument of Examples 3, 4 or 5, wherein the end effector further comprises a longitudinal end effector axis, the longitudinal end effector axis being collinear with the longitudinal shaft axis when the end effector is in the unarticulated position. The end effector further comprises a distal end disposed along the longitudinal end effector axis, the distal link axis being offset relative to an axis extending between the distal end and the proximal link axis when the end effector is in either the unarticulated position or the articulated position.

[0198] Example 8 - A surgical instrument including an end effector. The end effector comprises a longitudinal end effector axis, a distal end disposed along the end effector axis, a cartridge jaw, and an anvil jaw, one of the cartridge jaw and the anvil jaw being rotatable relative to the other about a closure axis. The surgical instrument further comprises a shaft comprising a frame defining a longitudinal shaft axis and a closure actuator, the closure actuator being translatable relative to the frame. The closure actuator includes a proximal portion, a distal portion, and a link. The link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The surgical instrument further comprises an articulation joint, the end effector being rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable in an articulation plane between a non-articulated position and an articulated position, the articulation axis being offset from the longitudinal shaft axis. When the end effector is in the unarticulated position, the longitudinal end effector axis is aligned with the longitudinal shaft axis. When the end effector is in either the unarticulated or articulated position, the distal link axis is offset relative to an axis extending between the distal end of the end effector and the proximal link axis.

[0199] Example 9 - The surgical instrument of example 8, wherein the proximal link shaft and the distal link shaft define a longitudinal link axis. When the end effector is in either the unarticulated position or the articulated position, the longitudinal link axis is not collinear with the longitudinal shaft axis.

[0200] Example 10 - A surgical instrument as described in Example 9, wherein the longitudinal link axis is not parallel to the longitudinal shaft axis when the end effector is in either the non-articulated position or the articulated position.

[0201] Example 11 - The surgical instrument of Examples 8, 9 or 10, wherein the proximal link axis is disposed along the longitudinal shaft axis.

[0202] Example 12 - A surgical instrument described in Example 8, 9, 10 or 11, wherein the cartridge jaw is provided with a staple cartridge containing staples removably stored therein.

[0203] Example 13 - The surgical instrument of Example 12, wherein the staple cartridge is replaceable.

[0204] Example 14 - A surgical instrument as described in Example 12 or 13, further comprising a firing actuator separate and distinct from the closure actuator, the firing actuator operable to eject staples from the staple cartridge.

[0205] Example 15 - A surgical instrument including an end effector. The end effector comprises a longitudinal end effector axis, a distal end disposed along the end effector axis, a first jaw and a second jaw, one of the first jaw and the second jaw being rotatable relative to the other between an open position and a closed position. The surgical instrument further comprises a shaft comprising a frame defining a longitudinal shaft axis and a closure actuator, the closure actuator being translatable relative to the frame. The closure actuator includes a proximal portion, a distal portion, and a link. The link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The surgical instrument further comprises an articulation joint, the end effector rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable between a non-articulated position and an articulated position, the articulation axis being disposed transversely to the longitudinal shaft axis. When the end effector is in a non-articulated position, the longitudinal end effector axis is aligned with the longitudinal shaft axis. When the first jaw is in the open, closed and any position between the open and closed positions, the distal link axis is disposed transverse to an axis extending between the distal end of the end effector and the proximal link axis.

[0206] Example 16 - The surgical instrument of example 15, wherein the proximal link axis and the distal link axis define a longitudinal link axis. The longitudinal link axis is not aligned with the longitudinal shaft axis when the first jaw is in a closed position regardless of whether the end effector is in a non-articulated position or an articulated position.

[0207] Example 17 - A surgical instrument as described in Example 15 or 16, wherein the longitudinal link axis is not parallel to the longitudinal shaft axis when the first jaw is in a closed position, regardless of whether the end effector is in a non-articulated position or an articulated position.

[0208] Example 18 - A surgical instrument as described in Examples 15, 16 or 17, wherein the proximal link axis is disposed along the longitudinal shaft axis.

[0209] Example 19 - A surgical instrument as described in Example 15, 16, 17 or 18, wherein the first jaw comprises a staple cartridge including staples removably stored therein.

[0210] Example 20 - The surgical instrument of example 19, wherein the staple cartridge is replaceable.

[0211] Example 21 - A surgical instrument as described in Example 19 or 20, further comprising a firing actuator separate and distinct from the closure actuator, the firing actuator operable to eject staples from the staple cartridge.

[0212] Example 22 - A surgical instrument comprising a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis disposed laterally offset relative to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame at a mounting location, the articulation drive moving to a proximal location to rotate the end effector to a first fully articulated position and moving to a distal location to rotate the end effector to a second fully articulated position. The proximal and distal locations define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. A lateral moment arm is defined between the mounting location and the fixed articulation axis, the lateral moment arm being perpendicular to the longitudinal axis. The surgical instrument is constructed to maximize the ratio of lateral moment arm to articulation stroke length.

[0213] Example 23 - The surgical instrument of example 22, wherein the end effector is positionable in a non-articulated position aligned with the longitudinal axis. As the end effector moves from the non-articulated position to the first fully articulated position, the end effector is moved through a first arc length. As the end effector moves from the non-articulated position to the second fully articulated position, the end effector is moved through a second arc length.

[0214] Example 24 - The surgical instrument of example 23, wherein the first arc length is equal to the second arc length.

[0215] Example 25 - The surgical instrument of example 23, wherein the first arc length and the second arc length are different.

[0216] Example 26 - The surgical instrument of Example 22, 23, 24 or 25, wherein the ratio is between 1.1 and 1.4.

[0217] Example 27 - A surgical instrument as described in Examples 22, 23, 24, 25 or 26, wherein the attachment position moves through an articulation arc length when the end effector moves between the first fully articulated position and the second fully articulated position.

[0218] Example 28 - A surgical instrument as described in Example 27 configured to maximize an articulation ratio including articulation arc length relative to articulation stroke length.

[0219] Example 29 - The surgical instrument of Example 28, wherein the articulation ratio is between 1.2 and 1.7.

[0220] Example 30 - A surgical instrument as described in Example 27, 28 or 29, configured to maximize a ratio including the product of articulation arc length and lateral moment arm relative to articulation stroke length.

[0221] Example 31 - The surgical instrument of Example 30, wherein the ratio is between 1 and 3.

[0222] Example 32 - A surgical instrument as described in Examples 22, 23, 24, 25, 26, 27, 28, 29, 30 or 31, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

[0223] Example 33 - The surgical instrument of Example 32, wherein the staple cartridge is replaceable.

[0224] Example 34 - A surgical instrument comprising a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis being disposed laterally offset relative to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame at a mounting position. The articulation drive is moved to a proximal position to rotate the end effector to a first fully articulated position and moved to a distal position to rotate the end effector to a second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive. The articulation stroke has an articulation stroke length, and a lateral moment arm is defined between the mounting position and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis. The surgical instrument is configured to have a ratio of lateral moment arm to articulation stroke length greater than one.

[0225] Example 35 - The surgical instrument of Example 34, wherein the ratio is between 1.1 and 1.4.

[0226] Example 36 - A surgical instrument described in Example 34 or 35, wherein the attachment position moves through an articulation arc length when the end effector moves between the first fully articulated position and the second fully articulated position.

[0227] Example 37 - A surgical instrument as described in Example 36, configured to maximize an articulation ratio including articulation arc length relative to articulation stroke length.

[0228] Example 38 - The surgical instrument of Example 37, wherein the articulation ratio is between 1.2 and 1.7.

[0229] Example 39 - A surgical instrument as described in Example 36, configured to maximize a ratio including the product of articulation arc length and lateral moment arm relative to articulation stroke length.

[0230] Example 40 - The surgical instrument of example 39, wherein the articulation ratio is between 1 and 3.

[0231] Example 41 - A surgical instrument described in Examples 34, 35, 36, 37, 38, 39 or 40, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

[0232] Example 42 - The surgical instrument of Example 41, wherein the staple cartridge is replaceable.

[0233] Example 43 - A surgical instrument comprising a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis being disposed laterally offset relative to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame at an attachment location, the articulation drive moving to a proximal location to rotate the end effector to a first fully articulated position and moving to a distal location to rotate the end effector to a second fully articulated position. The proximal and distal locations define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. As the end effector moves between the first fully articulated position and the second fully articulated position, the attachment location moves through an articulation arc length. A lateral moment arm is defined between the mounting location and a fixed articulation axis, the lateral moment arm being perpendicular to the longitudinal axis. The surgical instrument is configured such that a ratio of the product of the lateral moment arm and the articulation arc length to the articulation stroke length is greater than one.

[0234] Example 44 - A surgical instrument comprising a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis being disposed laterally offset relative to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame at a mounting position, the articulation drive moving to a proximal position to rotate the end effector to a first fully articulated position and moving to a distal position to rotate the end effector to a second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. A lateral moment arm is defined between the mounting position and the fixed articulation axis. The surgical instrument further comprises means for increasing the lateral moment arm while limiting the articulation stroke.

[0235] Example 45 - A surgical instrument comprising a shaft including a proximal end, a distal end, a longitudinal axis extending between the proximal end and the distal end, and an outer housing including a shaft radius defined relative to the longitudinal axis. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis disposed laterally offset relative to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame at a mounting location, the articulation drive being proximally movable to rotate the end effector in a first direction, and the articulation drive being distally movable to rotate the end effector in a second direction opposite the first direction. A lateral moment arm is defined between the mounting location and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis, and the ratio of the shaft radius to the lateral moment arm is less than 1.4.

[0236] Example 46 - The surgical instrument of Example 45, wherein the ratio is less than 1.3.

[0237] Example 47 - The surgical instrument of Example 45, wherein the ratio is less than 1.2.

[0238] Example 48 - The surgical instrument of Example 45, wherein the ratio is less than 1.1.

[0239] Example 49 - A surgical instrument as described in Example 45, 46, 47 or 48, wherein the end effector is capable of rotating a first distance in a first direction and a second distance in a second direction, the first distance and the second distance being equal.

[0240] Example 50 - A surgical instrument as described in Example 45, 46, 47 or 48, wherein the end effector is rotatable through a first range in a first direction and through a second range in a second direction, the first range and the second range being unequal.

[0241] Example 51 - The surgical instrument of example 45, 46, 47, 48, 49 or 50, further comprising a staple cartridge comprising staples removably stored therein.

[0242] Example 52 - The surgical instrument of Example 51, wherein the staple cartridge is replaceable.

[0243] Example 53 - The surgical instrument of example 45, 46, 47, 48, 49, 50, 51 or 52, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.

[0244] Example 54 - The surgical instrument of Example 53, wherein the shaft includes a shaft frame extending through the inner opening, and the end effector frame is rotatably connected to the shaft frame.

[0245] Example 55 - A surgical instrument as described in Example 45, 46, 47, 48, 49, 50, 51, 52, 53 or 54, wherein the shaft includes a first longitudinal portion and a second longitudinal portion, the shaft radius of the outer housing includes a first shaft radius in the first longitudinal portion and a second shaft radius in the second longitudinal portion, and the first shaft radius is different from the second shaft radius.

[0246] Example 56 - A shaft assembly comprising a shaft including a proximal end, a distal end, a longitudinal axis extending between the proximal end and the distal end, and an outer housing including a shaft radius defined relative to the longitudinal axis. The shaft assembly further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis disposed laterally offset relative to the longitudinal axis. The shaft assembly further comprises an articulation drive coupled to the end effector frame at a mounting location. The articulation drive is proximally movable to rotate the end effector in a first direction, and the articulation drive is distally movable to rotate the end effector in a second direction opposite the first direction. A lateral moment arm is defined between the mounting location and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis, and the shaft assembly is configured such that a ratio of the shaft radius to the lateral moment arm is minimized.

[0247] Example 57 - The shaft assembly of Example 56, wherein the ratio is less than 1.4.

[0248] Example 58 - The shaft assembly of Example 56, wherein the ratio is less than 1.1.

[0249] Example 59 - A shaft assembly as described in Examples 56, 57 or 58, further comprising a staple cartridge comprising a staple removably stored therein.

[0250] Example 60 - The shaft assembly of Example 59, wherein the staple cartridge is replaceable.

[0251] Example 61 - A shaft assembly as described in example 56, 57, 58, 59 or 60, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.

[0252] Example 62 - The shaft assembly of examples 56, 57, 58, 59, 60 or 61, wherein the shaft comprises a first longitudinal portion and a second longitudinal portion. The shaft radius of the outer housing comprises a first shaft radius at the first longitudinal portion and a second shaft radius at the second longitudinal portion. The first shaft radius is different from the second shaft radius.

[0253] Example 63 - A surgical instrument comprising a shaft including an outer housing including a shaft radius. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, the articulation pivot defining an articulation axis, the articulation axis being disposed laterally offset relative to a centerline of the shaft. The surgical instrument further comprises an articulation drive coupled to the end effector frame at an attachment location. The articulation drive is proximally movable to rotate the end effector in a first direction to a first fully articulated position, and the articulation drive is distally movable to rotate the end effector in a second direction to a second fully articulated position. A lateral moment arm is defined between the attachment location and the articulation axis. The lateral moment arm is perpendicular to a centerline of the shaft, and a ratio of the shaft radius to the lateral moment arm is between 1 and 1.4.

[0254] Example 64 - A surgical instrument including a shaft and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, one of the first jaw and the second jaw includes a staple cartridge including staples removably stored therein. The surgical instrument further includes an articulation joint, the end effector rotatably connected to the shaft about the articulation joint. The surgical instrument further includes an articulation rod operably connected to the end effector. The articulation rod is distally movable to rotate the end effector in a first direction, and the articulation rod is proximally movable to rotate the end effector in a second direction. The surgical instrument further includes a closure tube configured to engage the first jaw during a closure stroke and move the first jaw toward the closed position, the closure tube being slidable on the articulation joint during the closure stroke. The surgical instrument further comprises a staple firing assembly comprising a cutting member movable through the end effector during a staple firing stroke and a firing bar attached to the cutting member, the firing bar comprising a plurality of flexible layers, the firing bar extending through the articulation joint. The staple firing assembly further comprises a support disposed within the flexible layers, the support disposed proximal to the articulation joint. The staple firing system further comprises a plurality of control elements, each control element comprising an aperture defined therein. The firing bar extends through the apertures. The control elements are configured to hold the flexible layers together.

[0255] Example 65 - The surgical instrument of example 64, wherein the control element is positioned within the articulation joint.

[0256] Example 66 - The surgical instrument of example 64 or 65, wherein the first jaw comprises a staple cartridge.

[0257] Example 67 - The surgical instrument of example 64 or 65, wherein the second jaw comprises a staple cartridge.

[0258] Example 68 - The surgical instrument of example 64, 65, 66 or 67, wherein the cutting member is welded to the firing bar.

[0259] Example 69 - A surgical instrument described in examples 64, 65, 66, 67 or 68, wherein the control elements are connected to each other.

[0260] Example 70 - A surgical instrument described in examples 64, 65, 66, 67 or 68, wherein the control elements are not connected to each other.

[0261] Example 71 - A surgical instrument described in examples 64, 65, 66, 67, 68, 69 or 70, wherein the control elements are not connected to each other.

[0262] Example 72 - A surgical instrument as described in Examples 64, 65, 66, 67, 68, 69, 70 or 71, wherein the articulation joint defines a fixed axis of rotation about which the end effector rotates.

[0263] Example 73 - A surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further comprises an articulation joint, the end effector rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises an articulation link operably connected to the end effector, the articulation link being movable distally to rotate the end effector in a first direction and the articulation link being movable proximally to rotate the end effector in a second direction. The surgical instrument further comprises a clamping member configured to engage the first jaw during a clamping stroke and move the first jaw toward the clamped position, the clamping member being slidable relative to the articulation joint during the clamping stroke. The surgical instrument further comprises a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke and a firing member. The firing member includes a plurality of flexible layers attached to the cutting member, the flexible layers configured to slide longitudinally relative to one another. The firing member extends through the articulation joint. The surgical instrument further includes control elements, each control element including an opening defined therein. A firing bar extends through the openings, the control elements configured to hold the flexible layers together.

[0264] Example 74 - The surgical instrument of example 73, wherein the control element is positioned within the articulation joint.

[0265] Example 75 - The surgical instrument of example 73 or 74, wherein the first jaw comprises a staple cartridge.

[0266] Example 76 - The surgical instrument of example 73 or 74, wherein the second jaw comprises a staple cartridge.

[0267] Example 77 - The surgical instrument of example 73, 74, 75 or 76, wherein the cutting member is welded to the firing bar.

[0268] Example 78 - A surgical instrument as described in examples 73, 74, 75, 76 or 77, wherein the control elements are connected to each other.

[0269] Example 79 - A surgical instrument described in examples 73, 74, 75, 76 or 77, wherein the control elements are connected to each other.

[0270] Example 80 - A surgical instrument described in example 73, 74, 75, 76, 77, 78 or 79, wherein the shaft comprises a shaft frame and the support is attached to the shaft frame.

[0271] Example 81 - A surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further comprises an articulation joint, the end effector rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises an articulation link operably connected to the end effector. The articulation link is distally movable to rotate the end effector in a first direction, and the articulation link is proximally movable to rotate the end effector in a second direction. The surgical instrument further comprises a clamping member configured to engage the first jaw during a clamping stroke and move the first jaw toward the clamped position. The clamping member is slidable relative to the articulation joint during the clamping stroke. The surgical instrument further comprises a staple firing assembly. The staple firing assembly includes a cutting member and a firing member. The cutting member is movable through the end effector during a staple firing stroke. The firing member comprises a plurality of flexible layers attached to the cutting member, the flexible layers configured to slide longitudinally relative to one another. The firing member extends through the articulation joint. The staple firing assembly further includes a support disposed between the two flexible layers. The staple firing assembly further includes a means for limiting lateral displacement between the flexible layers.

[0272] Example 82 - The surgical instrument of example 81, wherein the first jaw comprises a staple cartridge.

[0273] Example 83 - The surgical instrument of example 81, wherein the second jaw comprises a staple cartridge.

[0274] Example 84 - A surgical instrument including a shaft and an end effector. The end effector includes a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke, the cutting member including a first portion configured to engage the first jaw and a second portion configured to engage the second jaw. The staple firing assembly further includes a firing member including a plurality of flexible layers welded to the cutting member along a weld line. The weld line includes a longitudinal portion and a transverse portion extending perpendicular to the longitudinal portion.

[0275] Example 85 - The surgical instrument of example 84, wherein the first jaw comprises a staple cartridge.

[0276] Example 86 - The surgical instrument of example 84, wherein the second jaw comprises a staple cartridge.

[0277] Example 87 - The surgical instrument of example 84, 85 or 86, wherein the second jaw comprises a staple cartridge.

[0278] Example 88 - A surgical instrument as described in Example 84, 85, 86 or 87, wherein the firing member has a first side and a second side, and the weld line is present on the first side and the second side.

[0279] Example 89 - A surgical instrument comprising a shaft including a shaft frame and an end effector. The end effector includes a proximal frame, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an unclamped position and a clamped position. The surgical instrument further includes an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further includes a staple firing assembly, the staple firing assembly including a cutting member movable through the end effector during a staple firing stroke. The staple firing assembly further includes a firing member, the firing member including a plurality of flexible layers attached to the cutting member, the firing member extending through the articulation joint. The surgical instrument further includes a lateral spring support disposed adjacent to the firing member. The lateral spring support includes a distal end attached to the proximal frame of the end effector. The lateral spring support further includes a proximal end configured to slide relative to the shaft frame.

[0280] Example 90 - The surgical instrument of example 89, wherein the first jaw comprises a staple cartridge.

[0281] Example 91 - The surgical instrument of example 89, wherein the second jaw comprises a staple cartridge.

[0282] Example 92 - The surgical instrument of examples 89, 90, or 91, wherein the lateral spring support includes a first lateral spring support disposed along a first side of the firing member. The surgical instrument further includes a second lateral spring support disposed along a second side of the firing member.

[0283] Example 93 - A surgical instrument comprising a shaft and an end effector. The end effector comprises a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, one of the first jaw and the second jaw comprising a staple cartridge having staples removably stored therein. The surgical instrument further comprises an articulation joint, the end effector rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises an articulation rod operably connected to the end effector, the articulation rod being movable distally to rotate the end effector in a first direction, and the articulation rod being movable proximally to rotate the end effector in a second direction. The surgical instrument further comprises a firing bar comprising a plurality of flexible layers, the firing bar being movable through the articulation joint during a staple firing stroke. The surgical instrument further includes a first flexible support disposed on a first side of the firing bar, a second flexible support disposed on a second side of the firing bar, and a plurality of control elements, each control element including an opening defined therein. The firing bar extends through the openings, and the first flexible support, the second flexible support, and the control elements are configured to hold the flexible layer together.

[0284] Example 94 - A surgical instrument as described in Example 93, wherein the first flexible support and the second flexible support extend through at least some of the control element openings.

[0285] Example 95 - A surgical instrument including an end effector including a proximal end and a distal end. The surgical instrument further includes a shaft. The shaft includes a frame and a locking plate movable relative to the frame, the locking plate including a first longitudinal rack of locking teeth. The shaft further includes an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector, the articulation actuator movable distally to rotate the end effector in a first direction and movable proximally to rotate the end effector in a second direction. The articulation actuator includes a second longitudinal rack of locking teeth. The shaft further includes an articulation lock including a third longitudinal rack of locking teeth. The articulation lock is positionable in an unlocked position, in which the articulation actuator can move relative to the frame, and in a locked position, in which the third longitudinal rack of the locking tooth engages the first longitudinal rack of the locking tooth and the second longitudinal rack of the locking tooth to prevent proximal and distal movement of the articulation actuator.

[0286] Example 96 - The surgical instrument of example 95, wherein a first longitudinal rack of the locking teeth is defined in a first plane and a second longitudinal rack of the locking teeth is defined in a second plane. The first plane and the second plane are different.

[0287] Example 97 - A surgical instrument as described in Example 95 or 96, wherein the locking plate is slidable relative to the frame.

[0288] Example 98 - The surgical instrument of example 95, 96, or 97, wherein the frame comprises a recess and the locking plate is disposed within the recess. The recess includes a proximal end wall configured to limit proximal movement of the locking plate within the recess. The recess further includes a distal end wall configured to limit distal movement of the locking plate within the recess.

[0289] Example 99 - The surgical instrument of Example 98, further comprising a biasing member disposed between the proximal end wall and the locking plate.

[0290] Example 100 - The surgical instrument of example 98, further comprising a biasing member disposed between the distal end wall and the locking plate.

[0291] Example 101 - The surgical instrument of example 95, 96, 97, 98, 99 or 100, wherein the end effector comprises a first jaw and a second jaw, the first jaw being movable relative to the second jaw between an open position and a closed position. The surgical instrument further comprises a closure member configured to move the first jaw towards the closed position during a closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and retain the articulation lock in the locked position.

[0292] Example 102 - The surgical instrument of example 101, wherein the shaft defines a longitudinal axis. The frame includes a flexible portion, and the closure member is configured to press the locking plate against the flexible portion to deflect the flexible portion transversely to the longitudinal axis.

[0293] Example 103 - The surgical instrument of example 102, wherein the flexible portion includes a lateral sidewall and a cavity defined behind the lateral sidewall. The lateral sidewall is configured to bend into the cavity.

[0294] Example 104 - A surgical instrument as described in examples 95, 96, 97, 98, 99, 100, 101, 102 or 103, wherein the articulation lock is biased into engagement with the locking plate and the articulation actuator.

[0295] Example 105 - A surgical instrument as described in 95, 96, 97, 98, 99, 100, 101, 102, 103 or 104, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

[0296] Example 106 - A surgical instrument as described in example 105, wherein the staple cartridge is replaceable.

[0297] Example 107 - The surgical instrument of example 105 or 106, wherein the end effector comprises a first jaw and a second jaw. The second jaw is movable between an open position and a closed position relative to the first jaw. The first jaw comprises a staple cartridge.

[0298] Example 108 - The surgical instrument of example 105 or 106, wherein the end effector comprises a first jaw and a second jaw. The second jaw is movable between an open position and a closed position relative to the first jaw. The second jaw comprises a staple cartridge.

[0299] Example 109 - The surgical instrument of example 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107 or 108, wherein the first longitudinal rack of locking teeth comprises teeth spaced apart at a first pitch. The second longitudinal rack of locking teeth comprises teeth spaced apart at a second pitch, the second pitch being different than the first pitch. The third longitudinal rack of locking teeth comprises teeth spaced apart at a third pitch, the third pitch being different than the first pitch and the second pitch.

[0300] Example 110 - A surgical instrument including an end effector and a shaft. The end effector includes a proximal end and a distal end. The shaft includes a frame including a first longitudinal rack of locking teeth. The shaft further includes an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector. The articulation actuator is distally movable to rotate the end effector in a first direction, and the articulation actuator is proximally movable to rotate the end effector in a second direction. The articulation actuator includes a second longitudinal rack of locking teeth. The shaft further includes an articulation lock including a third longitudinal rack of locking teeth. The articulation lock is positionable between an unlocked position, in which the articulation actuator is allowed to move relative to the frame, and a locked position, in which the third longitudinal rack of the locking teeth engages with the first longitudinal rack of the locking teeth of the frame and the second longitudinal rack of the locking teeth of the articulation actuator, inhibiting proximal and distal movement of the articulation actuator.

[0301] Example 111 - A surgical instrument as described in Example 110, wherein the frame includes a slidable locking plate, and the first longitudinal rack of locking teeth is defined on the locking plate.

[0302] Example 112 - A surgical instrument described in example 110 or 111, wherein the end effector has a staple cartridge containing staples removably stored therein.

[0303] Example 113 - A surgical instrument including an end effector and a shaft. The shaft includes a frame and an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector. The articulation actuator is movable in a first direction to rotate the end effector in one direction, and the articulation actuator is movable in a second direction to rotate the end effector in another direction. The shaft further includes a joint lock positionable in a first position in which the articulation actuator is movable relative to the frame and in a second position in which the joint lock engages the frame and the articulation actuator to limit movement of the articulation actuator in the first direction and the second direction.

[0304] Example 114 - A surgical instrument described in Example 113, wherein the end effector has a staple cartridge containing staples removably stored therein.

[0305] Example 115 - A surgical instrument including an end effector head configurable in an unclamped configuration and a clamped configuration. The surgical instrument further includes a shaft. The shaft includes a frame including a longitudinal axis and an articulation joint, and the end effector head is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector head. The articulation actuator is movable in a first direction to rotate the end effector head in one direction, and the articulation actuator is movable in a second direction to rotate the end effector head in another direction. The articulation actuator includes at least one locking protrusion extending transversely to the longitudinal axis. The shaft further includes an articulation lock including at least two protrusions extending transversely to the longitudinal axis. The articulation lock is configured to bend transversely to the longitudinal axis to allow articulation of the end effector head. The shaft further includes a closure member configured to move the end effector head from an unclamped configuration to a clamped configuration during a closing stroke, the closure member preventing the articulation lock from deflecting laterally after the closing stroke, thereby inhibiting the end effector head from articulating.

[0306] Example 116 - A surgical instrument including an end effector including a proximal end, a distal end, a first jaw, and a second jaw. The second jaw is movable between an open position and a closed position relative to the first jaw. The surgical instrument further includes a shaft including a frame, the frame including a first longitudinal rack of locking teeth. The shaft further includes an articulation joint, the end effector being rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector, the articulation actuator being movable distally to rotate the end effector in a first direction and movable proximally to rotate the end effector in a second direction. The articulation actuator includes a second longitudinal rack of locking teeth. The shaft further includes an articulation lock including a third group of locking teeth. The articulation lock is positionable in a disengaged position in which the third group of locking teeth are disengaged from the frame and the articulation actuator, and in an engaged position in which the third group of locking teeth engages the first longitudinal rack of locking teeth and the second longitudinal rack of locking teeth to prevent proximal and distal movement of the articulation actuator. The shaft further comprises a closure member configured to move the first jaw towards the closed position during a closing stroke. The closure member is configured to engage the articulation lock during a closing stroke to move the articulation lock from the disengaged position to the engaged position.

[0307] Example 117 - The surgical instrument of example 116, wherein a first longitudinal rack of the locking teeth is defined in a first plane. A second longitudinal rack of the locking teeth is defined in a second plane. The first plane and the second plane are different.

[0308] Example 118 - A surgical instrument as described in 116 or 117, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

[0309] Example 119 - A surgical instrument as described in Example 118, wherein the staple cartridge is replaceable.

[0310] Example 120 - The surgical instrument of example 118 or 119, wherein the end effector comprises a first jaw and a second jaw. The second jaw is movable between an open position and a closed position relative to the first jaw. The first jaw comprises a staple cartridge.

[0311] Example 121 - The surgical instrument of example 118 or 119, wherein the end effector includes a first jaw and a second jaw. The second jaw is movable between an open position and a closed position relative to the first jaw. The second jaw comprises a staple cartridge.

[0312] Example 122 - The surgical instrument of examples 116, 117, 118, 119, 120, or 121, wherein the first longitudinal rack of locking teeth comprises teeth spaced apart at a first pitch. The second longitudinal rack of locking teeth comprises teeth spaced apart at a second pitch, the second pitch being different from the first pitch. The third group of locking teeth comprises teeth spaced apart at a third pitch, the third pitch being different from the first pitch and the second pitch.

[0313] Example 123 - The surgical instrument of example 116, 117, 118, 119, 120, 121 or 122, wherein the shaft defines a longitudinal axis. The joint lock includes a locking plate slidable transversely relative to the longitudinal axis between an engaged position and an engaged position. The frame includes a proximal guide post and a distal guide post. The locking plate includes a proximal lateral slot and a distal lateral slot, the proximal guide post extending into the proximal lateral slot and the distal guide post extending into the distal lateral slot. The proximal and distal guide posts cooperate to define a lateral path for the locking plate.

[0314] Example 124 - The surgical instrument of example 123, wherein the locking plate includes a locking slot including a sidewall defined therein. The closure member includes a lock driver extending into the locking slot. The lock driver is configured to engage the sidewall to move the locking plate from the disengaged position to the engaged position during a closure stroke.

[0315] Example 125 - The surgical instrument of example 124, wherein the closure member is movable through a retraction stroke to move the first jaw to the open position. The lock driver is configured to engage one of the side walls of the locking slot during the retraction stroke to move the locking plate from the engaged position to the disengaged position.

[0316] Example 126 - The surgical instrument of example 124, wherein the closure member is movable through an opening stroke to move the first jaw to the open position. The lock driver is configured to engage one of the side walls of the locking slot during the opening stroke to move the locking plate from the engaged position to the disengaged position.

[0317] Example 127 - The surgical instrument of examples 116, 117, 118, 119, 120, 121, 122, 123, 124, 125 or 126, wherein the articulation lock includes a locking arm deflectable into an engaged position by a closure member.

[0318] Example 128 - The surgical instrument of examples 116, 117, 118, 119, 120, 121, 122, 123, 124, 125 or 126, wherein the articulation lock includes a first locking arm and a second locking arm. The closure member comprises a wedge positionable between the first locking arm and the second locking arm during a closing stroke to deflect the articulation lock into an engaged position.

[0319] Example 129 - The surgical instrument of example 128, wherein a third group of locking teeth is present on the first locking arm and the second locking arm.

[0320] Example 130 - A surgical instrument as described in example 128 or 129, wherein the first locking arm is configured to engage with a first longitudinal rack of the locking tooth and the second locking arm is configured to engage with a second longitudinal rack of the locking tooth.

[0321] Example 131 - A surgical instrument including an end effector including a first jaw and a second jaw. The second jaw is movable relative to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame and a locking plate movable relative to the frame, the locking plate including a first group of locking teeth. The shaft further includes an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further includes an articulation actuator operably connected to the end effector, the articulation actuator configured to rotate the end effector in a first direction and a second direction. The articulation actuator includes a second group of locking teeth. The shaft further includes an articulation lock including a third group of locking teeth. The articulation lock is positionable in a di...

Claims

1. 1. A surgical instrument comprising: a shaft including a shaft frame; An end effector, A proximal end; A distal end. The first Joe, a second jaw, the first jaw being movable relative to the second jaw between an unclamped position and a clamped position; an end effector comprising: an articulation joint, the end effector being rotatably connected to the shaft about the articulation joint; an articulation link operatively connected to the end effector, the articulation link being movable distally to rotate the end effector in a first direction and the articulation link being movable proximally to rotate the end effector in a second direction; a clamping member configured to engage the first jaw and move the first jaw toward the clamping position, the clamping member being slidable relative to the articulation joint; and 1. A staple firing assembly comprising: a cutting member movable through the end effector; a firing bar including a plurality of flexible layers attached to the cutting member, the flexible layers configured to slide longitudinally relative to one another, the firing bar extending through the articulation joint; a buttress comprising: a proximal portion disposed proximally of the articulation joint; a distal portion disposed distally of the articulation joint; and an intermediate portion extending between the proximal portion and the distal portion, the intermediate portion having an opening defined therein, the firing bar extending through the opening, the opening slidably retaining at least a portion of the firing bar; Equipped with A surgical instrument, wherein the proximal portion of the buttress is slidably mounted to the shaft frame such that the buttress can translate relative to the shaft frame when the end effector is articulated.

2. The surgical instrument of claim 1 , wherein the intermediate portion includes a plurality of control elements disposed within the articulation joint.

3. The surgical instrument of claim 1 , wherein the first jaw includes a staple cartridge.

4. The surgical instrument of claim 1 , wherein the second jaw includes a staple cartridge.

5. The surgical instrument of claim 1 , wherein the cutting member is welded to the firing bar.

6. The surgical instrument of claim 2 , wherein adjacent ones of the plurality of control elements are connected to each other.

7. The surgical instrument of claim 2 , wherein each of the plurality of control elements are not connected to each other.

Images