Impact mechanism for the firing of a gripping clamp

Abstract

A surgical system is disclosed that includes an end effector and a drive system configured to provide at least one function of the end effector. The end effector includes a first jaw, a second jaw rotatable between an open configuration and a closed configuration relative to the first jaw, and a staple cartridge removably stored therein and having staples. The drive system includes a motor and an impact mechanism including a rotatable input driven by the motor and a rotatable output driven by the rotatable input. Rotation of the rotatable output is configured to provide at least one function of the end effector. The impact mechanism is configurable between a coupled state in which rotation of the rotatable input causes corresponding rotation of the rotatable output and a slip state in which the rotatable input rotates relative to the rotatable output.

Description

Background Art

[0001] The present invention relates to surgical instruments and, in various arrangements, surgical stapling instruments and surgical cutting instruments designed to staple and cut tissue, and staple cartridges for use therewith.

Brief Description of the Drawings

[0002] The various features of the embodiments described herein, together with their advantages, can be understood by practicing the following invention in conjunction with the following accompanying drawings.

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[0003] Throughout the several views, corresponding reference numerals indicate corresponding parts. The examples described herein illustrate various embodiments of the invention in one form, and such examples should not be construed as limiting the scope of the invention in any way.

Best Mode for Carrying Out the Invention

[0004] As described in the specification and shown in the accompanying drawings, numerous specific details are set forth in order to provide a complete understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements are not described in detail so as not to obscure the embodiments described herein. It will be understood by those of skill in the art 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. Modifications and variations can be made thereto without departing from the scope of the claims.

[0005] The terms "comprise", "comprises" and any other forms of "comprise" (such as "comprising"), "have", "has" and any other forms of "have" (such as "having"), "include", "includes" and any other forms of "include" (such as "including"), and "contain", "contains" and any other forms of "contain" (such as "containing") are conjunctive verbs without limitation. As a result, a surgical system, device, or apparatus that "comprises", "has", "includes", or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Similarly, an element of a system, device, or apparatus that "comprises", "has", "includes", or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

[0006] The terms "proximal" and "distal" are used herein with reference to a clinician who operates the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located farther from the clinician. For convenience and clarity, it will be further understood that 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.

[0007] A variety of exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, it will be readily understood by the reader that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including those related to open surgical procedures, for example. By reading on “DETAILED DESCRIPTION” herein, it will be further understood by the reader that the various instruments disclosed herein can be inserted into the body in any manner, such as through an existing opening, through an incision or puncture formed in the tissue, and the like. The working part of these instruments, i.e., the end effector part, can be inserted directly into the patient's body or also through an access device having an operating passage through which the end effector and the elongate shaft of the surgical instrument can be advanced.

[0008] A surgical stapling system may comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, although other embodiments are contemplated where the staple cartridge is not removable from the first jaw or is at least not readily replaceable from the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closing axis, although other embodiments are contemplated where the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises a kinematic joint configured to rotate, i.e., articulate, the end effector relative to the shaft. The end effector is rotatable about a kinematic axis extending through the kinematic joint. Other embodiments not including a kinematic joint are also contemplated.

[0009] The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the 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 press and clamp the tissue against the deck. Subsequently, staples removably stored within the cartridge body may be deployed into the tissue. The cartridge body includes a staples cavity defined therein, and the staples are removably stored within the staples cavity. The staples cavity is arranged in six longitudinal columns. Three columns of staples cavities are positioned on a first side of the longitudinal slot, and three columns of staples cavities are positioned on a second side of the longitudinal slot. Other configurations of the staples cavity and staples may be possible.

[0010] The staples are supported by a staple driver within the cartridge body. The driver is movable between a first, i.e., un-fired position, and a second, i.e., fired position, to eject the staples from the staples cavity. The driver is held within the cartridge body by a retainer extending around a lower periphery of the cartridge body and includes an elastic member configured to grip the cartridge body and hold the retainer against the cartridge body. The driver is movable between their un-fired position and their fired position by a thread. The thread is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The thread includes a plurality of inclined surfaces configured to slide under the driver and lift the driver, on which the staples are supported, toward the anvil. In various other embodiments, the staples are formed with an integral staple driving portion such that the thread directly cam moves the staples toward the fired position. Staples having an integral staple driver may be formed by punching the staples from a sheet of material.

[0011] In addition to the above, the thread is moved distally by a firing member. The firing member is configured to contact the thread and push the thread toward the distal end. A longitudinal slot defined within 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 a first joe and a second cam that engages a second joe. 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 excise tissue captured between the staple cartridge and the anvil. Desirably, the knife is positioned at least partially proximal to the inclined surface such that the staples are ejected forward of the knife.

[0012] FIG. 1 shows a master controller 1001 that can be used with a robotic arm slave cart 1100 of the type shown in FIG. 2. The master controller 1001, the robotic arm slave cart 1100, and their individual components and control systems are collectively referred to herein as the robotic system 1000. Examples of such systems and devices are disclosed in U.S. Patent No. 7,524,320, which is hereby incorporated by reference in its entirety. Accordingly, each detail of such devices will not be described herein beyond the extent necessary to understand the various embodiments and forms of the present invention. As is well known, the master controller 1001 generally includes a master controller (represented generally as 1003 in FIG. 1) that is grasped by a surgeon and manipulated through space while the surgeon observes a procedure via a stereoscopic display 1002. The master controller 1001 generally includes a manual input device, which preferably moves with multiple degrees of freedom and often further includes an actuating handle for actuating a tool (e.g., for closing a grasping scalpel, applying a potential to an electrode, etc.). Additional details regarding the master controller 1001 and the robotic arm slave cart 1100 can be found in U.S. Patent No. 8,684,253, which is hereby incorporated by reference in its entirety.

[0013] As shown in FIG. 2, in one form, the robotic arm cart 1100 is configured to operate a plurality of surgical tools generally designated as 1200. Various robotic surgery systems and methods utilizing the master controller and robotic arm cart configuration are disclosed in U.S. Patent No. 6,132,368, issued October 17, 2000, entitled "MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD", the entire disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart 1100 has a base 1002, and in the illustrated embodiment, three surgical tools 1200 are supported from this base. In various forms, the surgical tools 1200 are each supported by a series of manually articulating link mechanisms generally referred to as setup joints 1104 and robotic manipulators 1106. In this specification, these structures are shown with protective covers that extend over most of the robotic connections. These protective covers may be optional and in some embodiments may be sized or completely omitted to minimize the inertia generated by the servo mechanisms used to operate such devices, prevent collisions by limiting the volume of moving parts, and suppress the total weight of the cart 1100. The cart 1100 generally has dimensions suitable for moving the cart 1100 between operating rooms. The cart 1100 may typically be configured to pass through a standard operating room door and be placed on a standard hospital elevator. In various forms, the cart 1100 preferably has a certain weight and has a wheel (or other transport) system such that one operator can position the cart 1100 adjacent to the operating table.

[0014] Referring now to FIG. 3, in at least one form, the robotic manipulator 1106 can include a linkage 1108 that constrains the movement of the surgical tool 1200. In various embodiments, the linkage 1108 includes rigid links interconnected by rotary joints in a parallelogram configuration such that the surgical tool 1200 rotates about a point within the space 1110. This is more fully described in the issued U.S. Patent No. 5,817,084, the entire disclosure of which is incorporated herein by reference. This parallelogram arrangement restricts rotation to a swiveling motion about an axis 1112a, sometimes called the pitch axis. The links that support the parallelogram linkage are pivotally attached to the setup joint 1104 (FIG. 2), so that the surgical tool 1200 can further rotate about an axis 1112b, also called the yaw axis. The pitch and yaw axes 1112a, 1112b intersect at a remote center 1114 that is aligned along the shaft 1208 of the surgical tool 1200. The surgical tool 1200 can have additional degrees of freedom supported by the manipulator 1106, including a sliding motion of the surgical tool 1200 along the longitudinal tool axis "LT-LT". The surgical tool 1200 slides along the tool axis LT-LT with respect to the manipulator 1106 (arrow 1112c), and the remote center 1114 remains fixed with respect to the base 1116 of the manipulator 1106. Thus, the entire manipulator generally moves to reposition the remote center 1114. The linkage 1108 of the manipulator 1106 is driven by a series of motors 1120. These motors actively move the linkage 1108 in response to commands from a processor of the control system. As discussed in more detail below, the motors 1120 are also used to operate the surgical tool 1200.

[0015] An alternative setup joint structure is shown in FIG. 4. In this embodiment, the surgical tool 1200 is supported by an alternative manipulator structure 1106' between two tissue manipulation tools. Those skilled in the art will recognize that the various embodiments herein may include various alternative robotic structures. The structure of this is described in U.S. Patent No. 5,878,193, issued on March 2, 1999, titled "AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING", etc., and the entire disclosure thereof is incorporated herein by reference. Further, regarding the data communication between the robotic components and the processor of the robotic surgical system, in this specification, it will be mainly described in relation to the communication between the surgical tool 1200 and the master controller 1001, but similar communication can also be carried out between circuits such as manipulators, setup joints, endoscopes or other imaging devices, and the processor of the robotic surgical system for communication such as component compatibility evaluation, component type identification, component calibration (such as offset), confirmation of the connection of components to the robotic surgical system, etc. The point should be understood.

[0016] Figures 5-9 show a surgical tool 2300 that can be effectively used in connection with a robot system 1000, having a tool drive assembly operably coupled to a controller of the robot system, which is operable by input from an operator and configured to provide at least one rotational output motion to at least one rotatable body portion supported on the tool drive assembly. In various forms, the tool 2300 includes a surgical end effector 2312 that includes an elongate slot 2322 and a clamp member, such as anvil 2324, that is pivotable and translatable, which are maintained at intervals that ensure effective stapling and cutting of tissue clamped in the end effector 2312. As shown in the illustrated embodiment, the surgical end effector 2312 may include, in addition to the aforementioned elongate slot 2322 and anvil 2324, a cutting instrument 2332 having a threaded portion 2333 formed at the top, a surgical staple cartridge 2334 installed in the elongate slot 2322, and a rotary end effector drive shaft 2336 having a helical thread formed at the top. The cutting instrument 2332 can be, for example, a knife. As discussed in more detail below, rotation of the end effector drive shaft 2336 moves the cutting instrument 2332 and the threaded portion 2333 axially through the surgical staple cartridge 2334 and moves them between a starting position and an ending position. The axial movement of the cutting instrument 2332 depends on the direction of rotation of the end effector drive shaft 2336. The anvil 2324 can be pivotally opened and closed at a pivot portion 2325 connected to the proximal end of the elongate slot 2322. The anvil 2324 may also have a tab 2327 at the proximal end that operably interfaces with components of a mechanical closure system (detailed below) for opening and closing the anvil 2324. When the end effector drive shaft 2336 rotates, the cutting instrument 2332 and the thread 2333 move longitudinally from a starting position to an ending position through the surgical staple cartridge 2334, thereby cutting the tissue clamped within the surgical end effector 2312.The movement of the thread 2333 through the surgical staple cartridge 2334 drives the staples within the surgical staple cartridge 2334 to penetrate the transected tissue and contact the closed anvil 2324, whereby the staples are bent to secure the transected tissue. In one form, by fabricating the elongate groove 2322 and the anvil 2324 from a conductive material (such as metal), it can function as part of an antenna that communicates with a sensor within the end effector, as described above. The surgical staple cartridge 2334 can also be fabricated from a non-conductive material (e.g., plastic), and the sensor can be connected to the surgical staple cartridge 2334 or disposed within the surgical staple cartridge 2334, as described above.

[0017] Embodiments of the surgical tool 2300 described herein use an end effector 2312 to staple the transected tissue, but it should be noted that in other embodiments, different techniques may be used to fasten or seal the transected tissue. For example, it is also possible to use an end effector that uses radiofrequency energy or an adhesive to fasten the transected tissue. U.S. Patent No. 5,709,680, issued January 20, 1998, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", and U.S. Patent No. 5,688,270, issued November 18, 1997, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND / OR OFFSET ELECTRODES", disclose cutting instruments that use RF energy to fasten transected tissue, and these are incorporated herein by reference. U.S. Patent Application No. 11 / 267,811, filed November 4, 2005 (now U.S. Patent No. 7,673,783) and U.S. Patent Application No. 11 / 267,383, filed November 4, 2005 (now U.S. Patent No. 7,607,557) disclose cutting instruments that use an adhesive to fasten transected tissue, and these are also incorporated herein by reference. Accordingly, although the description herein relates to incision / stapling operations, etc., it should be recognized that this is an exemplary embodiment and not intended to be limiting. Other tissue fastening techniques can also be used.

[0018] In the illustrated embodiment, the surgical end effector 2312 is coupled to an elongate shaft assembly 2308 that is coupled to a tool attachment portion 2460 and that defines a longitudinal tool axis LT-LT. In this embodiment, the elongate shaft assembly 2308 does not include an articulating joint. One of ordinary skill in the art will understand that other embodiments may have an articulating joint. In at least one embodiment, the elongate shaft assembly 2308 includes a hollow outer tube 2340 that is rotatably supported on a tool attachment plate 2462 of the tool attachment portion 2460, as discussed in further detail below. In various embodiments, the elongate shaft assembly 2308 further includes a distal spine shaft 2350. The distal spine shaft 2350 is coupled to a distal fixed base 2360 that is non-movably coupled to a groove 2322 or alternatively has a distal end portion 2354 that is integrally formed. See FIGS. 6-8.

[0019] As shown in FIG. 6, the distal spine shaft 2350 has a proximal end portion 2351 that is slidably received within a slot 2355 in the proximal spine shaft 2353, which is non - movably supported within the hollow outer tube 2340 by at least one support collar 2357. As further seen in FIGS. 6 and 7, the surgical tool 2300 includes a closure tube 2370 that is constrained to move axially only relative to the distal fixed base 2360. The closure tube 2370 has a proximal end 2372 and has an internally formed female thread 2374 that is threaded with a transmission device, generally shown as 2375, that is operably supported on the tool mounting plate 2462. In various forms, the transmission device 2375 includes a rotary drive shaft assembly, generally shown as 2381. The rotary drive shaft assembly 2381, when rotated, will move the closure tube 2370 axially, as discussed in more detail below. In at least one form, the rotary drive shaft assembly 2381 includes a closure drive nut 2382 of a closure clutch assembly, generally shown as 2380. More specifically, the closure drive nut 2382 is rotatably supported relative to the outer tube 2340 and has a proximal end portion 2384 that is threaded with the closure tube 2370. For assembly, the proximal end portion 2384 can be threaded to a retaining ring 2386. The retaining ring 2386 cooperates with the end 2387 of the closure drive nut 2382 to define an annular slot 2388 in which the shoulder 2392 of the lock collar 2390 extends. The lock collar 2390 is non - movably attached (e.g., by welding, adhesion, etc.) to the end of the outer tube 2340. Such a configuration allows the closure drive nut 2382 to rotate relative to the outer tube 2340 and serves to attach the closure drive nut 2382 to the outer tube 2340. The closure drive nut 2382 further has a distal end 2383 with a threaded portion 2385 that threads into the female thread 2374 of the closure tube 2370. Thus, rotation of the closure drive nut 2382 will move the closure tube 2370 axially, as represented by the arrow "D" in FIG. 7.

[0020] The closing of the anvil 2324 and the operation of the cutting tool 2332 are achieved by a control movement transmitted by the hollow drive sleeve 2400. As seen in FIGS. 6 and 7, the hollow drive sleeve 2400 is rotatably and slidably received on the distal spine shaft 2350. The drive sleeve 2400 is rotatably attached to the proximal spine shaft 2353 protruding from the tool attachment portion 2460 and has a proximal end portion 2401 relative to which the drive sleeve 2400 can rotate. Refer to FIG. 6. As also seen in FIGS. 6 - 8, the drive sleeve 2400 rotates about the longitudinal tool axis "LT - LT" by the drive shaft 2440. The drive shaft 2440 has a drive gear 2444 attached to its distal end 2442 and meshes with a driven gear 2450 attached to the drive sleeve 2400.

[0021] The drive sleeve 2400 further has a distal end portion 2402 connected to the closing clutch 2410 portion of the closing clutch assembly 2380 having a proximal surface 2412 and a distal surface 2414. On the proximal surface 2412, a series of proximal teeth 2416 are formed that are adapted to selectively engage corresponding proximal tooth cavities 2418 formed in the proximal end portion 2384 of the closing drive nut 2382. Thus, when the proximal teeth 2416 are meshed with the proximal tooth cavities 2418 in the closing drive nut 2382, the rotation of the drive sleeve 2400 causes the rotation of the closing drive nut 2382, and ultimately, as will be discussed in more detail below, axially moves the closing tube 2370.

[0022] As can be seen most clearly in FIGS. 6 and 7, a series of distal teeth 2415 are formed on the distal surface 2414 of the drive clutch portion 2410 and are adapted to selectively engage corresponding distal tooth cavities 2426 formed in the faceplate portion 2424 of the knife drive shaft assembly 2420. In various embodiments, the knife drive shaft assembly 2420 includes a hollow knife shaft segment 2430 that is rotatably received on a corresponding portion of a distal spline shaft 2350 that is attached to or projects from a fixed base 2360. When the distal teeth 2415 of the closure clutch portion 2410 are in meshing engagement with the distal tooth cavities 2426 of the faceplate portion 2424, rotation of the drive sleeve 2400 results in rotation of the drive shaft segment 2430 about the fixed shaft 2350. As seen in FIGS. 6-8, a knife drive gear 2432 is attached to the drive shaft segment 2430 and is in meshing engagement with a drive knife gear 2434 attached to the end effector drive shaft 2336. Thus, rotation of the drive shaft segment 2430 results in rotation of the end effector drive shaft 2336, driving the cutting instrument 2332 and thread 2333 distally through the surgical staple cartridge 2334 to cut and staple the tissue clamped within the surgical end effector 2312. The thread 2333 can be made of, for example, plastic and can have an inclined distal surface. As the thread 2333 moves through the elongated groove 2322, the inclined front surface of the thread 2333 can drive staples within the surgical staple cartridge 2334 into contact with and push up against the anvil 2324 through the clamped tissue, i.e., "drive" the staples. The anvil 2324 staples the cut tissue by bending, i.e., "forming," the staples. As used herein, the term "firing" refers to the initiation of the actions necessary to drive the cutting instrument and thread portions distally through the surgical staple cartridge to cut the tissue clamped in the surgical end effector and drive the staples through the cut tissue.

[0023] During use, it may be desirable to rotate the surgical end effector 2312 about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission device 2375 receives a corresponding rotational output motion from the tool drive assembly 1010 of the robotic system 1000 and converts the rotational output motion into a rotational control motion for rotating the elongated shaft assembly 2308 (and the surgical end effector 2312) about the longitudinal tool axis LT-LT. As seen in FIG. 9, the proximal end 2341 of the outer tube 2340 is rotatably supported within a cradle device 2343 attached to the tool attachment plate 2462 of the tool attachment portion 2460. The rotary gear 2345 is formed on or attached to the proximal end 2341 of the outer tube 2340 of the elongated shaft assembly 2308 to mesh with a rotary gear assembly 2470 operably supported on the tool attachment plate 2462. In at least one embodiment, the rotary drive gear 2472 is connected to a corresponding first one of the driven disks or elements on the adapter side of the tool attachment plate 2462 when the tool attachment portion 2460 is connected to the tool drive assembly 1010. The rotary drive assembly 2470 further includes a rotary driven gear 2474 that meshes with the rotary gear 2345 and the rotary drive gear 2472 and is rotatably supported on the tool attachment plate 2462. Applying a first rotational output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding driven element thus causes rotation of the rotary drive gear 2472 by being operably connected to the driven element. The rotation of the rotary drive gear 2472 ultimately results in the rotation (primary motion) of the elongated shaft assembly 2308 (and the surgical end effector 2312) about the longitudinal tool axis LT-LT.

[0024] The closing of the anvil 2324 against the staple cartridge 2034 is effected by axially moving the closing tube 2370 in the distal direction “DD”. The axial movement of the closing tube 2370 in the distal direction “DD” is achieved by applying a rotational control movement to the closing drive nut 2382. In order to apply the rotational control movement to the closing drive nut 2382, the closing clutch 2410 must first engage and mate with the proximal end portion 2384 of the closing drive nut 2382. In various embodiments, the transmission device 2375 further includes a shifter drive assembly 2480 that is operably supported on the tool attachment plate 2462. More specifically, referring to FIG. 47, it can be seen that the proximal end portion 2359 of the proximal spine portion 2353 extends through the rotation gear 2345 and is rotatably connected to a shifter gear rack 2481 that is slidably attached to the tool attachment plate 2462 through a slot 2482. The shifter drive assembly 2480 further includes a shifter drive gear 2483 that is connected to a corresponding second one of the driven disks or elements on the adapter side surface of the tool attachment plate 2462 when the tool attachment portion 2460 is connected to the tool holder. The shifter drive assembly 2480 further includes a shifter driven gear 2478 that engages and mates with the shifter drive gear 2483 and the shifter rack gear 2482 and is rotatably supported on the tool attachment plate 2462. Applying a second rotational output movement to the corresponding driven element from the robot system 1000 via the tool drive assembly 1010 thus results in the rotation of the shifter drive gear 2483 by being operably connected to the driven element. The rotation of the shifter drive gear 2483 ultimately results in the axial movement of the shifter gear rack 2482 and the proximal spine portion 2353, as well as the drive sleeve 2400 and the closing clutch 2410 attached thereto. The axial movement of the closing clutch 2410 depends on the rotational direction of the shifter drive gear 2483 by the robot system 1000. Thus, the rotation of the shifter drive gear 2483 in the first rotational direction results in the axial movement of the closing clutch 2410 in the proximal direction “PD” to engage the proximal teeth 2416 with the proximal tooth cavity 2418 in the closing drive nut 2382.Conversely, rotation of the shifter drive gear 2483 in the second rotational direction (opposite the first rotational direction) causes axial movement of the closure clutch 2410 in the distal direction “DD”, engaging the distal teeth 2415 with corresponding distal tooth cavities 2426 formed in the faceplate portion 2424 of the knife drive shaft assembly 2420.

[0025] When the closure clutch 2410 is engaged with the closure drive nut 2382, the closure drive nut 2382 rotates by rotating the closure clutch 2410. Rotation of the closure clutch 2410 is controlled by applying a rotational output motion to the rotational drive transmission portion 2490 of the transmission 2375 operably supported on the tool attachment plate 2462, as shown in FIG. 9. In at least one embodiment, the rotational drive transmission portion 2490 includes a rotational drive assembly 2490' that includes a gear 2491 connected to a corresponding third one of a driven disk or element on the adapter side surface of the tool attachment plate 2462 when the tool attachment portion 2460 is connected to the tool holder. The rotational drive transmission portion 2490 further includes a first rotation driven gear 2492 that meshes with the second rotation gear 2493 and the rotational drive gear 2491 and is rotatably supported on the tool attachment plate 2462. The second rotation driven gear 2493 is connected to the proximal end portion 2443 of the drive shaft 2440.

[0026] When the rotational drive gear 2491 rotates in the first rotational direction, the drive shaft 2440 rotates in the first direction. Conversely, when the rotational drive gear 2491 rotates in the second rotational direction (opposite the first rotational direction), the drive shaft 2440 rotates in the second direction. As described above, the drive shaft 2440 has a drive gear 2444 attached to its distal end 2442 and meshes with a driven gear 2450 attached to the drive sleeve 2400. Thus, when the drive shaft 2440 rotates, the drive sleeve 2400 rotates.

[0027] A method of operating a surgical tool 2300 will be described here. When the tool attachment portion 2462 is operably coupled to the tool holder of the robotic system 1000 and oriented at a position adjacent to the target tissue to be cut and stapled, if the anvil 2334 is not yet in the open position (Figure 6), the robotic system 1000 can apply a first rotational output motion to the shifter drive gear 2483, whereby the closing clutch 2410 moves axially and meshes with the closing drive nut 2382 (if not yet meshed). See Figure 7. When the controller 1001 of the robotic system 1000 confirms (e.g., by a sensor within the surgical end effector 2312 communicating with the robotic control system) that the closing clutch 2410 is meshed with the closing drive nut 2382, the robotic controller 1001 can then apply a second rotational output motion to the rotary drive gear 2492, whereby, as described above, ultimately, the rotary drive nut 2382 rotates in a first direction and the closing tube 2370 moves axially in the distal direction "DD". As the closing tube 2370 moves distally, the closing tube 2370 contacts a portion of the anvil 2323 and pivots the anvil 2324 to the closed position to clamp the target tissue between the anvil 2324 and the surgical staple cartridge 2334. When the robotic controller 1001 determines, by a corresponding sensor within the surgical end effector 2312 that it communicates with, that the anvil 2334 has been pivoted to the closed position, the robotic system 1000 interrupts applying the second rotational output motion to the rotary drive gear 2491. The robotic controller 1001 may also provide an indication to the surgeon that the anvil 2334 is fully closed. The surgeon can then initiate the firing sequence. In an alternative embodiment, the firing sequence can be automatically initiated by the robotic controller 1001. The robotic controller 1001 then applies a main rotational control motion 2483 to the shifter drive gear 2483, whereby the closing clutch 2410 is moved axially and meshed with the faceplate portion 2424 of the knife drive shaft assembly 2420. See Figure 8.When the controller 1001 of the robot system 1000 confirms (e.g., by a sensor in the end effector 2312 communicating with the robot control system controller 1001) that the closing clutch 2410 is engaged with the face plate portion 2424, the robot controller 1001 can then apply a second rotational output motion to the rotational drive gear 2492, whereby, as described above, finally, the cutting instrument 2332 and the thread portion 2333 are axially moved in the distal direction "DD" through the surgical staple cartridge 2334. When the cutting instrument 2332 moves distally through the surgical staple cartridge 2334, it cuts the tissue clamped inside. When the thread portion 2333 is driven distally, the staples in the surgical staple cartridge are driven through the cut tissue and contact the anvil 2324. When the robot controller 1001 determines (by a sensor in the surgical end effector 2312 communicating with the robot controller 1001) that the cutting instrument 2324 has reached the end position within the surgical staple cartridge 2334, the robot controller 1001 interrupts applying the second rotational output motion to the rotational drive gear 2491. Thereafter, the robot controller 1001 applies a secondary rotational output motion to the rotational drive gear 2491, whereby finally, the cutting instrument 2332 and the thread portion 2333 axially move in the proximal direction "PD" to the starting position. When the robot controller 1001 determines (by a sensor in the surgical end effector 2312 communicating with the robot controller 1001) that the cutting instrument 2324 has reached the starting position, the robot controller 1001 interrupts applying the secondary rotational output motion to the rotational drive gear 2491. Thereafter, the robot controller 1001 applies a primary rotational output motion to the shifter drive gear 2483 to move the closing clutch 2410 and engage it with the rotational drive nut 2382. When the closing clutch 2410 moves and meshes with the rotational drive nut 2382, the robot controller 1001 then applies a secondary output motion to the rotational drive gear 2491, thereby finally rotating the rotational drive nut 2382 in a second direction to move the closing tube 2370 in the proximal direction "PD".As seen in FIGS. 6-8, the closure tube 2370 has an opening 2345 therein that engages a tab 2327 on the anvil 2324 to pivot the anvil 2324 to an open position. In an alternative embodiment, a spring may also be used to pivot the anvil 2324 to an open position when the closure tube 2370 is returned to the starting position (FIG. 6).

[0028] In various embodiments, a single rotational input may be used to control multiple functions of an end effector of a surgical instrument. In one embodiment, as described above, rotation of the drive shaft 2440 causes movement of the anvil 2334 for tissue capture / release at the end effector 2312, and axial movement of the cutting instrument 2332 and threaded portion 2333 through the surgical staple cartridge 2334 for tissue cutting and stapling. In various other embodiments, a single rotational input may be used to quickly transition the first and second jaws of the end effector from an open configuration to a closed configuration at a first speed to weakly grip tissue therebetween and enable quick movement for tissue manipulation. The single rotational input may also be used to slowly transition the first and second jaws from an open configuration to a closed configuration at a second speed slower than the first speed to strongly grip tissue therebetween in preparation for stapling the tissue. The single rotational input may further be used to drive a firing assembly that can actuate a staple cartridge positioned within the end effector to fire staples into the gripped tissue, and at the same time, a knife may be deployed to cut the stapled tissue. The various functions of the single rotational input impose requirements that are contrary to the design of the power transmission system.

[0029] The solution to the above problem is to use inertia to "smooth" power consumption and "cut out" short - time peak loads, such as during a strong gripping or staple - firing operation of the tissue, while still allowing for quick movement to grip with the jaws of the end - effector. The impact driver mechanism generates the desired peak load required. However, these mechanisms introduce unacceptable backlash for weakly gripping the tissue. Thus, it is desirable to have an impact - type mechanism that generates the desired peak load while avoiding unacceptable gripping backlash.

[0030] In various embodiments, referring to FIG. 10, an impact mechanism 100 according to at least one aspect of the present disclosure is provided. The impact mechanism 100 includes a rotational input portion 150, a rotational output portion 200, and a compression spring 250. In various embodiments, the rotational input portion 150 can be rotatably driven by a motor, such as a motor within a handle assembly like the handle assembly in U.S. Patent No. 7,845,537, which is hereby incorporated by reference in its entirety. In various embodiments, the rotational input portion 150 can be rotatably driven by a motor, such as a motor from a robotic surgical system, like a motor within a robotic arm cart 1100. As an example, other embodiments are envisioned where the rotational input portion 150 is driven by another motion - generating device other than a motor, such as a trigger of a surgical instrument.

[0031] The rotational input unit 150 includes a shaft 152 and an impact driver 154 extending from the shaft 152. In various embodiments, the impact driver 154 is removably connectable to the shaft 152 at a connection interface 153, whereby the impact driver 154 can be replaced with another impact driver. The impact driver 154 includes a base 156 and two arms 158, 160 extending from the base 156. The arm 158 includes inclined cams 158a, 158b defined on each side surface of the arm 158 and a distal surface 158c extending between the inclined cams 158a and 158b. Similarly, the arm 160 includes inclined cams 160a, 160b defined on each side surface of the arm 160 and a distal surface 160c extending between the inclined cams 160a and 160b. The base 156 includes joining curved surfaces 156a, 156b on each of its side surfaces. The inclined cams 158a, 160a and the joining curved surface 156a define a first curvilinear path 162a from the distal surface 158c of the arm 158 to the distal surface 160c of the arm 160. Similarly, the inclined cams 158b, 160b and the joining curved surface 156b define a second curvilinear path 162b from the distal surface 158c of the arm 158 to the distal surface 160c of the arm 160. In addition, each of the arms 158, 158 includes gripping detents 158d, 160d defined on the distal surfaces 158c, 160c sized to receive and hold the corresponding ridges of the rotational output unit 200, as will be described in more detail below.

[0032] In various embodiments, the rotary output portion 200 includes a shaft 202 and a head 204 extending from the shaft 202. The head 204 includes a pair of raised portions 204a, 204b extending from side surfaces 205a, 205b of the head 204 corresponding to the holding detents 158d, 160d defined on the distal surfaces 158c, 160c of the arms 158, 160 (although the raised portion 204a cannot be seen in FIGS. 10-14, it is referred to herein for ease of explanation of the impact mechanism 100). In various other embodiments, the head 204 includes a continuous raised portion extending from a first side surface 205a of the head 204 to a second side surface 205b of the head 204, which is in contrast to two separate raised portions extending from separate positions on the side surfaces 205a, 205b of the head 204. In one aspect, the head 204 defines impact surfaces 204c, 204d on each of its side surfaces. This will be described in more detail below.

[0033] As seen in FIG. 10, a compression spring 250 surrounds the shaft 202 and applies a force to the head 204 to push the rotary output portion 200 toward the rotary input portion 150 and operatively engage the rotary input portion. In various embodiments, the rotary output portion 200 is axially movable relative to the rotary input portion 150 between an engaged position as seen in FIG. 10 where the compression spring 250 is compressed by a first amount and a slip position as seen in FIG. 12 where the compression spring 250 is compressed by a second amount less than the first amount.

[0034] During operation, as shown in FIG. 10, the impact mechanism 100 can be in a connected state where the rotary input portion 150 is operably connected to the rotary output portion 200 by the holding return stoppers 158d, 160d and the raised portions 204a, 204b. As described above, the motor can apply an input rotational motion to the rotary input portion 150, thereby rotating the rotary input portion in a first direction 300 such as the clockwise direction or a second direction 310 such as the counterclockwise direction. In the connected state, the rotation of the rotary input portion 150 in the first direction 300 causes the rotary input portion 150 to apply torque to the rotary output portion 200 by the connected return stoppers 158d, 160d and the raised portions 204a, 204b, resulting in the rotation of the rotary output portion 200 in the corresponding direction, that is, the direction 302. Similarly, in the connected state, the rotation of the rotary input portion 150 in the second direction 310 causes the rotary input portion 150 to apply torque to the rotary output portion 200 by the connected return stoppers 158d, 160d and the raised portions 204a, 204b, resulting in the rotation of the rotary output portion 200 in the corresponding direction, that is, the direction 312. In one aspect, in the connected state, there is no relative rotation between the rotary input portion 150 and the rotary output portion 200.

[0035] The rotation of the rotary output portion 200 can cause the jaws of the end effector to quickly move between the open configuration and the closed configuration, resulting in various end effector functions such as gripping and manipulating tissue. In one embodiment, the rotation of the rotary output portion 200 can move the anvil 2324 and the elongated groove 2322 between the open configuration and the closed configuration, as described elsewhere in this specification. In one aspect, the rotation of the rotary input portion 150 in the first direction 300 causes a corresponding rotation of the rotary output portion 200 in the first direction 302, moving the jaws towards the open configuration. In another aspect, the rotation of the rotary input portion in the second direction 310 causes a corresponding rotation of the rotary output portion 200 in the second direction 312, moving the jaws towards the closed configuration.

[0036] In one aspect, the rotation of the rotational output portion 200 can cause the jaws of the end effector to slowly move between the open configuration and the closed configuration, grip the tissue, and provide various other end effector functions such as clamping the tissue in preparation for stapling. In one aspect, the rotation of the rotational input portion 150 in the first direction 300 causes a corresponding rotation of the rotational output portion 200 in the first direction 302, moving the jaws towards the open configuration. In another aspect, the rotation of the rotational input portion 150 in the second direction 310 causes a corresponding rotation of the rotational output portion 200 in the second direction 312, moving the jaws towards the closed configuration to strongly grip the tissue.

[0037] In one aspect, the rotation of the rotational output portion 200 can cause the firing drive portion to operate and provide various other end effector functions such as deploying staples into the tissue gripped between the jaws and cutting the stapled tissue. In one embodiment, as described elsewhere herein, the rotation of the rotational output portion 200 can drive a cutting instrument 2332 having a threaded portion 2333 formed thereon to pass through a surgical staple cartridge 2334, deploy staples therefrom, and cut tissue within the end effector 2312. In one aspect, the rotation of the rotational input portion 150 in the first direction 300 causes a corresponding rotation of the rotational output portion 200 in the first direction 302, moving the firing drive portion during the staple firing stroke to deploy staples from the staple cartridge and cut the stapled tissue. In another aspect, the rotation of the rotational input portion 150 in the second direction 310 causes a corresponding rotation of the rotational output portion 200 in the second direction 312, moving the firing drive portion towards the un-fired position in preparation for positioning a new staple cartridge within the end effector.

[0038] During operation, if the rotational output unit 200 encounters resistance, for example, due to thick tissue being located between the jaws of the end effector, the amount of torque required to rotate the rotational output unit 200 increases. When the amount of torque required to rotate the rotational output unit 200 reaches or exceeds a torque threshold value, the torque applied by the rotational input unit 150 slightly compresses the compression spring 250 and, as seen in FIG. 11, causes the raised portions 204a, 204b to "slip" out from the detents 158d, 160d, shifting the impact mechanism 100 into a slipping state. When the raised portions 204a, 204b slip from the detents, the rotational movement of the rotational input unit 150 is no longer transmitted to the rotational output unit 200, at least temporarily, as will be described in more detail below. Rather, in the slipping state, the rotational input unit 150 rotates relative to the rotational output unit 200.

[0039] In one aspect, the torque threshold value is based on the spring constant of the compression spring 250. In various embodiments, the impact mechanism 100 can include a plurality of compression springs 250, thereby enabling a user to replace the compression springs 250 and change the torque threshold value according to the application in which the impact mechanism 100 is utilized.

[0040] Continuing from above, the rotation of the rotary input portion 150 in the slip state causes relative rotation between the rotary input portion 150 and the rotary output portion 200. As a result, in the slip state, the arms 158, 160 of the rotary input portion 150 rotate with respect to the head 204 of the rotary output portion 200. When the rotary input portion 150 rotates a specific amount with respect to the rotary output portion 200, the compression spring 250 drives the head 204 of the rotary output portion 200 axially into the trough 170 defined between the arms 158, 160 of the impact driver 154 as shown in FIG. 12, and the rotary output portion 200 can be shifted to the slip position as described above. In one aspect, the specific amount of rotation can be the amount of rotation necessary to allow the side end portions 205a, 205b of the head 204 to pass through the distal surfaces 158c, 160c of the arms 158, 160 and the head 204 to be driven into the trough 170 defined between the arms of the rotary input portion. In one aspect, the specific amount of rotation can be 15° or less. In one aspect, the specific amount of rotation can be between 15° and 30°, such as 20° or 25°. In one aspect, the predetermined amount of rotation can be 30° or more, such as 45°. In one aspect, the predetermined amount of rotation can be 45° or more, such as 50°, 75°, or 90°.

[0041] Continuing from above, when the head 204 of the rotary output portion 200 is located within the trough 170 of the impact driver 154, i.e., in the slip position, the rotary input portion 150 can continue to rotate in the first direction 300 with respect to the rotary output portion 200. As a result, the inclined cam surface 158a impacts the impact surface 204c, and the inclined cam surface 160b impacts the impact surface 204d, causing the impact driver 154 to supply a higher short-time peak load to the rotary output portion 200 than is normally possible when the impact mechanism 100 is in the connected state. In various embodiments, the short-time peak load can be 1.2 times greater than the peak load possible when the impact mechanism 100 is in the connected state. In various embodiments, the short-time peak load can be 1.5 times greater than the peak load possible when the impact mechanism 100 is in the connected state. In various embodiments, the short-time peak load can be 2 times greater than the peak load possible when the impact mechanism 100 is in the connected state.

[0042] After the inclined cam surfaces 158a and 160b impact the corresponding impact surfaces 204c and 204d of the head 204 and the rotary input section 150 rotates further, the rotary output section 200 is ejected from the trough 170. More specifically, as shown in FIG. 13, the rotation of the rotary input section 150 in the first direction 300 engages the inclined cam 158a and causes a cam movement to separate the impact surface 204c from the base 156. Similarly, the rotation of the rotary input section 150 in the first direction 300 engages the inclined cam 160b and causes a cam movement to separate the impact surface 204d from the base 156. The cooperative cam action of the inclined cams 158a and 160b on the impact surfaces 204c and 204d compresses the compression spring 250 and drives the rotary output section 200 toward the engaged position. When the impact surfaces 204c and 204d pass the apexes of the inclined cam surfaces 158a and 160b, the rotary input section 150 can continue to rotate in the first direction 300 with respect to the rotary output section 200 until the raised portions 204a and 204b of the head 204 are aligned with the detents 158d and 160d of the rotary input section 150. At such a time, the force applied to the head 204 by the compression spring 250 pushes the raised portions 204a and 204b into the detents 158d and 160d, returning the impact mechanism 100 to the connected state shown in FIG. 14. It should be noted that at such a time, due to the relative rotation generated between the rotary input section 150 and the rotary output section 200, the raised portion 204b engages with 158d, and the raised portion 204a engages with the detent 160d.

[0043] The above-described process of using the impact mechanism 100 has been described with the rotary input section 150 rotating in the first direction 300. However, the process for using the impact mechanism 100 in the second direction 310 is substantially the same except that after the impact mechanism 100 transitions to the slip state, the inclined cam 158b impacts the impact surface 204c to cause a cam movement, and the inclined cam 160a impacts the impact surface 204d and causes a cam movement to return to the connected state. Therefore, the impact mechanism 100 can bring a peak load to the rotary output section 200 for a short time, and the rotary input section 150 rotates in the first direction 300 and the second direction 310.

[0044] In various embodiments, the rotational input portion 150 applies a short - time peak load to the rotational output portion 200. After the impact mechanism 100 returns to the connected state, the amount of torque required to rotate the rotational output portion 200 can still exceed the torque threshold. Therefore, after the raised portions 204a, 204b and the detents 158d, 160d return to the connected state, the continuous rotation of the rotational input portion 150 can "re - slip" the raised portions 204a, 204b and repeat the above - described impact process of applying a short - time peak load to the rotational output portion 200 again. Thereby, the impact mechanism 100 can apply a plurality of consecutive short - time peak loads to overcome the resistance encountered by the rotational output 200.

[0045] As described above, the impact mechanism 100 can apply a short - time peak load that the drive assembly normally cannot utilize. The drive assembly can drive both high - torque functions such as strong grasping of tissue or execution of a staple - firing operation and low - torque functions such as quick grasping of tissue by the jaws of the end - effector. Further, the connection between the raised portions 204a, 204b and the detents 158d, 160d eliminates unacceptable gripping backlash when performing the low - torque function.

[0046] In various embodiments, a second impact mechanism is contemplated by the present disclosure. The second impact mechanism may be similar to the impact mechanism 100 in many respects, except for the differences described below. Unlike the impact driver of the impact mechanism 100, the second impact mechanism may include an impact driver having four arms (with a gap defined between adjacent arms) that are 90° apart from each other in the rotational direction with respect to the central axis defined by the input shaft 152. Each arm of the impact driver may include a detent and an inclined cam on each of its sides, similar to the arms 158, 160 of the impact mechanism 100. Additionally, unlike the "I-shaped" head of the impact mechanism 100, the second impact mechanism may further include a head having a "+ shaped" head, and each of the four arms of the "+ shaped" head may include a protrusion extending from the head that may be coupled to a corresponding detent within the head of the second impact mechanism. In one aspect, unlike the impact mechanism 100 having two contact points (the protrusion 204b and the detent 160d and the protrusion 204a and the detent 158d) between the rotary input portion 150 and the rotary output portion 200, the second impact mechanism may include four contact points between the rotary input and the rotary output portion.

[0047] In one aspect, the second impact mechanism can operate substantially the same as the impact mechanism 100. However, unlike the impact mechanism 100, the rotary input portion of the second impact mechanism only rotates 90° with respect to the rotary output portion between the connected states after the second impact mechanism transitions to the slip state. In one aspect, by increasing the number of contact points between the rotary input portion and the rotary output portion, the amount of torque that the rotary input can apply to the rotary output portion before transitioning to the slip state can be increased. Similarly, by increasing the number of arms and impact surfaces, the short-time peak load that the rotary input applies to the rotary output portion in the slip state can be increased.

[0048] Various other impact mechanisms are contemplated by the present disclosure. In one aspect, an impact mechanism is contemplated in which the rotary output portion includes a detent and the rotary input portion includes a protrusion. In one aspect, an impact mechanism is contemplated in which a compression spring surrounds the shaft of the rotary input portion and the rotary input portion is axially movable relative to the rotary output portion.

[0049] As described above, the impact mechanism 100 applies a short-term peak load to the rotary output portion 200 in response to relative rotation between the rotary input portion 150 and the rotary output portion 200. This relative rotation results in different amounts of angular rotation of the rotary input portion 150 and the rotary output portion 200 during use of the impact mechanism 100, for example, during a surgical procedure. In one embodiment, referring to FIGS. 10-14, after the impact mechanism 100 transitions to a slip state and returns to a connected state, the rotary input portion 150 of the impact mechanism 100 has rotated more than the rotary output portion 200, for example, 180° more than the rotary output portion 200. Due to the possibility of "slip" in the impact mechanism 100, the user may not have a way to determine the amount of rotation from the rotary input portion 150 that is actually transmitted to the rotary output portion 200. By not knowing the amount of rotation actually transmitted to the rotary output portion 200, the user may inadvertently over-clamp or under-clamp tissue between the end effector jaws. As another example, by not knowing the amount of rotation transmitted to the rotary output portion 200, the user may inadvertently attempt to transition the jaws to an open configuration before completion of the staple firing stroke. As another example, by not knowing the amount of rotation transmitted to the rotary output portion 200, the user may rotate the rotary output portion 200 excessively, resulting in jamming of the firing drive at either the proximal or distal end of the end effector and potentially damaging the end effector. Accordingly, a control system for determining the amount of angular rotation transmitted from the rotary input portion 150 to the rotary output portion 200 is desired.

[0050] Referring now to FIG. 15, there is provided an algorithm 400 for determining the output angle of the rotational output portion 200 of the impact mechanism 100 according to at least one aspect of the present disclosure. In one aspect, the algorithm 400 can determine the angle of the rotational output portion 200 by monitoring the number of slips in the impact mechanism 100, i.e., the number of times the impact mechanism 100 transitions to a slip state and then returns to a coupled state. As will be described in more detail below, the occurrence of slips can be used together with a predetermined correction angle and the angle of the rotational input portion 150 to determine the angle of the rotational output portion 200, and thus the amount of angular rotation transmitted from the rotational input portion 150 to the rotational output portion 200 can be determined. In various embodiments, the algorithm 400 can be stored in a memory and executed by any suitable means, such as a controller, a control system, a control circuit, a processor, or any other suitable method known in the art or described elsewhere in this specification for executing an algorithm.

[0051] As described above, the algorithm 400 can, among other things, determine the output angle of the rotary output unit 200 using a predetermined correction angle. In one aspect, the correction angle is defined as the angular rotation of the rotary input unit 150 relative to the rotary output unit 200 between the connection states of the impact mechanism after transitioning to the slip state. In various embodiments, the correction angle is based on the geometric relationship between the rotary input unit 150 and the rotary output unit 200, and the number of contact points therebetween. In one embodiment, as seen in FIGS. 10-14, due to the geometric relationship between the rotary output unit 200 and the rotary input unit 150 of the impact mechanism 100, the rotary input unit rotates 180° relative to the rotary output unit 200 between the transition to the slip state and the subsequent return to the connected state. In another embodiment, due to the geometric relationship between the rotary output unit and the rotary input unit of the second impact mechanism described above, the rotary input unit rotates 90° relative to the rotary output unit between the transition to the slip state and the subsequent return to the connected state. Therefore, the correction angle can be defined based on the amount of rotation of the rotary input unit relative to the rotary output unit between each slip and each reconnection of each impact mechanism. In various embodiments, the correction angle can be greater than 180°, such as 270° or 360°. In various embodiments, the correction angle can be less than 90°, such as 45°. In various embodiments, the correction angle can be between 90° and 180°, such as 135°. Any suitable impact mechanism can be configured such that a desired correction angle can be achieved.

[0052] As described above, the algorithm 400 can be executed, among other things, by a control system. At the start of use of the impact mechanism 100, the control system can start the algorithm 400 and set a slip count at block 402, and the slip count can be updated during the operation of the impact mechanism 100 as described below. In one aspect, the control system can first set the slip count N to 0 and, as determined by the equation at block 404, indicate that the angle of the rotary input unit 150 is the same as the angle of the rotary output unit 200, i.e., not offset.

[0053] In addition, the control system can set a correction angle for an impact mechanism used to determine the output angle of the rotary output unit 200. In one aspect, the correction angle can be set by the user at the user interface according to a known geometric relationship between the rotary input unit and the rotary output unit. In one aspect, the correction angle can be automatically set by the control system. In one embodiment, the control system includes an RFID scanner that can query RFID tags in one or both of the rotary input unit and / or the rotary output unit, and can determine the types of the rotary input unit and the rotary output unit used in the impact mechanism. Based on the read values, the control system can determine the geometric relationship between the rotary input unit and the rotary output unit and determine the correction angle of the impact mechanism based on data stored in the memory or obtained from a cloud-based system. In various other embodiments, the control system can set a default correction angle, such as 180°, to be applied unless it receives an input from the user indicating otherwise. In various embodiments, the control system can prompt the user to provide an input such as the type of the impact mechanism in use, the surgical instrument in use, or a numerical value associated with the surgical instrument, such as a serial number or a model number. As a result, the control system can determine the impact mechanism to be used based on data stored in the memory or obtained from a cloud-based server. Various other means for determining the correction angle are contemplated by the present disclosure.

[0054] As described above, the control system can, among other things, determine the output angle of the rotary output unit 200 in accordance with the input angle of the rotary input unit 150. In one aspect, the angle of the rotary input unit can be sensed and / or tracked by the control system in any suitable manner, using, for example, an angle sensor, an encoder, an optically based angle measurement system, or any other suitable mechanism for tracking the angle of the rotary input unit 150, such as those disclosed elsewhere in this specification. As can be seen in block 404, the control system can calculate the output angle by adjusting the determined input angle of the rotary input unit by the product of the correction angle and the slip count N. For example, at the start of use of an impact mechanism where the slip count N is 0, the output angle of the rotary output unit will be equal to the input angle of the rotary input unit.

[0055] In various embodiments, the control system can monitor various parameters of the impact mechanism 100 to adjust the slip count N. During operation, as described above, the rotary input unit 150 rotates in a first direction 300 such as the clockwise direction or a second direction 310 such as the counterclockwise direction, and can transmit the corresponding rotational motion in the first direction 302 or the second direction 312 to the rotary output unit 200 respectively. Thus, due to the two-way rotation of the rotary input unit 150, the impact mechanism 100 experiences two types of slip events, that is, as seen in the progression of FIGS. 10-14, a first slip event where the rotary input unit 150 slips and reconnects during rotation in the first direction 300, and a second slip event where the rotary input unit 150 slips and reconnects during rotation in the second direction 310. Therefore, the algorithm 400 can adjust the slip count N based on the detected slip events. In one aspect, the control system determines whether a specific condition is met along the first path 420 of the algorithm 400, as described in more detail below, to determine the occurrence of the first slip event in block 412 or block 414, and can decrement the slip count. In another aspect, the control system determines whether a specific condition is met along the second path 450 of the algorithm 400, as described in more detail below, to determine the occurrence of the second slip event in block 462 or block 464, and can increment the slip count.

[0056] In one aspect, the impact mechanism 100 can start in a connected state such that rotation of the rotational input portion 150 in a first direction 300 causes a corresponding rotation of the rotational output portion 200 in a first direction 302. During operation of the impact mechanism 100, the control system can monitor the input torque applied by the rotational input portion 150 to the rotational output portion 200 (e.g., via the connected ridges 204a, 204b and detents 158d, 160d). In various embodiments, the control system can monitor the input torque using any suitable torque sensor or force sensor. In one aspect, the control system can monitor the input torque using strain gauges located on the rotational input portion 150 and / or the rotational output portion 200. In various embodiments, the control system can monitor the input torque by monitoring, respectively, the amount of current or voltage supplied to the motor driving the rotational input portion 150 with a current sensor or voltage sensor, etc. Various other mechanisms for monitoring the input torque provided by the rotational input portion 150, such as those disclosed elsewhere herein, are contemplated by the present disclosure.

[0057] As described above, when the rotational output unit 200 encounters resistance, for example, due to thick tissue being located between the jaws of the end effector, the amount of torque required to rotate the rotational output unit 200 increases. The control system can monitor the input torque applied by the rotational input unit 150 and compare the monitored torque with torque thresholds A and -A. In various embodiments, the torque thresholds A and -A can be stored in a memory or a cloud-based system and retrieved by the control system. In various embodiments, the torque thresholds A and -A can be thresholds indicating that the rotational input unit 150 has applied a torque to the rotational output unit 200 that may compress the compression spring 250 and thus cause the raised portions 204a, 204b to slip from the detents 158d, 160d. In various embodiments, the magnitudes of the torque thresholds A and -A can be the same and are mirrored along the x-axis, i.e., they differ only by a factor of -1. In various other embodiments, the magnitude of the torque threshold A can be different from the torque threshold -A. In various embodiments, rotation of the rotational input unit 150 in a first direction causes the control system to sense a positive torque value, and rotation of the rotational input unit 150 in a second direction causes the control system to sense a negative torque value.

[0058] In one aspect, detection of an input torque that has reached or exceeded the torque threshold A can indicate a slip event in which the rotational input unit 150 slips relative to the rotational output unit 200 during rotation in a first direction, such as the first direction 300. Similarly, in one aspect, detection of an input torque that has reached or fallen below the torque threshold -A can indicate a slip event in which the rotational input unit 150 slips relative to the rotational output unit 200 during rotation in a second direction, such as the second direction 310. Based on the above-described threshold detection, the control system can proceed along a first path 420 of an algorithm 400 indicating the possibility of a slip event in the first direction when the torque threshold A has been reached or exceeded, or along a second path 450 of the algorithm 400 indicating the possibility of a slip event in the second direction when the torque threshold -A has been reached or fallen below.

[0059] In one aspect, when the control system detects that the torque threshold A has been reached or exceeded, the control system can proceed to block 406, and while the rotational input portion 150 is rotating in the first direction, it indicates the possibility that the raised portions 204a, 204b of the rotational output portion 200 have slipped from the detents 158d, 160d of the rotational input portion 150. In block 406, the control system can verify the occurrence of a slip event, that is, by comparing the determined yank associated with the impact mechanism 100 with a yank threshold B, it determines whether the raised portions 204a, 204b have actually slipped from the detents 158d, 160d. In one aspect, the yank is defined as the derivative of the torque applied over time by the rotational input portion 150.

[0060] As described above, when the raised portions 204a, 204b actually slip from the detents 158d, 160d, the impact mechanism 100 transitions to a slip state, and the rotational input portion 150 rotates relative to the rotational output portion 200. In such a case, the raised portions 204a, 204b are driven to disconnect from the detents 158d, 160d, so the amount of torque applied by the rotational input portion 150 to the rotational output portion 200 rapidly decreases to 0, and as a result, a yank with a negative slope that drops below the yank threshold B occurs. In various embodiments, the yank threshold B can be stored in a memory or a cloud-based system and retrieved by the control system. In various embodiments, the yank threshold B can be based on known characteristics of the impact mechanism. In various embodiments, the yank threshold B can be a threshold indicating that the raised portions 204a, 204b have been driven to disconnect from the detents 158d, 160d.

[0061] When the control system detects in block 406 the occurrence of a yank that has dropped below the yank threshold B, the control system can confirm that a slip event has actually occurred in the first direction and proceed to block 408. If the raised portions 204a, 204b do not actually slip from the detents 158d, 160d, the rotation of the rotational input portion 150 continues to cause the corresponding rotation of the rotational output portion 200. In such a case, the control system detects that the input torque provided by the rotational input portion 150 has dropped below the torque threshold A and can return to block 404 to continue monitoring the input torque of the rotational input portion 150 with respect to the torque thresholds A, -A. In some embodiments, in block 406, the control system can determine that a slip event has not actually occurred by determining whether the detected yank is greater than the yank threshold B, which may indicate that the slip event has not actually occurred.

[0062] As described above, when the control system determines that the impact mechanism 100 has transitioned to a slip state and the rotational input section 150 is rotating relative to the rotational output section 200, the control system proceeds to block 408. In block 408, the control system can monitor when the rotational input section 150 and the rotational output section 200 return to a connected state. In block 408, the control system can monitor the occurrence of a yank of the impact mechanism 100 that reaches or exceeds a yank threshold C, which may indicate that the rotational input section 150 has imparted an impact to the rotational output section 200 to supply a short-duration peak load and the impact mechanism 100 may have returned to a connected state. If the control system detects the occurrence of a yank exceeding the yank threshold C, the control circuit can proceed to block 410 to verify whether the rotational input section 150 and the rotational output section 200 have actually returned to a connected state. In various embodiments, the yank threshold C can be stored in a memory or a cloud-based system and retrieved by the control system. In various embodiments, the yank threshold C can be based on known characteristics of the impact mechanism. In various embodiments, the yank threshold C can be a threshold indicating that the ridges 204a, 204b may have drivingly reconnected with the detents 158d, 160d.

[0063] In block 410, the control system can verify whether the rotational input section 150 and the rotational output section 200 have returned to a connected state by determining whether the input torque applied by the rotational input section 150 exceeds a torque threshold D that indicates that the rotational input section 150 and the rotational output section 200 have returned to a connected state. In various embodiments, the torque threshold D can be stored in a memory or a cloud-based system and retrieved by the control system. In various embodiments, the torque threshold D can be based on known characteristics of the impact mechanism. In various embodiments, the torque threshold D can be a known torque threshold indicating that the impact mechanism has reached a connected state. In various embodiments, the torque threshold D can be a threshold indicating that the ridges 204a, 204b have drivingly reconnected with the detents 158d, 160d.

[0064] In block 410, if the control system does not detect that the input torque from the rotational input unit 150 has reached or exceeded the torque threshold D, the control system can also determine whether the detected yank has dropped below the yank threshold -C. In various embodiments, the detection of a yank below the yank threshold -C indicates that the rotational input unit 150 and the rotational output unit 200 return to the connected state, and then the rotational input unit 150 rotates in the opposite direction, such as the second direction 310, and is slipping in the second direction. In various embodiments, the detection of a yank below the yank threshold -C indicates that the rotational input unit 150 and the rotational output unit 200 do not return to the connected state, and the rotational input unit 150 rotates in the opposite direction, i.e., the second direction, before the impact mechanism 100 returns to the connected state. In various embodiments, the yank threshold -C can be stored in a memory or a cloud-based system and retrieved by the control system. In various embodiments, the yank threshold -C can be based on known characteristics of the impact mechanism. In various embodiments, the yank threshold -C can be a known threshold indicating that the impact mechanism has reached the connected state and then rotates and slips in the second direction. In various embodiments, the yank threshold -C can be a known torque threshold indicating that the impact mechanism rotates in the second direction before reaching the connected state. In various embodiments, the magnitude of the yank threshold -C can be the same as the yank threshold C and is mirrored along the x-axis, i.e., only different by -1 times. In various other embodiments, the magnitude of the yank threshold -C can be different from the yank threshold C. In various embodiments, the yank threshold -C can be the same as the yank threshold B. In various embodiments, the yank threshold -C can be different from the yank threshold B.

[0065] In any of the above scenarios (whether the torque reaches or exceeds the torque threshold D, or the yank reaches or drops below -C), the control system can decrement the slip count by one in block 412 or block 414 according to the scenario satisfied and detected by the control system.

[0066] In one embodiment, when the rotational input portion 150 of the impact mechanism 100 slips from the rotational output portion 200 and returns to the connected state along the block 412, then the control system can determine the output angle of the rotational output portion 200 with respect to the rotational input portion 150 at block 404. As described above, at block 404, the correction angle of the impact mechanism 100 is predetermined (180°) and known. Additionally, since the slip count starts at 0 and then decrements at block 412, the control system knows that the slip count is -1 (or in a scenario where the slip count has experienced slip events before, 1 less than the previous slip count N). Based on this data, the control system can determine that the output angle of the rotational output portion 200 is equal to the input angle of the rotational input portion 150 minus 180°, that is, since the rotational input portion 150 has rotated 180° more in the first direction, the rotational output portion 200 is 180° offset from the rotational input portion 150 in the second direction.

[0067] Accordingly, the control system can utilize this corrected output angle of the rotational output portion 200 to ensure that an accurate amount of input rotational motion is applied to the rotational input portion 150 to perform a specific end effector function. In one aspect, when performing a specific function, the control system can determine that the rotational input portion 150 needs to rotate the rotational output portion 200 at least an additional 180° in the first direction together with the rotational input portion 150. In various embodiments, the control system can communicate a signal to a display, thereby providing the user with real-time data regarding the number of slip events that occurred in the impact mechanism 100 and the amount of rotation transmitted to the rotational output portion 200. Based on this information, the user can determine that the impact mechanism 100 is experiencing more slips than expected, which may indicate that there is too much tissue positioned within the end effector. Accordingly, the user can decide to retract the firing mechanism and reposition the end effector to a new location.

[0068] In another aspect, the impact mechanism 100 can start in a connected state such that rotation of the rotational input portion 150 in a second direction 310 causes a corresponding rotation of the rotational output portion 200 in a second direction 312. During operation of the impact mechanism 100, the control system can monitor the input torque applied by the rotational input portion 150 to the rotational output portion 200 (via the connected ridges 204a, 204b and detents 158d, 160d).

[0069] As described above, when the rotational output portion 200 encounters resistance, for example, due to thick tissue being located between the jaws of the end effector, the amount of torque required to rotate the rotational output portion 200 increases. The control system can monitor the input torque applied by the rotational input portion and compare the monitored torque to torque thresholds A and -A. In one aspect, detection of an input torque that has reached or dropped below the torque threshold -A can indicate a slip event where the rotational input portion 150 slips relative to the rotational output portion 200 during rotation in a second direction, such as the second direction 310. Based on this threshold detection, the control system can proceed along a second path 450 of the algorithm 400 that indicates the likelihood of a slip event occurring in the second direction.

[0070] In one aspect, when the control system detects that the torque threshold -A has been reached or dropped below, the control system can proceed to block 456, indicating that the ridges 204a, 204b of the rotational output portion 200 may have slipped from the detents 158d, 160d of the rotational input portion 150 while the rotational input portion 150 is rotating in the second direction. At block 456, the control system can then verify the occurrence of the slip event, i.e., determine whether the ridges 204a, 204b have actually slipped from the detents 158d, 160d by comparing a determined yank associated with the impact mechanism 100 to a yank threshold -B.

[0071] As described above, when the raised portions 204a, 204b actually slip from the detents 158d, 160d, the impact mechanism 100 shifts to a slipping state, and the rotational input portion 150 rotates with respect to the rotational output portion 200. In such a case, since the raised portions 204a, 204b are driven to be disconnected from the detents 158d, 160d, the amount of torque applied by the rotational input portion 150 to the rotational output portion rapidly decreases to 0, and as a result, a yank having a positive slope that reaches or exceeds the yank threshold -B occurs. In various embodiments, the magnitude of the yank threshold -B can be the same as the yank threshold B and is mirrored along the x-axis, i.e., it differs only by -1 times. In various other embodiments, the magnitude of the yank threshold -B can be different from the yank threshold B. In various embodiments, the yank threshold -B can be stored in a memory or a cloud-based system and retrieved by a control system. In various embodiments, the yank threshold -B can be based on known characteristics of the impact mechanism. In various embodiments, the yank threshold -B can be a threshold indicating that the raised portions 204a, 204b have been driven to be disconnected from the detents 158d, 160d. In various embodiments, the yank threshold -B can be the same as the yank threshold C. In various embodiments, the yank threshold -B can be different from the yank threshold C.

[0072] When the control system detects the occurrence of a yank that has reached or exceeded the yank threshold - B in block 456, the control system can confirm that a slip event has actually occurred in the second direction and proceed to block 458. If the raised portions 204a, 204b did not actually slip from the stoppers 158d, 160d, the rotation of the rotary input section 150 continues to cause the corresponding rotation of the rotary output section 200. In such a case, the control system detects that the input torque provided by the rotary input section 150 has reached or exceeded the torque threshold - A, and can return to block 404 and continue to monitor the input torque of the rotary input section 150 with respect to the torque thresholds A, -A. In some embodiments, in block 456, the control system can determine that a slip event has not actually occurred by determining whether the detected yank is less than the yank threshold - B, which may indicate that a slip event has not actually occurred.

[0073] As described above, when the control system determines that the impact mechanism 100 has shifted to the slip state and the rotary input section 150 is rotating with respect to the rotary output section 200, the control system proceeds to block 458. In block 458, the control system can monitor when the rotary input section 150 and the rotary output section 200 return to the connected state. In block 458, the control system can monitor the occurrence of a yank that has reached or dropped below the yank threshold - C, which indicates that the rotary input section 150 may have impacted the rotary output section 200 to supply a short - time peak load and the impact mechanism may have returned to the connected state. When the control system detects the occurrence of a yank that has reached or dropped below the yank threshold - C, the control circuit can proceed to block 460 to verify whether the rotary input section 150 and the rotary output section 200 have actually returned to the connected state.

[0074] In various embodiments, the magnitude of Yank threshold - C can be the same as Yank threshold C and is mirrored along the x - axis, i.e., it differs by only - 1 times. In various other embodiments, the magnitude of Yank threshold - C can be different from Yank threshold C. In various embodiments, Yank threshold - C can be stored in a memory or a cloud - based system and retrieved by a control system. In various embodiments, Yank threshold - C can be based on known characteristics of the impact mechanism. In various embodiments, Yank threshold - C can be a threshold indicating that the protrusions 204a, 204b may have re - engaged with the detents 158d, 160d in a driving manner.

[0075] In block 460, the control system can verify whether the rotary input section 150 and the rotary output section 200 have returned to the connected state by determining whether the input torque applied by the rotary input section 150 has reached or fallen below a torque threshold - D indicating that the rotary input section 150 and the rotary output section 200 have returned to the connected state. In various embodiments, the magnitude of torque threshold - D can be the same as torque threshold D and is mirrored along the x - axis, i.e., it differs by only - 1 times. In various other embodiments, the magnitude of torque threshold - D can be different from torque threshold D. In various embodiments, torque threshold - D can be stored in a memory or a cloud - based system and retrieved by a control system. In various embodiments, torque threshold - D can be based on known characteristics of the impact mechanism. In various embodiments, torque threshold - D can be a known torque threshold indicating that the impact mechanism has actually reached the connected state.

[0076] In block 460, if the control system does not detect that the input torque from the rotational input unit 150 has reached or dropped below the torque threshold -D, the control system can also determine whether the detected yank has reached or exceeded the yank threshold C. In various embodiments, the detection of a yank that has reached or exceeded the yank threshold C indicates that the rotational input unit 150 and the rotational output unit 200 have returned to the connected state, and then the rotational input unit 150 rotates in the opposite direction, such as the first direction 310, indicating that it is slipping in the first direction. In various embodiments, the detection of a yank that has reached or exceeded the yank threshold C indicates that the rotational input unit 150 and the rotational output unit 200 do not return to the connected state, and the rotational input unit 150 rotates in the opposite direction, i.e., the first direction, before the impact mechanism 100 returns to the connected state. In any of the above scenarios (the torque reaches or drops below the torque threshold -D, or the yank reaches or exceeds C), the control system can increment the slip count by one in block 462 or block 464 according to the above-described scenario satisfied and detected by the control system.

[0077] In one embodiment, when the rotational input portion 150 of the impact mechanism 100 slips from the rotational output portion 200 and returns to the connected state along the block 462, then the control system can determine, at block 404, the output angle of the rotational output portion 200 with respect to the rotational input portion 150. As described above, at block 404, the correction angle is predetermined (180°) and known. Additionally, since the slip count starts at 0 and then increments at block 462, the control system knows that the slip count is 1 (or, in a scenario where the slip count has experienced slip events before, 1 more than the previous slip count N). Using this data, the control system can determine that the output angle of the rotational output portion 200 is equal to the input angle of the rotational input portion 150 plus 180°, i.e., since the rotational input portion 150 has rotated 180° more in the second direction, the rotational output portion 200 is 180° offset from the rotational input portion 150 in the first direction. The control system can use this corrected output angle of the rotational output portion 200 to ensure that an accurate amount of input rotational movement is applied to the rotational input portion 150 to perform a specific end effector function. In one aspect, when performing a specific function, the control system can determine that the rotational input portion 150 needs to rotate the rotational output portion 200 at least an additional 180° in the second direction.

[0078] As described above, in blocks 410 and 460, if the respective torque thresholds D and -D are not reached or exceeded, the control system can determine that the rotational input section 150 has started rotating in the opposite direction. Thus, the control system can proceed along the path on the opposite side of the previously advancing algorithm 400. In one embodiment, as seen in FIG. 15, when the rotational input section 150 experiences a slip event while rotating in the first direction, the control system proceeds along the first path 420. However, if in block 410 it is detected that the yank is below the yank threshold -C, the control system can decrement the slip count in block 414 and then proceed to block 458. This is part of the second path 450 of algorithm 400, indicating the possibility of a slip event in the second direction.

[0079] Similarly, in one embodiment, as seen in FIG. 15, when the rotational input section 150 experiences a slip event while rotating in the second direction, the control system proceeds along the second path 450. However, if in block 460 it is detected that the yank is above the yank threshold -C, the control system can increment the slip count in block 464 and then proceed to block 408. This is part of the first path 420 of algorithm 400, indicating the possibility of a slip event in the first direction. Thus, the control system can use algorithm 400 to account for slip events when the rotational input section 150 changes its direction of rotation during use.

[0080] Referring now to FIGS. 16 - 18, a first exemplary implementation of an impact mechanism 100 using algorithm 400 is provided in accordance with at least one aspect of the present disclosure. As seen in FIG. 17, for t1, the rotational input section 150 and the rotational output section 200 are in a connected state, the input angle and the output angle are the same and thus overlapping, and the rotational input section 150 rotates, for example, by a motor. As seen in FIG. 18, during t1, the rotational output section 200 begins to receive resistance and increases the input torque provided by the rotational input section 150. At t2, the input torque exceeds torque threshold A (502), indicating the possibility of a slip event occurring. Thus, when it is detected that the input torque has exceeded torque threshold A, the control system proceeds from block 404 to block 406 (512) to verify whether a slip event has actually occurred. As can be seen from FIG. 18, the control system determines that the yank of the impact mechanism 100 has dropped below yank threshold C (504), confirming that a slip event in the first direction has actually occurred. Thus, the control system proceeds from block 406 to block 408 (514) to monitor that the rotational input section 150 and the rotational output section 200 have returned to the connected state.

[0081] As shown in FIG. 18, during t3, since the rotary input unit 150 is rotating with respect to the rotary output unit 200, torque is not transmitted to the rotary output unit 200. At t4, the control system detects a Yank exceeding the Yank threshold C (506) indicating that the impact mechanism 100 may have returned to the connected state. Therefore, the control system proceeds from block 408 to block 410 (516) and monitors whether the impact mechanism has actually returned to the connected state. At t4, the control system detects torque from the rotary input unit 150 exceeding the torque threshold D (508), indicating that the impact mechanism 100 has returned to the connected state. As shown in FIG. 18, at t4, the output torque from the rotary output unit 200 rapidly increases as a result of the impact received from the rotary input unit 150, that is, the rotary input unit 150 delivers a short-term peak load to the rotary output unit 200. Since the control system detects that the input torque from the rotary input unit 150 has exceeded the torque threshold D, the control system proceeds to block 412 (518) and decrements the slip count N by one. Next, as shown in FIG. 17, the control system can adjust the output angle of the rotary output unit 200 using a known correction angle, known angle data from the rotary input unit (e.g., obtained from an angle sensor), and the updated slip count. Therefore, the algorithm 400 tracks the angle difference between the rotary input unit 150 and the rotary output unit 200 throughout the use of the impact mechanism 100.

[0082] Referring now to FIGS. 19 - 21, a second exemplary implementation of the impact mechanism 100 using the algorithm 400 is provided in accordance with at least one aspect of the present disclosure. As can be seen from FIG. 20, for t1, the rotational output portion 200 is driven by the rotational input portion 150, changing the angle of the rotational output portion 200. As seen in FIG. 21, during t1, the rotational output portion 200 begins to receive resistance and the input torque provided by the rotational input portion 150 is increased over t1. At t2, the input torque exceeds the torque threshold A (602), indicating the possibility of a slip event occurring. Thus, the control system detects that the torque threshold A has been reached and proceeds from block 404 to block 406 (612) to verify whether a slip event has actually occurred. As can be seen from FIG. 21, the control system determines that the yank of the impact mechanism 100 has dropped below the yank threshold -C (604) and confirms that a slip event in the first direction has actually occurred. Thus, the control system proceeds from block 406 to block 408 (614) and monitors for the rotational input portion 150 and the rotational output portion 200 to return to the connected state.

[0083] As seen in FIG. 21, during t3, since the rotational input portion 150 is rotating relative to the rotational output portion 200, torque is not being transmitted to the rotational output portion 200. Until t4, the control system detects an increase in torque from the rotational input portion 150 and a yank that exceeds the yank threshold C (606), indicating the possibility that the impact mechanism 100 has returned to the connected state. Thus, the control system proceeds from block 408 to block 410 (616) and monitors whether the impact mechanism has actually returned to the connected state.

[0084] At t4, the control system detects the input torque from the rotational input portion 150 that is greater than the torque threshold D. Thus, the control system does not proceed to block 412, and the control system continues to monitor the input torque of the rotational input portion 150 and the yank of the impact mechanism over time t5. At time t6, the control system detects a yank less than the yank threshold -C, which indicates that the rotational input portion 150 is rotating in the opposite direction. In an exemplary implementation of the impact mechanism 100, as seen in FIG. 21, the yank threshold B and the yank threshold -C are the same. Thus, the control system proceeds from block 410 to block 414 (618), decrements the slip count N, then proceeds to block 460 via block 458, and monitors when the impact mechanism returns to the engaged state. At time t7, the control system detects an input torque that drops below the torque threshold -D (610), which indicates that the impact mechanism 100 has returned to the engaged state. Thus, the control mechanism proceeds to block 462 (620) and increments the slip count N. Generally, since the control system decrements the slip count at block 414 and increments the slip count at 462, the control system can determine that the output angle of the rotational output portion has realigned with the input angle of the rotational input portion 150, as seen in FIG. 20.

[0085] The impact mechanism 100 and algorithm 400 described above have been described in the context of a surgical stapling instrument having a rotational drive portion for driving multiple functions of an end effector, but it should be understood that the impact mechanism 100 and algorithm 400 can be applied to a variety of other uses, such as any suitable surgical instrument that transmits rotational motion from a motion generating device (hand, motor, etc.) to a rotational output portion. Thus, the impact mechanism 100 can be utilized to provide a short-term peak load to other rotation-based systems. In various embodiments, for example, the impact mechanism can be used in an energy instrument, such as a radio frequency instrument, to drive a knife within an end effector that includes electrodes for sealing tissue.

[0086] The surgical instrument system described herein has been described in connection with the deployment and deformation of staples, but the embodiments described herein are not so limited. For example, various embodiments are contemplated that deploy fastening devices other than staples, such as clamps or tacks. Further, 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. Similarly, for example, end effectors according to certain embodiments may apply vibrational energy to seal tissue.

[0087] The entire content of the following disclosure is incorporated herein by reference. - U.S. Patent Application Publication No. 16 / 553,725, issued August 28, 2019, entitled "ARTICULATING INCLUDING ANTAGONISTIC CONTROLS FOR ARTICULATION AND CALIBRATION" (now U.S. Patent Application Publication No. 2021 / 0059777), - U.S. Patent No. 5,403,312, issued April 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", - U.S. Patent No. 7,000,818, issued February 21, 2006, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS", - U.S. Patent No. 7,422,139, issued September 9, 2008, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", - U.S. Patent No. 7,464,849, issued December 16, 2008, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", - U.S. Patent No. 7,670,334, issued on March 2, 2010, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", - U.S. Patent No. 7,753,245, issued on July 13, 2010, entitled "SURGICAL STAPLING INSTRUMENTS", - U.S. Patent No. 8,393,514, issued on March 12, 2013, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", - U.S. Patent Application No. 11 / 343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES" (now U.S. Patent No. 7,845,537), - U.S. Patent Application No. 12 / 031,573, filed on February 14, 2008, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", - U.S. Patent Application No. 12 / 031,873, filed on February 15, 2008, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT" (now U.S. Patent No. 7,980,443), - U.S. Patent Application No. 12 / 235,782, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT" (now U.S. Patent No. 8,210,411), - U.S. Patent Application No. 12 / 235,972, entitled "MOTORIZED SURGICAL INSTRUMENT" (now U.S. Patent No. 9,050,083). - U.S. Patent Application No. 12 / 249,117, titled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM" (currently, U.S. Patent No. 8,608,045), - U.S. Patent Application No. 12 / 647,100, filed on December 24, 2009, titled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY" (currently, U.S. Patent No. 8,220,688), - U.S. Patent Application No. 12 / 893,461, filed on September 29, 2012, titled "STAPLE CARTRIDGE" (currently, U.S. Patent No. 8,733,613), - U.S. Patent Application No. 13 / 036,647, filed on February 28, 2011, titled "SURGICAL STAPLING INSTRUMENT" (currently, U.S. Patent No. 8,561,870), - U.S. Patent Application No. 13 / 118,241, titled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" (currently, U.S. Patent No. 9,072,535), - U.S. Patent Application No. 13 / 524,049, filed on June 15, 2012, titled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE" (currently, U.S. Patent No. 9,101,358), - U.S. Patent Application No. 13 / 800,025, filed on March 13, 2013, titled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (currently, U.S. Patent No. 9,345,481), U.S. Patent Application No. 13 / 800,067, filed on March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014 / 0263552), - U.S. Patent Application Publication No. 2007 / 0175955, filed on January 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM", and - U.S. Patent Application Publication No. 2010 / 0264194, filed on April 22, 2010, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR" (now U.S. Patent No. 8,308,040).

[0088] Various aspects of the subject matter described herein are illustrated in the following numbered examples.

[0089] Example 1 - A surgical system comprising an end effector and a drive system configured to effect at least one function of the end effector. The end effector comprises a first jaw, a second jaw rotatable between an open configuration and a closed configuration relative to the first jaw, and a staple cartridge removably stored therein and comprising staples. The drive system comprises a motor and an impact mechanism comprising a rotatable input driven by the motor and a rotatable output driven by the rotatable input. Rotation of the rotatable output is configured to effect at least one function of the end effector. The impact mechanism is configurable between a coupled state in which rotation of the rotatable input causes corresponding rotation of the rotatable output and a slip state in which the rotatable input rotates relative to the rotatable output.

[0090] Example 2 - The rotational output unit includes an output shaft and a head extending from the output shaft. The head includes a first ridge and a second ridge extending from the head. The surgical system according to Example 1 includes the head.

[0091] Example 3 - The rotational input unit includes an input shaft drivable by a motor, a base, a first arm extending from the base, and a first detent defined within the first arm. The impact driver includes a second arm extending from the base and a second detent defined within the second arm. The surgical system according to Example 2 includes the impact driver.

[0092] Example 4 - Based on the impact mechanism being in a connected state, the first ridge is engaged with the first detent, and the second ridge is engaged with the second detent. Based on the impact mechanism being in a slip state, the first ridge is disengaged from the first detent, and the second ridge is disengaged from the second detent. The surgical system according to Example 3.

[0093] Example 5 - The rotational output unit is axially movable relative to the rotational input unit between an engagement position and a slip position. The surgical system according to Example 3.

[0094] Example 6 - The impact mechanism further includes a spring configured to bias the rotational output unit toward the rotational input unit. The surgical system according to Example 5.

[0095] Example 7 - The first arm and the second arm define a trough therebetween, and the head is positionable within the trough based on the rotational output unit being in the slip position. The surgical system according to Example 5.

[0096] Example 8 - The first arm has a first cam surface, the second arm has a second cam surface, and the first cam surface and the second cam surface are configured to cooperate to cam the rotary output part toward the engagement position based on the rotation of the rotary input part relative to the rotary output part, the surgical system according to Example 5.

[0097] Example 9 - The rotary input part is configured to provide a first amount of torque to the rotary output part based on the impact mechanism being in the connected state, and the rotary input part is configured to provide a second amount of torque greater than the first amount of torque to the rotary output part based on the impact mechanism being in the slip state, the surgical system according to Example 1.

[0098] Example 10 - A surgical system comprising an end effector and a drive system configured to effect at least one function of the end effector, the drive system comprising an impact mechanism having a rotatable rotary input part rotatable by a motion generator and a rotatable rotary output part drivable by the rotary input part, the rotation of the rotary output part being configured to effect at least one function of the end effector. The impact mechanism is configurable between a connected state in which the rotary input part is configured to provide a first amount of torque to the rotary output part and a slip state in which it is configured to provide a second amount of torque greater than the first amount of torque to the rotary output part.

[0099] Example 11 - The rotary output part has a head, the rotary input part has an impact driver, the impact driver is connected to the head in the connected state, and the impact driver is configured to rotate relative to the side surface of the head and impart an impact in the slip state, the surgical system according to Example 10.

[0100] Surgical system comprising an end effector and a drive system configured to provide at least one function of the end effector, the drive system comprising a rotary output configured such that rotation of the rotary output provides at least one function of the end effector, and a rotary input configured to drive the rotary output, the surgical system comprising an impact mechanism. The impact mechanism is configurable between a connected state in which rotation of the rotary input causes rotation of the rotary output and a slip state in which the rotary input rotates relative to the rotary output. The impact mechanism is configurable to transition from the connected state to the slip state based on the occurrence of a slip event. The impact mechanism is configured to transition from the slip state to the connected state based on rotation of the rotary input by a predetermined amount relative to the rotary output in the slip state. The surgical system further comprises a control system configured to determine the amount of angular rotation transmitted from the rotary input to the rotary output.

[0101] Example 13 - The surgical system according to Example 12, wherein the slip event includes the torque provided from the rotary input to the rotary output reaching or exceeding a torque threshold.

[0102] Example 14 - The surgical system according to Example 12, wherein the control system is configured to detect the occurrence of a slip event, verify the occurrence of the slip event, detect the occurrence of the impact mechanism reaching the connected state, and verify the occurrence of the impact mechanism reaching the connected state.

[0103] Example 15 - Detecting the occurrence of a slip event includes sensing the torque provided from the rotary input to the rotary output by the rotary input and comparing the sensed torque to a torque threshold. Verifying the occurrence of the slip event includes determining a yank associated with the impact mechanism and comparing the determined yank to a yank threshold.

[0104] Example 16 - Detecting the occurrence that the impact mechanism has reached the connected state includes determining the yank associated with the impact mechanism and comparing the determined yank with a yank threshold value, in the surgical system described in Example 15. Verifying the occurrence that the impact mechanism has reached the connected state includes sensing the torque provided by the rotary input part to the rotary output part and comparing the sensed torque with a torque threshold value.

[0105] Example 17 - The control system is further configured to set a slip count and adjust the slip count based on verifying the occurrence that the impact mechanism has reached the connected state, in the surgical system described in Example 16.

[0106] Example 18 - The control system is further configured to set a slip count, set a correction angle associated with the impact mechanism, and determine the output angle of the rotary output part with respect to the input angle of the rotary input part based on the correction angle and the slip count, in the surgical system of Example 12.

[0107] Example 19 - The correction angle includes an angle associated with a predetermined amount of rotation by the rotary input part in a slip state, in the surgical system described in Example 18.

[0108] Example 20 - The control system is configured to decrement the slip count based on the control system detecting a slip event while the rotary input part is rotating in a first direction, and increment the slip count based on the control system detecting a slip event while the rotary input part is rotating in a second direction opposite to the first direction, in the surgical system described in Example 18.

[0109] Although various devices have been described herein in connection with specific embodiments, modifications and changes may be made to those embodiments. Specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, specific features, structures, or characteristics illustrated or described with respect to one embodiment may be combined, without limitation, in whole or in part with the features, structures, or characteristics of one or more other embodiments. Also, although materials are disclosed with respect to specific components, other materials may be used. Further, in accordance with various embodiments, a single component may be replaced with a plurality of components, or a plurality of components may be replaced with a single component, to perform a given function. The foregoing description and the following claims are intended to embrace all such modifications and variations.

[0110] The devices disclosed herein can be designed to be discarded after a single use or can be designed to be used multiple times. However, in either case, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of a disassembly step of the device, followed by a cleaning step or replacement step of specific parts of the device, and subsequent reassembly step of the device. Specifically, a reconditioning facility and / or surgical team can disassemble the device, clean and / or replace specific parts of the device, and then reassemble the device for subsequent use. One of ordinary skill in the art will understand that a variety of techniques for disassembly, cleaning / replacement, and reassembly can be utilized for reconditioning the device. The use of such techniques and the resulting reconditioned device are all within the scope of this application.

[0111] The devices disclosed herein can be processed prior to surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic bag or TYVEK bag. The container and instrument can then be placed in a radiation field that can penetrate the container, such as gamma rays, x-rays, and / or high energy electrons. The radiation can kill bacteria on the instrument and within the container. The sterilized instrument can then be stored within a sterile container. The sealed container can keep the instrument in a sterile state until it is opened at a medical facility. The device can also be sterilized using any other technique known in the art, including, but not limited to, beta rays, gamma rays, ethylene oxide, hydrogen peroxide plasma, and / or steam.

[0112] Although the invention has been described as having a representative design, the invention may be further modified within the spirit and scope of the present disclosure. Accordingly, this application is intended to cover any variations, uses, or adaptations of the invention using its general principles.

[0113] The foregoing detailed description has described various forms of devices and / or processes using block diagrams, flow diagrams, and / or examples. As long as such block diagrams, flow diagrams, and / or examples include one or more functions and / or operations, it should be understood by those skilled in the art that each function and / or operation included in such block diagrams, flow diagrams, and / or examples can be implemented individually and / or collectively by a variety of hardware, software, firmware, or virtually any combination thereof. It will be understood by those skilled in the art that all or part of some aspects of the forms disclosed herein can be equivalently implemented on an integrated circuit as one or more computer programs operating on one or more computers (e.g., as one or more programs operating on one or more computer systems), as one or more programs operating on one or more processors (e.g., as one or more programs operating on one or more microprocessors), as firmware, or in substantially any combination thereof, and that designing the circuits and / or writing the code for the software and / or firmware are within the skill of those skilled in the art in view of the present disclosure. It should be understood by those skilled in the art that the mechanisms of the subject matter described herein can be distributed in various forms as one or more program products, and the specific forms described herein apply regardless of the particular type of signal carrier medium used to actually carry out the distribution.

[0114] Instructions used to program logic to implement various disclosed aspects may be stored in system memory such as Dynamic Random Access Memory (DRAM), cache, flash memory, or other storage. Further, the instructions may be distributed via a network or by other computer-readable media. Thus, a machine-readable medium can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to tangible machine-readable storage such as floppy disks, optical disks, compact disks, Compact Disc Read Only Memory (CD-ROM), and magneto-optical disks, Read-Only Memory (ROM), Random Access Memory (RAM), Eerasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), magnetic or optical cards, flash memory, or the transmission of information via the Internet via electrical, optical, acoustic, or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Thus, a non-transitory computer-readable medium can include any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0115] When used in any aspect of this specification, the terms "control circuit" or "control system" may refer to, for example, a hardwired circuit, a programmable circuit (e.g., a computer processor including one or more individual instruction processing cores, a processing unit, a processor, a microcontroller, a microcontroller unit, a controller, a Digital Signal Processor (DSP), a Programmable Logic Device (PLD), a Programmable Logic Array (PLA), or a Field Programmable Gate Array (FPGA)), a state machine circuit, firmware storing instructions executed by a programmable circuit, and any combination thereof. The control circuit may be embodied, collectively or individually, as a circuit forming part of a larger system, such as an Integrated Circuit (IC), an Application-Specific Integrated Circuit (ASIC), a System on-Chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smartphone, etc. Thus, as used herein, "control circuit" includes, but is not limited to, an electrical circuit having at least one individual electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit having at least one application-specific integrated circuit, an electrical circuit forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that at least partially executes the processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially executes the processes and / or devices described herein), an electrical circuit forming a memory device (e.g., in the form of a random access memory), and / or an electrical circuit forming a communication device (e.g., a modem, a communication switch, or an opto-electrical facility).Those skilled in the art will recognize that the subject matter described herein may be implemented in analog or digital form, or some combination thereof.

[0116] When used in any aspect of this specification, the term "logic" may refer to an application, software, firmware, and / or circuitry configured to perform any of the foregoing operations. The software may be embodied as a software package, code, instructions, instruction set, and / or data recorded on a non-transitory computer-readable storage medium. The firmware may be embodied as code, instructions, or instruction set within a memory device, and / or hard-coded (e.g., non-volatile) data.

[0117] When used in any aspect of this specification, terms such as "component", "system", "module", etc. may refer to a computer-related entity that is either hardware, a combination of hardware and software, software, or software in execution.

[0118] When used in any aspect of this specification, an "algorithm" refers to a self-collision-free sequence of steps leading to a desired result, and a "step" refers to an operation of physical quantities and / or logical states that, although not necessarily required, can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common practice to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, etc. These and similar terms may be associated with appropriate physical quantities and are merely convenient labels applied to these quantities and / or states.

[0119] Unless otherwise explicitly specified, as will be apparent from the foregoing disclosure, throughout the foregoing disclosure, the use of terms such as "processing," "computing," "calculating," "determining," "displaying," etc. refers to actions and processes of a computer system or similar electronic computing device that manipulate and transform data represented as a physical (electronic) quantity in registers and memories of the computer system into other data similarly represented as a physical quantity in memories or registers of the computer system or other such information storage, transmission, or display devices.

[0120] One or more components may be referred to herein as "configured to," "configurable to," "operable / operative to," "adapted / adaptable," "able to," "conformable / conformed to," etc. It will be understood by those skilled in the art that "configured to" may generally include components in an active state and / or components in a non-active state and / or components in a standby state, unless otherwise to be construed in context with other meanings.

[0121] Those skilled in the art will generally understand that the terms used herein, and particularly those used in the appended claims (e.g., the body of the appended claims), are generally intended to be "open" terms (e.g., the term "including" should be construed as "including but not limited to", the term "having" should be construed as "having at least", the term "includes" should be construed as "includes but is not limited to", etc.). It will further be understood by those skilled in the art that where a specific number is intended in an introduced claim recitation, such intent is clearly recited in the claim, and where there is no such recitation, there is no such intent. For example, by way of illustration, the following appended claims may include introductory phrases such as "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be construed as suggesting that any particular claim containing such an introduced claim recitation, even where the claim recitation is introduced by the indefinite article "a" or "an" and the claim contains both an introductory phrase such as "one or more" or "at least one" and the indefinite article "a" or "an" within the same claim, is limited to a claim containing only one such recitation (e.g., "a" and / or "an" should generally be construed as meaning "at least one" or "one or more"). The same applies when introducing a claim recitation using a definite article.

[0122] Even when a specific number is explicitly stated in the introduced claim description, those skilled in the art will recognize that such a description should typically be interpreted to mean at least the stated number (for example, when there is a simple description of "two description items" without any other modifiers, it generally means at least two description items, or two or more description items). Further, when an expression similar to "at least one of A, B, and C, etc" is used, generally, such a syntax is intended in the sense that those skilled in the art will understand the expression (for example, "a system having at least one of A, B, and C" includes, but is not limited to, a system having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C). When an expression similar to "at least one of A, B, or C, etc" is used, generally, such a syntax is intended in the sense that those skilled in the art will understand the expression (for example, "a system having at least one of A, B, or C" includes, but is not limited to, a system having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C). Further, typically, any disjunctive word and / or phrase representing two or more alternative terms should be understood to be intended to include one of those terms, any of those terms, or both of those terms, whether in the specification, in the claims, or in the drawings, unless the context indicates otherwise. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B".

[0123] Regarding the appended claims, those skilled in the art will understand that the recited operations in this specification can generally be performed in any order. Also, although flowcharts of various operations are shown in sequence(s), it will be understood that the various operations may be performed in an order other than that shown, or may be performed simultaneously. Examples of such alternative orderings may include overlapping, interleaving, interrupting, reordering, incremental, preparatory, additional, simultaneous, reverse, or other different orderings, except where the context dictates otherwise. Further, terms such as "responsive to," "related to," or other past-tense adjectives are generally not intended to exclude such variations, except where the context dictates otherwise.

[0124] Any reference to "one aspect," "an aspect," "an exemplification," "one exemplification," etc. is specifically noted to mean that the particular features, structures, or characteristics described in relation to that aspect are included in at least one aspect. Thus, the phrases "in one aspect," "in an aspect," "in an exemplification," and "in one exemplification" that appear in various places throughout this specification are not necessarily all referring to the same aspect. Further, the particular features, structures, or characteristics may be combined in any suitable manner in one or more aspects.

[0125] Any patent application, patent, non-patent publication, or other disclosure material referred to in this specification and / or listed in any application data sheet is incorporated herein by reference to the extent that the incorporated material is not inconsistent with this specification. In itself and to the extent necessary, the disclosure clearly set forth herein shall prevail over any conflicting description incorporated herein by reference. Although it is stated to be incorporated herein by reference, any content, or portions thereof, that conflict with the current definitions, opinions, or other disclosure content set forth in this specification shall be incorporated only to the extent that no conflict arises between the incorporated content and the current disclosure content.

[0126] The terms "comprise", "have", "include", and "contain" (and any inflection of "comprise" such as "comprises" and "comprising", any inflection of "have" such as "has" and "having", any inflection of "include" such as "includes" and "including", and any inflection of "contain" such as "contains" and "containing") are open-ended conjunctive verbs. As a result, a system that "comprises", "has", "includes", or "contains" one or more elements has those one or more elements but is not limited to having only those one or more elements. Similarly, an element of a system, device, or apparatus that "comprises", "has", "includes", or "contains" one or more features has those one or more features but is not limited to having only those one or more features.

[0127] As used herein, the terms "substantially," "about," or "approximately" mean, unless otherwise specified, an acceptable error with respect to a particular value as determined by one of ordinary skill in the art, which depends in part on the method by which the value is measured or determined. In certain embodiments, the terms "substantially," "about," or "approximately" mean within 1, 2, 3, or 4 standard deviations. In certain embodiments, the terms "substantially," "about," or "approximately" mean within 50%, 20%, 15%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, or 0.05% of a given value or range.

[0128] In summary, many benefits resulting from using the concepts described herein have been described. The foregoing description of one or more forms is presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. One or more forms are selected and described in order to illustrate the principles and practical applications and thereby enable one of ordinary skill in the art to utilize the various forms with various modifications as suitable for the particular uses contemplated. It is intended that the scope be defined by the claims presented with this specification.

[0129] 〔Embodiments〕 (1) A surgical system, comprising: an end effector; a drive system configured to effect at least one function of the end effector, the drive system comprising an impact mechanism, the impact mechanism comprising: a rotatable input portion rotatable by a motion generating device; a rotatable output portion rotatable by the rotatable input portion, the rotation of the rotatable output portion being configured to effect the at least one function of the end effector; wherein the impact mechanism comprises: A connected state in which the rotary input part is configured to provide a first amount of torque to the rotary output part, A drive system that can be configured between a slip state in which the rotary input part is configured to provide a second amount of torque greater than the first amount of torque to the rotary output part, and a surgical system comprising the same. (2) The surgical system according to Embodiment 1, wherein the rotary output part includes a head, the rotary input part includes an impact driver, the impact driver is connected to the head in the connected state, and the impact driver is configured to rotate and impart an impact to the side surface of the head in the slip state. (3) The end effector A first jaw, A second jaw rotatable relative to the first jaw between an open configuration and a closed configuration, A staple cartridge including a staple removably stored therein, and the surgical system according to Embodiment 1. The motion generating device is a motor, When the impact mechanism is in the connected state, rotation of the rotary input part causes corresponding rotation of the rotary output part, and when the impact mechanism is in the slip state, the rotary input part rotates relative to the rotary output part. The surgical system according to Embodiment 1 or Embodiment 2. (4) The rotary output part An output shaft, A head extending from the output shaft, the head including a first ridge and a second ridge extending from the head, and the surgical system according to Embodiment 1 or Embodiment 3. (5) The rotary input part An input shaft drivable by the motion generating device, An impact driver, A base, A first arm extending from the base, a first detent being defined within the first arm, the first arm, An impact driver comprising a second arm extending from the base, wherein a second detent is defined within the second arm. The surgical system according to any one of Embodiments 1 to 4, comprising the impact driver.

[0130] (6) Based on the impact mechanism being in the connected state, the first protrusion is engaged with the first detent, and the second protrusion is engaged with the second detent. Based on the impact mechanism being in the slip state, the first protrusion is disengaged from the first detent, and the second protrusion is disengaged from the second detent. The surgical system according to Embodiment 4 or Embodiment 5. (7) The rotational output portion is axially movable relative to the rotational input portion between an engagement position and a slip position. The surgical system according to any one of Embodiments 1 to 6. (8) The impact mechanism further comprises a spring configured to bias the rotational output portion toward the rotational input portion. The surgical system according to any one of Embodiments 1 to 7. (9) The first arm and the second arm define a trough therebetween, and the head is positionable within the trough based on the rotational output portion being in the slip position. The surgical system according to any one of Embodiments 5 to 8 when dependent on Embodiment 2 or Embodiment 4. (10) The first arm comprises a first cam surface, the second arm comprises a second cam surface, and the first cam surface and the second cam surface are configured to cooperate to cam the rotational output portion toward the engagement position based on rotation of the rotational input portion relative to the rotational output portion. The surgical system according to any one of Embodiments 5 to 9 when dependent on Embodiment 2 or Embodiment 4.

[0131] (11) The rotational input portion is configured to provide a first amount of torque to the rotational output portion based on the impact mechanism being in the connected state, and the rotational input portion is configured to provide a second amount of torque greater than the first amount of torque to the rotational output portion based on the impact mechanism being in the slip state, according to any one of Embodiments 1 to 10 of the surgical system. (12) When the impact mechanism is in the connected state, rotation of the rotational input portion causes rotation of the rotational output portion. When the impact mechanism is in the slip state, the rotational input portion rotates relative to the rotational output portion, and the impact mechanism is configured to transition from the connected state to the slip state based on the occurrence of a slip event. The impact mechanism is configured to transition from the slip state to the connected state based on the rotational input portion rotating a predetermined amount relative to the rotational output portion in the slip state. The control system is configured to determine the amount of angular rotation transmitted from the rotational input portion to the rotational output portion, according to any one of Embodiments 1 to 11 of the surgical system. (13) The slip event includes the torque provided from the rotational input portion to the rotational output portion reaching or exceeding a torque threshold, according to the surgical system of Embodiment 12. (14) The control system detects the occurrence of a slip event, verifies the occurrence of the slip event, detects the occurrence of the impact mechanism reaching the connected state, and is configured to verify the occurrence of the impact mechanism reaching the connected state, according to the surgical system of Embodiment 12 or Embodiment 13. (15) Detecting the occurrence of a slip event includes sensing the torque provided by the rotational input portion to the rotational output portion, and comparing the sensed torque with a torque threshold. Verifying the occurrence of the slip event comprises determining a yank associated with the impact mechanism, and comparing the determined yank with a yank threshold, a surgical system according to Embodiment 14.

[0132] (16) Detecting the occurrence that the impact mechanism has reached the connected state comprises determining a yank associated with the impact mechanism, and comparing the determined yank with a yank threshold, Verifying the occurrence that the impact mechanism has reached the connected state comprises sensing torque provided by the rotary input portion to the rotary output portion, and comparing the sensed torque with a torque threshold, a surgical system according to Embodiment 15. (17) The control system sets a slip count, and is further configured to adjust the slip count based on verifying the occurrence that the impact mechanism has reached the connected state, a surgical system according to Embodiment 16. (18) The control system sets a slip count, sets a correction angle associated with the impact mechanism, and is further configured to determine an output angle of the rotary output portion with respect to an input angle of the rotary input portion based on the correction angle and the slip count, a surgical system according to any one of Embodiments 12 to 16. (19) The correction angle includes an angle associated with a predetermined amount of rotation by the rotary input portion in the slip state, a surgical system according to Embodiment 18. (20) The control system decrements the slip count based on the control system detecting a slip event while the rotary input portion is rotating in a first direction The surgical system according to embodiment 18 or embodiment 19, configured to increment the slip count based on the control system detecting a slip event while the rotary input portion is rotating in a second direction opposite to the first direction.

Claims

1. A surgical system comprising: an end effector; and a drive system configured to provide at least one function of the end effector, the drive system comprising an impact mechanism, the impact mechanism comprising: a rotatable input portion rotatable by a motion generating device; and a rotatable output portion rotatable by the rotatable input portion, the rotation of the rotatable output portion being configured to provide the at least one function of the end effector, wherein the impact mechanism is configured to be in: a connected state in which the rotatable input portion is configured to provide a first amount of torque to the rotatable output portion; and a slip state in which the rotatable input portion is configured to provide a second amount of torque greater than the first amount of torque to the rotatable output portion,

2. The surgical system according to claim 1, wherein the rotatable output portion comprises a head, the rotatable input portion comprises an impact driver, the impact driver is connected to the head in the connected state, and the impact driver is configured to rotate relative to a side surface of the head in the slip state to provide an impact.

3. The end effector comprises: a first jaw; a second jaw rotatable relative to the first jaw between an open configuration and a closed configuration; and a staple cartridge removably stored therein and comprising staples, wherein the motion generating device is a motor, wherein rotation of the rotatable input portion causes corresponding rotation of the rotatable output portion when the impact mechanism is in the connected state, and the rotatable input portion rotates relative to the rotatable output portion when the impact mechanism is in the slip state,

4. The surgical system according to claim 1, wherein the rotatable output portion comprises: an output shaft; and a head extending from the output shaft, the head comprising a first ridge and a second ridge extending from the head.

5. The rotatable input portion comprises: an input shaft drivable by the motion generating device; and an impact driver comprising: a base; and a first arm extending from the base, a first detent being defined within the first arm. An impact driver comprising a second arm extending from the base, wherein a second detent is defined within the second arm. The surgical system according to claim 1, comprising the impact driver.

6. Based on the impact mechanism being in the connected state, the first protrusion is engaged with the first detent, and the second protrusion is engaged with the second detent. Based on the impact mechanism being in the slip state, the first protrusion is disengaged from the first detent, and the second protrusion is disengaged from the second detent. The surgical system according to claim 4 or claim 5.

7. The rotary output portion is axially movable relative to the rotary input portion between an engagement position and a slip position. The surgical system according to claim 1.

8. The impact mechanism further comprises a spring configured to bias the rotary output portion towards the rotary input portion. The surgical system according to claim 1.

9. The first arm and the second arm define a trough therebetween, and the head is positionable within the trough based on the rotary output portion being in the slip position. The surgical system according to claim 5 when dependent on claim 2 or claim 4.

10. The first arm comprises a first cam surface, the second arm comprises a second cam surface, and the first cam surface and the second cam surface are configured to cooperate to cam the rotary output portion towards the engagement position based on rotation of the rotary input portion relative to the rotary output portion. The surgical system according to claim 5 when dependent on claim 2 or claim 4.

11. The rotary input portion is configured to provide a first amount of torque to the rotary output portion based on the impact mechanism being in the connected state, and the rotary input portion is configured to provide a second amount of torque greater than the first amount of torque to the rotary output portion based on the impact mechanism being in the slip state. The surgical system according to claim 1.

12. When the impact mechanism is in the connected state, rotation of the rotary input part causes rotation of the rotary output part. When the impact mechanism is in the slip state, the rotary input part rotates relative to the rotary output part, and the impact mechanism can be configured to shift from the connected state to the slip state based on the occurrence of a slip event. The impact mechanism is configured to shift from the slip state to the connected state based on the rotary input part rotating a predetermined amount relative to the rotary output part in the slip state. The surgical system according to claim 1, wherein the control system is configured to determine the amount of angular rotation transmitted from the rotary input part to the rotary output part.

13. The surgical system according to claim 12, wherein the slip event includes the torque provided from the rotary input part to the rotary output part reaching or exceeding a torque threshold.

14. The control system detects the occurrence of a slip event, verifies the occurrence of the slip event, detects the occurrence of the impact mechanism reaching the connected state, The surgical system according to claim 12 or claim 13, wherein the control system is configured to verify the occurrence of the impact mechanism reaching the connected state.

15. Detecting the occurrence of a slip event includes sensing the torque provided by the rotary input part to the rotary output part and comparing the sensed torque with a torque threshold. Verifying the occurrence of the slip event includes determining a yank associated with the impact mechanism and comparing the determined yank with a yank threshold. The surgical system according to claim 14.

16. Detecting the occurrence of the impact mechanism reaching the connected state includes determining a yank associated with the impact mechanism and comparing the determined yank with a yank threshold. Verifying the occurrence of the impact mechanism reaching the connected state includes sensing the torque provided by the rotary input part to the rotary output part and comparing the sensed torque with a torque threshold. The surgical system according to claim 15.

17. The control system sets a slip count The surgical system according to claim 16, further configured to adjust the slip count based on verifying the occurrence that the impact mechanism has reached the connected state.

18. The control system sets a slip count, sets a correction angle associated with the impact mechanism, and is further configured to determine an output angle of the rotary output part relative to an input angle of the rotary input part based on the correction angle and the slip count, the surgical system according to claim 12.

19. The surgical system according to claim 18, wherein the correction angle includes an angle associated with a rotation of the predetermined amount by the rotary input part in the slip state.

20. The control system decrements the slip count based on the control system detecting a slip event while the rotary input part is rotating in a first direction, and is configured to increment the slip count based on the control system detecting a slip event while the rotary input part is rotating in a second direction opposite to the first direction, the surgical system according to claim 18 or claim 19.

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