Method of attaching a shaft assembly to a surgical instrument, alternatively to a surgical robot

Abstract

A method for selectively attaching a shaft assembly to a handle of a surgical instrument and to an arm of a surgical robot is disclosed. [Solution] A surgical system comprising a shaft assembly, a surgical instrument having a handle, and a surgical robot having an arm, wherein the shaft assembly further comprises a retraction system capable of emergency operation when disconnected from the surgical instrument and the surgical robot.

Description

[Background technology]

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

[0002] The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a perspective view of a shaft assembly according to at least one embodiment. [Diagram 2] FIG. 2 is a perspective view of the shaft assembly of FIG. 1 illustrated with some components removed. [Diagram 3] FIG. 2 is a perspective view of a spine assembly of the shaft assembly of FIG. 1. [Figure 4] FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1. [Diagram 5] FIG. 2 is an exploded view of the shaft assembly of FIG. 1, illustrated with some components removed. [Figure 6] FIG. 4 is a partial cross-sectional view of the shaft assembly of FIG. 3. [Figure 7] FIG. 2 is an exploded view of the distal end of the shaft assembly of FIG. 1. [Figure 8] FIG. 2 is an exploded view of the intermediate portion of the shaft assembly of FIG. 1. [Figure 9] FIG. 2 is an exploded view of the shaft assembly of FIG. 1, illustrated with some components removed. [Figure 10] 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrated in an open, unfired configuration and with an unused staple cartridge. [Figure 11]2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrated before a firing member of the shaft assembly is advanced distally. [Figure 12] 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrated after the firing member has been advanced distally by the closing stroke, but before the firing member has been advanced by the firing stroke. [Figure 13] 2 is a partial cross-sectional view of the distal end of the illustrated shaft assembly of FIG. 1 after the firing stroke of the firing member has begun. [Figure 14] 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrating the firing member in a retracted position after the firing stroke. [Figure 15] 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrating the staple cartridge in a post-use state and the firing member in a locked out state. [Figure 16] FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in an articulated mode of operation. [Figure 17] FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in a firing mode of operation. [Figure 18] 17 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated in the articulated operating mode of FIG. 16. FIG. [Figure 19] 18 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated in the firing mode of operation of FIG. 17. [Figure 20] 20 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 20-20 in FIG. 18. [Figure 21] 21 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 21-21 in FIG. 18. [Figure 22] 22 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 22-22 in FIG. 19. [Diagram 23]23 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 23-23 in FIG. 19. [Figure 24] 2 is a partial exploded view of the shaft assembly of FIG. 1 illustrating a movable clutch in a firing system of the shaft assembly. [Diagram 25] FIG. 25 is a cross-sectional view of the intermediate firing rod of the firing system of FIG. [Figure 26] 25 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the movable clutch of FIG. 24 in a firing configuration. [Figure 27] 27 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the actuatable clutch of FIG. 24 being transitioned from the firing configuration of FIG. 26 to the articulated configuration. [Figure 28] 27 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the movable clutch of FIG. 24 being moved from the firing configuration of FIG. 26 to the articulated configuration. [Figure 29] 25 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the movable clutch of FIG. 24 in an articulated configuration. [Diagram 30] FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in a non-articulated configuration. [Diagram 31] FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in an articulated configuration. [Diagram 32] FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the articulation system of the shaft assembly in an unlocked state. [Diagram 33] FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the articulation system of the shaft assembly in a locked state. [Diagram 34] 2 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated with a retraction system for the shaft assembly in an undeployed state. [Diagram 35] 35 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated with the retraction system of FIG. 34 in a deployed state. [Diagram 36]35 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrating the retraction system of FIG. 34 in an actuated state. [Figure 37] FIG. 1 is a perspective view of a shaft assembly according to at least one embodiment. [Figure 38] FIG. 38 is a partial perspective view of the shaft assembly of FIG. 37, shown with some components removed. [Figure 39] FIG. 38 is a partial perspective view of the shaft assembly of FIG. 37, illustrated with additional components removed. [Diagram 40] FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37. [Diagram 41] FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37. [Diagram 42] FIG. 38 is an exploded view of the shaft assembly of FIG. 37, shown with some components removed. [Diagram 43] FIG. 38 is an exploded view of the distal end of the shaft assembly of FIG. 37. [Diagram 44] FIG. 38 is an exploded view of the proximal end of the shaft assembly of FIG. 37, shown with some components removed. [Diagram 45] FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37 illustrated in a closed or clamped configuration. [Diagram 46] FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37 illustrated in an open configuration. [Figure 47] FIG. 2 is a perspective view of a shaft assembly illustrated with some components removed according to at least one embodiment; [Figure 48] FIG. 48 is a perspective view of a shift assembly of the shaft assembly of FIG. 47. [Figure 49] FIG. 48 is an exploded view of the shaft assembly of FIG. 47, illustrated with some components removed. [Figure 50] FIG. 48 is a partial cross-sectional view of the shaft assembly of FIG. 47 illustrated in an articulated operating mode. [Figure 51]FIG. 48 is a partial cross-sectional view of the shaft assembly of FIG. 47 illustrated in a firing mode of operation. [Figure 52] FIG. 13 is a perspective view of a shaft assembly including a shift assembly in accordance with at least one alternative embodiment; [Diagram 53] FIG. 53 is a partial cross-sectional view of the shaft assembly of FIG. 52 illustrated in an articulated operating mode. [Figure 54] FIG. 53 is a partial cross-sectional view of the shaft assembly of FIG. 52 illustrated in a firing mode of operation. [Figure 55] FIG. 13 is a perspective view of a mounting portion of a shaft assembly according to at least one embodiment. [Figure 56] FIG. 56 is a perspective view of the mounting portion of FIG. 55 illustrated in an open configuration. [Figure 57] FIG. 56 is a partial cross-sectional view of the mounting portion of FIG. 55. [Figure 58] 57 is a perspective view of the mounting portion of FIG. 55 with some components removed and illustrated in the open configuration of FIG. 56. [Figure 59] 57 is a perspective view of the mounting portion of FIG. 55 with additional components removed and illustrated in the open configuration of FIG. 56. [Figure 60] FIG. 56 is a plan view of the drive train of the mounting portion of FIG. 55 illustrated in the firing mode of operation. [Figure 61] 61 is a cross-sectional view of the drive train of FIG. 60 taken along line 61-61 in FIG. 60, illustrated in the launch mode of operation of FIG. [Figure 62] 62 is a cross-sectional view of the drive train of FIG. 60 taken along line 62-62 in FIG. 60, illustrated in the launch mode of operation of FIG. [Figure 63] 63 is a cross-sectional view of the drive train of FIG. 60 taken along line 63-63 in FIG. 60, illustrated in the launch mode of operation of FIG. [Figure 64] FIG. 62 is a cross-sectional view of the drive train of FIG. 60 taken along line 62-62 in FIG. 60 illustrated in a second mode of operation. [Figure 65]FIG. 63 is a cross-sectional view of the drive train of FIG. 60 taken along line 63-63 in FIG. 60, illustrated in a reverse mode of operation. [Figure 66] 66 is a partial cross-sectional view of the mounting portion of FIG. 55 illustrated in the retracted operating mode of FIG. 65. [Figure 67] FIG. 13 is a partial cross-sectional view of a shaft assembly including an end effector, a first articulation lock, and a second articulation lock illustrated with the first articulation lock in a locked state and the second articulation lock in an unlocked state; [Figure 68] FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67, illustrating the first and second articulation locks in a locked state. [Figure 69] FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67, illustrating the first and second articulation locks in a locked state. [Figure 70] FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67 illustrated with a first articulation lock in a locked state and a second articulation lock in an unlocked state. [Figure 71] FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67 illustrated with the first and second articulation locks in an unlocked state; [Figure 72] FIG. 1 is a perspective view of a surgical instrument including a handle and an interchangeable shaft assembly. [Figure 73] FIG. 1 is a perspective view of a robotic surgical system operatively supporting multiple surgical tools.

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

[0004] The applicant of this application has the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application Serial No. 15 / 386,185, entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF; - U.S. Patent Application Serial No. 15 / 386,230, entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS"; - U.S. Patent Application Serial No. 15 / 386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS"; -U.S. Patent Application Serial No. 15 / 386,209, entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF; - U.S. Patent Application Serial No. 15 / 386,198, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES"; and -U.S. Patent Application Serial No. 15 / 386,240, entitled SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR.

[0005] The applicant of this application has the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 15 / 385,939, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; - U.S. Patent Application Serial No. 15 / 385,941, entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS"; -U.S. Patent Application Serial No. 15 / 385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; -U.S. Patent Application Serial No. 15 / 385,950, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES; - U.S. Patent Application Serial No. 15 / 385,945, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; -U.S. Patent Application Serial No. 15 / 385,946, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; -U.S. Patent Application Serial No. 15 / 385,951, entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE"; - U.S. Patent Application Serial No. 15 / 385,953, entitled "METHODS OF STAPLING TISSUE"; - U.S. Patent Application Serial No. 15 / 385,954, entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS"; -U.S. Patent Application Serial No. 15 / 385,955, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS; -U.S. Patent Application Serial No. 15 / 385,948, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; -U.S. Patent Application Serial No. 15 / 385,956, entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES"; No. 15 / 385,958, entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT" and -U.S. Patent Application Serial No. 15 / 385,947, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN.

[0006] The applicant of this application has the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 15 / 385,896, entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT"; - U.S. Patent Application Serial No. 15 / 385,898, entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES"; -U.S. Patent Application Serial No. 15 / 385,899, entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL; - U.S. Patent Application Serial No. 15 / 385,901, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN; -U.S. Patent Application Serial No. 15 / 385,902, entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER"; - U.S. Patent Application Serial No. 15 / 385,904, entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT"; - U.S. Patent Application Serial No. 15 / 385,905, entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT"; -U.S. Patent Application Serial No. 15 / 385,907, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT; No. 15 / 385,908, entitled "FIRING ASSEMBLY COMPRISING A FUSE" and No. 15 / 385,909, entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE."

[0007] The applicant of this application has the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 15 / 385,920, entitled STAPLE FORMING POCKET ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 385,913, entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS; - U.S. Patent Application Serial No. 15 / 385,914, entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT"; - U.S. Patent Application Serial No. 15 / 385,893, entitled "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS"; - U.S. Patent Application Serial No. 15 / 385,929, entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS"; -U.S. Patent Application Serial No. 15 / 385,911, entitled SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS; -U.S. Patent Application Serial No. 15 / 385,927, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES; - U.S. Patent Application Serial No. 15 / 385,917, entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS"; - U.S. Patent Application Serial No. 15 / 385,900, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS"; No. 15 / 385,931, entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS"; - U.S. Patent Application Serial No. 15 / 385,915, entitled "FIRING MEMBER PIN ANGLE"; - U.S. Patent Application Serial No. 15 / 385,897, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES"; -U.S. Patent Application Serial No. 15 / 385,922, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES; -U.S. Patent Application Serial No. 15 / 385,924, entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS; -U.S. Patent Application Serial No. 15 / 385,912, entitled "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS"; -U.S. Patent Application Serial No. 15 / 385,910, entitled "ANVIL HAVING A KNIFE SLOT WIDTH"; - U.S. Patent Application Serial No. 15 / 385,903, entitled "CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS"; and -U.S. Patent Application Serial No. 15 / 385,906, entitled "FIRING MEMBER PIN CONFIGURATIONS."

[0008] The applicant of this application has the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 15 / 386,188, entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES"; - U.S. Patent Application Serial No. 15 / 386,192, entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES"; - U.S. Patent Application Serial No. 15 / 386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES"; - U.S. Patent Application Serial No. 15 / 386,226, entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS"; - U.S. Patent Application Serial No. 15 / 386,222, entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES"; and - U.S. patent application Ser. No. 15 / 386,236, entitled "CONNECTION PORTIONS FOR DISPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS."

[0009] The applicant of this application has the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 15 / 385,889, entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM"; - U.S. Patent Application Serial No. 15 / 385,890, entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS"; No. 15 / 385,891, entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS"; -U.S. Patent Application Serial No. 15 / 385,892, entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM"; - U.S. Patent Application Serial No. 15 / 385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT"; and - U.S. Patent Application Serial No. 15 / 385,895, entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS."

[0010] The applicant of this application has the following U.S. patent applications filed on December 21, 2016, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application Serial No. 15 / 385,916, entitled SURGICAL STAPLING SYSTEMS; -U.S. Patent Application Serial No. 15 / 385,918, entitled SURGICAL STAPLING SYSTEMS; -U.S. Patent Application Serial No. 15 / 385,919, entitled SURGICAL STAPLING SYSTEMS; - U.S. Patent Application Serial No. 15 / 385,921, entitled "SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES"; -U.S. Patent Application Serial No. 15 / 385,923, entitled SURGICAL STAPLING SYSTEMS; No. 15 / 385,925, entitled "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR"; - U.S. Patent Application Serial No. 15 / 385,926, entitled AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS; - U.S. Patent Application Serial No. 15 / 385,928, entitled PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT; -U.S. Patent Application Serial No. 15 / 385,930, entitled SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS; - U.S. Patent Application Serial No. 15 / 385,932, entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT"; - U.S. Patent Application Serial No. 15 / 385,933, entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK"; - U.S. Patent Application Serial No. 15 / 385,934, entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM"; -U.S. Patent Application Serial No. 15 / 385,935, entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION"; and -U.S. Patent Application Serial No. 15 / 385,936, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES."

[0011] The applicant of this application has the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 15 / 191,775, entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES"; - U.S. Patent Application Serial No. 15 / 191,807, entitled STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES; - U.S. Patent Application Serial No. 15 / 191,834, entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME"; - U.S. Patent Application Serial No. 15 / 191,788, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES; - U.S. Patent Application Serial No. 15 / 191,818, entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS."

[0012] The applicant of this application has the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety: -U.S. Design Patent Application Serial No. 29 / 569,218, entitled SURGICAL FASTENER; -U.S. Design Patent Application Serial No. 29 / 569,227, entitled SURGICAL FASTENER; -U.S. Design Patent Application Serial No. 29 / 569,259, entitled SURGICAL FASTENER CARTRIDGE; and -U.S. Design Patent Application Serial No. 29 / 569,264, entitled SURGICAL FASTENER CARTRIDGE.

[0013] The applicant of this application has the following patent applications filed on April 1, 2016, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 15 / 089,325, entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM"; - U.S. Patent Application Serial No. 15 / 089,321, entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY"; -U.S. Patent Application Serial No. 15 / 089,326, entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD"; - U.S. Patent Application Serial No. 15 / 089,263, entitled SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION; - U.S. Patent Application Serial No. 15 / 089,262, entitled ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM; -U.S. Patent Application Serial No. 15 / 089,277, entitled SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER; - U.S. Patent Application Serial No. 15 / 089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS"; -U.S. Patent Application Serial No. 15 / 089,258, entitled SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION; - U.S. Patent Application Serial No. 15 / 089,278, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE; -U.S. Patent Application Serial No. 15 / 089,284, entitled SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT; -U.S. Patent Application Serial No. 15 / 089,295, entitled SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT; -U.S. Patent Application Serial No. 15 / 089,300, entitled SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT; -U.S. Patent Application Serial No. 15 / 089,196, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT; -U.S. Patent Application Serial No. 15 / 089,203, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT; -U.S. Patent Application Serial No. 15 / 089,210, entitled SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT; -U.S. Patent Application Serial No. 15 / 089,324, entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM"; - U.S. Patent Application Serial No. 15 / 089,335, entitled SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS; - U.S. Patent Application Serial No. 15 / 089,339, entitled SURGICAL STAPLING INSTRUMENT; -U.S. Patent Application Serial No. 15 / 089,253, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS; -U.S. Patent Application Serial No. 15 / 089,304, entitled SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET; - U.S. Patent Application Serial No. 15 / 089,331, entitled ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS; - U.S. Patent Application Serial No. 15 / 089,336, entitled STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES; - U.S. Patent Application Serial No. 15 / 089,312, entitled CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT; - U.S. Patent Application Serial No. 15 / 089,309, entitled CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM; and - U.S. Patent Application Serial No. 15 / 089,349, entitled CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL.

[0014] The applicant of this application also owns the following identified U.S. patent applications, filed on December 31, 2015, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application Serial No. 14 / 984,488, entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS"; - U.S. Patent Application Serial No. 14 / 984,525, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and -U.S. patent application Ser. No. 14 / 984,552, entitled SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS.

[0015] The applicant of this application also owns the following identified U.S. patent applications, filed on February 9, 2016, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application Serial No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR"; -U.S. Patent Application Serial No. 15 / 019,228, entitled SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 019,196, entitled SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT; -U.S. Patent Application Serial No. 15 / 019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY"; -U.S. Patent Application Serial No. 15 / 019,215, entitled SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS; - U.S. Patent Application Serial No. 15 / 019,227, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS"; -U.S. Patent Application Serial No. 15 / 019,235, entitled SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS; No. 15 / 019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS" and -U.S. Patent Application Serial No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS."

[0016] The applicant of this application also owns the following identified U.S. patent applications, filed on February 12, 2016, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application Serial No. 15 / 043,254, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; - U.S. Patent Application Serial No. 15 / 043,259, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; No. 15 / 043,275, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" and -U.S. Patent Application Serial No. 15 / 043,289, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS."

[0017] The applicant of this application has the following patent applications filed on June 18, 2015, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application Serial No. 14 / 742,925, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS; -U.S. Patent Application Serial No. 14 / 742,941, entitled SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES; - U.S. Patent Application Serial No. 14 / 742,914, entitled MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS; - U.S. Patent Application Serial No. 14 / 742,900, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT; - U.S. Patent Application Serial No. 14 / 742,885, entitled DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS; and -U.S. patent application Ser. No. 14 / 742,876, entitled PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS.

[0018] The applicant of this application has the following patent applications filed on March 6, 2015, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application Serial No. 14 / 640,746, now U.S. Patent Application Publication No. 2016 / 0256184, entitled "POWERED SURGICAL INSTRUMENT"; - U.S. Patent Application Serial No. 14 / 640,795, now U.S. Patent Application Publication No. 2016 / 02561185, entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS; - U.S. Patent Application No. 14 / 640,832, now U.S. Patent Application Publication No. 2016 / 0256154, entitled ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES; - U.S. Patent Application No. 14 / 640,935, now U.S. Patent Application Publication No. 2016 / 0256071, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION; - U.S. Patent Application Serial No. 14 / 640,831, now U.S. Patent Application Publication No. 2016 / 0256153, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS"; - U.S. Patent Application Serial No. 14 / 640,859, now U.S. Patent Application Publication No. 2016 / 0256187, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES"; - U.S. Patent Application Serial No. 14 / 640,817, now U.S. Patent Application Publication No. 2016 / 0256186, entitled INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS; No. 14 / 640,844, now U.S. Patent Application Publication No. 2016 / 0256155, entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITH IN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE"; - U.S. Patent Application Serial No. 14 / 640,837, now U.S. Patent Application Publication No. 2016 / 0256163, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING; No. 14 / 640,765, now U.S. Patent Application Publication No. 2016 / 0256160, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER"; - U.S. Patent Application No. 14 / 640,799, now U.S. Patent Application Publication No. 2016 / 0256162, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT"; and -U.S. Patent Application Serial No. 14 / 640,780, now U.S. Patent Application Publication No. 2016 / 0256161, entitled SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING.

[0019] The applicant of this application has the following patent applications filed on February 27, 2015, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application Serial No. 14 / 633,576, now U.S. Patent Application Publication No. 2016 / 0249919, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION; No. 14 / 633,546, now U.S. Patent Application Publication No. 2016 / 0249915, entitled SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND; -U.S. Patent Application No. 14 / 633,560, now U.S. Patent Application Publication No. 2016 / 0249910, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES; - U.S. Patent Application Serial No. 14 / 633,566, now U.S. Patent Application Publication No. 2016 / 0249918, entitled CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY; No. 14 / 633,555, now U.S. Patent Application Publication No. 2016 / 0249916, entitled SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED; No. 14 / 633,542, now U.S. Patent Application Publication No. 2016 / 0249908, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT; No. 14 / 633,548, now U.S. Patent Application Publication No. 2016 / 0249909, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT; No. 14 / 633,526, now U.S. Patent Application Publication No. 2016 / 0249945, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE; No. 14 / 633,541, now U.S. Patent Application Publication No. 2016 / 0249927, entitled MODULAR STAPLING ASSEMBLY; No. 14 / 633,562, now U.S. Patent Application Publication No. 2016 / 0249917, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER."

[0020] The applicant of this application has the following patent applications filed on December 18, 2014, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application Serial No. 14 / 574,478, now U.S. Patent Application Publication No. 2016 / 0174977, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER; - U.S. Patent Application Serial No. 14 / 574,483, now U.S. Patent Application Publication No. 2016 / 0174969, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS; No. 14 / 575,139, now U.S. Patent Application Publication No. 2016 / 0174978, entitled "SENSOR-DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS"; - U.S. Patent Application Serial No. 14 / 575,148, now U.S. Patent Application Publication No. 2016 / 0174976, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS"; No. 14 / 575,130, now U.S. Patent Application Publication No. 2016 / 0174972, entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE"; - U.S. Patent Application Serial No. 14 / 575,143, now U.S. Patent Application Publication No. 2016 / 0174983, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS; - U.S. Patent Application Serial No. 14 / 575,117, now U.S. Patent Application Publication No. 2016 / 0174975, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS; -U.S. Patent Application Serial No. 14 / 575,154, now U.S. Patent Application Publication No. 2016 / 0174973, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS; - U.S. Patent Application Serial No. 14 / 574,493, now U.S. Patent Application Publication No. 2016 / 0174970, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM; and -U.S. Patent Application Serial No. 14 / 574,500, now U.S. Patent Application Publication No. 2016 / 0174971, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM.

[0021] The applicant of this application has the following patent applications filed on March 1, 2013, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 13 / 782,295, now U.S. Patent Application Publication No. 2014 / 0246471, entitled "Articulatable Surgical Instruments With Conductive Pathways For Signal Communication"; -U.S. Patent Application Serial No. 13 / 782,323, now U.S. Patent Application Publication No. 2014 / 0246472, entitled Rotary Powered Articulation Joints For Surgical Instruments; - U.S. Patent Application Serial No. 13 / 782,338, now U.S. Patent Application Publication No. 2014 / 0249557, entitled "Thumbwheel Switch Arrangements For Surgical Instruments"; - U.S. Patent Application Serial No. 13 / 782,499, now U.S. Patent No. 9,358,003, entitled Electromechanical Surgical Device with Signal Relay Arrangement; - U.S. Patent Application Serial No. 13 / 782,460, now U.S. Patent Application Publication No. 2014 / 0246478, entitled Multiple Processor Motor Control for Modular Surgical Instruments; - U.S. Patent Application Serial No. 13 / 782,358, now U.S. Patent No. 9,326,767, entitled Joystick Switch Assemblies For Surgical Instruments; - U.S. Patent Application Serial No. 13 / 782,481, now U.S. Patent No. 9,468,438, entitled "Sensor Straightened End Effector During Removal Through Trocar"; - U.S. Patent Application Serial No. 13 / 782,518, now U.S. Patent Application Publication No. 2014 / 0246475, entitled "Control Methods for Surgical Instruments with Removable Implement Portions"; - U.S. Patent Application Serial No. 13 / 782,375, now U.S. Patent No. 9,398,911, entitled Rotary Powered Surgical Instruments With Multiple Degrees of Freedom; -U.S. Patent Application Serial No. 13 / 782,536, now U.S. Patent No. 9,307,986, entitled Surgical Instrument Soft Stop.

[0022] The applicant of this application also owns the following patent applications, filed on March 14, 2013, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application Serial No. 13 / 803,097, now U.S. Patent Application Publication No. 2014 / 0263542, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE"; - U.S. Patent Application Serial No. 13 / 803,193, now U.S. Patent No. 9,332,987, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT"; - U.S. Patent Application Serial No. 13 / 803,053, now U.S. Patent Application Publication No. 2014 / 0263564, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT; - U.S. Patent Application Serial No. 13 / 803,086, now U.S. Patent Application Publication No. 2014 / 0263541, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK"; - U.S. Patent Application Serial No. 13 / 803,210, now U.S. Patent Application Publication No. 2014 / 0263538, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS; - U.S. Patent Application Serial No. 13 / 803,148, now U.S. Patent Application Publication No. 2014 / 0263554, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT; - U.S. Patent Application Serial No. 13 / 803,066, now U.S. Patent Application Publication No. 2014 / 0263565, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS"; - U.S. Patent Application Serial No. 13 / 803,117, now U.S. Patent No. 9,351,726, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS; - U.S. Patent Application Serial No. 13 / 803,130, now U.S. Patent No. 9,351,727, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS; and -U.S. Patent Application Serial No. 13 / 803,159, now U.S. Patent Application Publication No. 2014 / 0277017, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT."

[0023] The applicant of the present application also owns the following patent applications, filed on March 7, 2014, the entire contents of which are incorporated herein by reference: -U.S. Patent Application Serial No. 14 / 200,111, now U.S. Patent Application Publication No. 2014 / 0263539, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS."

[0024] The applicant of the present application also owns the following patent applications, filed on March 26, 2014, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 14 / 226,106, now U.S. Patent Application Publication No. 2015 / 0272582, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS; - U.S. Patent Application Serial No. 14 / 226,099, now U.S. Patent Application Publication No. 2015 / 0272581, entitled STERILIZATION VERIFICATION CIRCUIT; - U.S. Patent Application Serial No. 14 / 226,094, now U.S. Patent Application Publication No. 2015 / 0272580, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT; - U.S. Patent Application Serial No. 14 / 226,117, now U.S. Patent Application Publication No. 2015 / 0272574, entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL; - U.S. Patent Application Serial No. 14 / 226,075, now U.S. Patent Application Publication No. 2015 / 0272579, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES"; - U.S. Patent Application Serial No. 14 / 226,093, now U.S. Patent Application Publication No. 2015 / 0272569, entitled FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS; - U.S. Patent Application Serial No. 14 / 226,116, now U.S. Patent Application Publication No. 2015 / 0272571, entitled SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION; - U.S. Patent Application Serial No. 14 / 226,071, now U.S. Patent Application Publication No. 2015 / 0272578, entitled SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR; -U.S. Patent Application Serial No. 14 / 226,097, now U.S. Patent Application Publication No. 2015 / 0272570, entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS; - U.S. Patent Application Serial No. 14 / 226,126, now U.S. Patent Application Publication No. 2015 / 0272572, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS"; - U.S. Patent Application Serial No. 14 / 226,133, now U.S. Patent Application Publication No. 2015 / 0272557, entitled MODULAR SURGICAL INSTRUMENT SYSTEM; - U.S. Patent Application Serial No. 14 / 226,081, now U.S. Patent Application Publication No. 2015 / 0277471, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT"; - U.S. Patent Application Serial No. 14 / 226,076, now U.S. Patent Application Publication No. 2015 / 0280424, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION; - U.S. Patent Application Serial No. 14 / 226,111, now U.S. Patent Application Publication No. 2015 / 0272583, entitled SURGICAL STAPLING INSTRUMENT SYSTEM; and -U.S. Patent Application Serial No. 14 / 226,125, now U.S. Patent Application Publication No. 2015 / 0280384, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT.

[0025] The applicant of this application also owns the following patent applications, filed on September 5, 2014, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application Serial No. 14 / 479,103, now U.S. Patent Application Publication No. 2016 / 0066912, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE"; - U.S. Patent Application Serial No. 14 / 479,119, now U.S. Patent Application Publication No. 2016 / 0066914, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION"; - U.S. Patent Application Serial No. 14 / 478,908, now U.S. Patent Application Publication No. 2016 / 0066910, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION"; - U.S. Patent Application Serial No. 14 / 478,895, now U.S. Patent Application Publication No. 2016 / 0066909, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION; - U.S. Patent Application Serial No. 14 / 479,110, now U.S. Patent Application Publication No. 2016 / 0066915, entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE"; - U.S. Patent Application Serial No. 14 / 479,098, now U.S. Patent Application Publication No. 2016 / 0066911, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION; No. 14 / 479,115, now U.S. Patent Application Publication No. 2016 / 0066916, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE; and - U.S. Patent Application Serial No. 14 / 479,108, now U.S. Patent Application Publication No. 2016 / 0066913, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION."

[0026] The applicant of this application also owns the following patent applications, filed on April 9, 2014, each of which is incorporated herein by reference in its entirety: No. 14 / 248,590, now U.S. Patent Application Publication No. 2014 / 0305987, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS; -U.S. Patent Application Serial No. 14 / 248,581, now U.S. Patent Application Publication No. 2014 / 0305989, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT; - U.S. Patent Application Serial No. 14 / 248,595, now U.S. Patent Application Publication No. 2014 / 0305988, entitled SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT; -U.S. Patent Application Serial No. 14 / 248,588, now U.S. Patent Application Publication No. 2014 / 0309666, entitled "POWERED LINEAR SURGICAL STAPLER"; - U.S. Patent Application Serial No. 14 / 248,591, now U.S. Patent Application Publication No. 2014 / 0305991, entitled TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT; - U.S. Patent Application Serial No. 14 / 248,584, now U.S. Patent Application Publication No. 2014 / 0305994, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS"; -U.S. Patent Application Serial No. 14 / 248,587, now U.S. Patent Application Publication No. 2014 / 0309665, entitled "POWERED SURGICAL STAPLER"; No. 14 / 248,586, now U.S. Patent Application Publication No. 2014 / 0305990, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT"; and - U.S. Patent Application Serial No. 14 / 248,607, now U.S. Patent Application Publication No. 2014 / 0305992, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS.

[0027] The applicant of this application also owns the following patent applications, filed on April 16, 2013, each of which is incorporated herein by reference in its entirety: - U.S. Provisional Patent Application No. 61 / 812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR; - U.S. Provisional Patent Application No. 61 / 812,376, entitled "LINEAR CUTTER WITH POWER"; - U.S. Provisional Patent Application No. 61 / 812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP"; - U.S. Provisional Patent Application No. 61 / 812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL; and -U.S. Provisional Patent Application No. 61 / 812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

[0028] As described in the specification and illustrated in the accompanying drawings, numerous specific details are described to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements are not described in detail so as not to obscure the embodiments described herein. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus the specific structural and functional details disclosed herein may be representative and exemplary. Variations and modifications may be made thereto without departing from the scope of the claims.

[0029] The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "include" (any form of include, such as "includes" and "including"), and "contain" (any form of contain, such as "contains" and "containing") are open-ended linking verbs. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has one or more of those elements, but is not limited to having only one or more of those elements. Similarly, a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features has one or more of those features, but is not limited to having only one or more of those features.

[0030] The terms "proximal" and "distal" are used herein with reference to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further understood that for convenience and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0031] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. As the reader proceeds through the Detailed Description of the Invention section of this specification, the reader will further appreciate that the various instruments disclosed herein may be inserted into the body in any manner, such as through a natural opening, through an incision or puncture made in tissue, etc. The working or end effector portions of these instruments may be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

[0032] The surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is mountable to and removable from the first jaw, although other embodiments are envisioned in which the staple cartridge is not removable from the first jaw, or at least not easily replaceable. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis, although other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes an articulation joint configured to allow the end effector to rotate, i.e., articulate, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned that do not include an articulation joint.

[0033] The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal and distal ends. In use, the staple cartridge is positioned on a first side of tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored within the cartridge body can then be deployed into the tissue. The cartridge body includes staple cavities defined therein, the staples being removably stored within the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

[0034] The staples are supported by staple drivers within the cartridge body. The drivers are movable between a first, or unfired, position and a second, or fired, position that ejects the staples from the staple cavities. The drivers are retained within the cartridge body by a retainer extending around a bottom of the cartridge body and include a resilient member configured to grip the cartridge body and retain the retainer to the cartridge body. The drivers are movable between their unfired and their fired positions by a sled. The sled is movable between a proximal position adjacent a proximal end and a distal position adjacent a distal end. The sled includes a plurality of ramps configured to slide under the drivers and lift the drivers, on which the staples are supported, toward the anvil.

[0035] In addition to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and urge the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam engaging the first jaw and a second cam engaging the second jaw. Upon distally advancing the firing member, 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 spacing. The firing member also includes a knife configured to incise tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximally relative to the ramp such that the staples are fired forward of the knife.

[0036] A shaft assembly 1000 is illustrated in FIG. 1. The shaft assembly 1000 comprises a mounting portion 1100, a shaft 1200 extending distally from the mounting portion 1100, and an end effector 1300 attached to the shaft 1200. With reference to FIGS. 1 and 2, the mounting portion 1100 comprises a frame 1110, a housing 1120, and a latch 1130. The frame 1110 is configured to engage with a frame of a surgical system, such as, for example, a handle of a surgical instrument and / or an arm of a surgical robot. In at least one example, the frame 1110 and the frame of the surgical system comprise, for example, an interlocking dovetail configuration. The latch 1130 comprises a lock configured to releasably hold the shaft assembly 1000 to the surgical system. As a result of the above, the shaft assembly 1000 can be selectively used with handheld surgical instruments and, alternatively, with remotely controlled robotic surgical systems.

[0037] 3-6, the shaft 1200 comprises a frame, or spine, attached to the frame 1110 of the mounting portion 1100. The spine comprises a proximal spine portion 1210 rotatably engaged with the frame 1110 about a longitudinal shaft axis 1001 extending through the spine. Referring primarily to FIG. 6, the proximal spine portion 1210 comprises a gap 1211 defined therein and configured to receive a proximal end 1221 of a drive cover 1220. The drive cover 1220 further comprises a distal end 1222 configured to be positioned within the proximal end 1232 of the middle spine portion 1230. The spine further comprises an upper distal portion 1250 and a lower distal portion 1260 that engage the distal end 1231 of the spine portion 1230. More specifically, distal portions 1250 and 1260 include proximal ends 1251 and 1261, respectively, that are laterally inserted or slid into dovetail slots defined in distal end 1231 of intermediate spine portion 1230. The spine further includes a cover 1240 configured to surround an opening defined in spine portion 1230 and / or to lock distal portions 1250 and 1260 in place.

[0038] 7 , the end effector 1300 includes a channel jaw 1310 and an anvil jaw 1330 rotatably attached to the channel jaw 1310. The channel jaw 1310 is configured to receive a staple cartridge 1320, or any other suitable staple cartridge, therein. The channel jaw 1310 and the staple cartridge 1320 include cooperating alignment mechanisms that are configured to allow the staple cartridge 1320 to be fitted in only one proper position and orientation within the channel jaw 1310. As described in more detail below, once an unused staple cartridge 1320 is properly installed in the channel jaw 1310, a staple firing member can enter the staple cartridge 1320 to eject staples from the staple cartridge 1320 and sever patient tissue positioned intermediate the staple cartridge 1320 and the anvil jaw 1330. In furtherance of the above, the anvil jaw 1330 includes firing pockets defined therein that are configured to deform when staples are fired from the staple cartridge 1320.

[0039] 7, the channel jaw 1310 of the end effector 1300 is rotatably coupled to the spine of the shaft 1200 about an articulation joint 1660. The channel jaw 1310 has an articulation frame 1270 mounted thereon with a pin 1271 extending laterally therefrom and positioned within a gap 1311 defined in the cartridge channel 1310. The pin 1271 and the gap 1311 are sized and configured to securely affix the articulation frame 1270 to the cartridge channel 1310. The articulation frame 1270 has an articulation gap defined therein, and a distal end of the spine includes an articulation post 1262 positioned within the articulation gap. The articulation post 1262 is sized and configured to be securely received within the articulation gap and relative movement between the articulation frame 1270 and the spine of the shaft 1200 is limited to rotational movement about an axis perpendicular to the shaft axis 1001.

[0040] In addition to the above, and referring again to FIG. 1, the shaft assembly 1000 further comprises an outer frame 1600. Now referring to FIG. 2, the outer frame 1600 is rotatable relative to the frame 1110 of the mounting portion 1100 about a slip joint. The slip joint includes a proximal flange 1610 that is parallel, or at least substantially parallel, to a corresponding flange 1111 defined on the frame 1110. In addition to providing a rotatable mechanical interface, the slip joint also provides a rotatable electrical interface. More specifically, the slip joint includes electrical traces 1190 defined on the flange 1111, as well as an electrical connector 1690 attached to the flange 1610 with electrical contacts that engage the traces 1190. In various examples, the electrical traces 1190 include conductive annular rings that are electrically insulated from one another and are each part of a separate electrical circuit. When the outer frame 1600 is rotated relative to the frame 1110, the contact of the electrical connector 1690 is maintained in electrical contact with the trace 1190. Referring to Figure 5, the latch 1130 of the mounting portion 1100 further comprises an electrical connector 1192 in electrical communication with the trace 1190 that is placeable in electrical communication with a surgical system when the latch 1130 couples the shaft assembly 1000 to the surgical system. As a result of the above, the sensor of the shaft assembly 1000 can communicate with a controller and / or microprocessor in the handle of the surgical instrument or, alternatively, with a surgical robot via a slip joint.

[0041] The outer frame 1600 further comprises a tube 1620 extending distally from the proximal flange 1610. Further to the above, the housing 1120 of the mounting portion 1100 is attached to the tube 1620. The housing 1120 includes a finger grip 1128 defined therein, the finger grip configured to assist a clinician in rotating the housing 1120 and the tube 1620 about the longitudinal shaft axis 1001. The outer frame 1600 further comprises a distal tube portion 1630 rotatably attached to the tube 1620. More particularly, and referring primarily to FIG. 7 , the outer frame 1600 further comprises a coupling 1640 connecting the distal tube portion 1630 and the tube 1620, providing one or more degrees of freedom between the distal tube portion 1630 and the tube 1620. Such one or more degrees of freedom between the distal tube section 1630 and the tube 1620 allow the end effector 1300 to articulate relative to the shaft 1200 about the articulation joint 1660. As a result of the above, the outer frame 1600 is rotatable about the longitudinal shaft axis and is rotatable about the articulation joint 1660. However, the outer frame 1600 is not longitudinally translatable relative to the frame 1110 of the mounting portion 1100.

[0042] 5 , shaft assembly 1000 further comprises an articulation system 1400 configured to articulate end effector 1300 relative to shaft 1200. Additionally, shaft assembly 1000 also comprises a firing system 1500 configured, in part, to close anvil jaws 1330 of end effector 1300 and, in part, to fire staples stored in staple cartridge 1320, as discussed above. As discussed in more detail below, articulation system 1400 is selectively engagable with firing system 1500 such that articulation system 1400 can be driven by firing system 1500 to articulate to end effector 1300. Once end effector 1300 is sufficiently articulated, articulation system 1400 can be operably disengaged from firing system 1500. In this regard, firing system 1500 can be operated independently of articulation system 1400. As will also be discussed in more detail below, the shaft assembly 1000 further includes an articulation locking system that, first, locks the end effector 1300 in a fixed position and, second, switches the shaft assembly 1000 between an articulation operating mode and a firing operating mode.

[0043] 9 , the firing system 1500 includes a firing rod 1510 that is translatable proximally and distally during an articulation and / or firing operating mode of the shaft assembly 1000. The firing rod 1510 includes a proximal end 1511 that is operably engageable with a drive system of a surgical system, such as, for example, a handle of a surgical instrument and / or an arm of a surgical robot. The firing system 1500 further includes a rack 1520 that is fixedly attached to the firing rod 1510 such that the firing rod 1510 is translatable therewith. The firing rod 1510 extends through a longitudinal gap 1521 defined in the rack 1520. Additionally, the rack 1520 is fixedly attached to the firing rod 1510 such that the rack 1520 and the firing rod 1510 are rotatable together about the longitudinal shaft axis. The articulation system 1400 further comprises an articulation driver 1420 that is attached to the rack 1520 such that the rack 1520 is translatable or longitudinally slidable relative to the articulation driver 1420. However, the articulation driver 1420 is attached to the rack 1520 such that the articulation driver 1420, rack 1520 and firing rod 1510 rotate together about the longitudinal shaft axis 1001.

[0044] 9, 21 and 23, the rack 1520 includes a longitudinal slot 1522 defined on an opposing side thereof, and the articulation driver 1420 includes a protrusion 1422 positioned in the longitudinal slot 1522. The slot 1522 and the protrusion 1422 are configured to allow the rack 1520 to move proximally and distally relative to the articulation driver 1420. More specifically, the articulation driver 1420 is mounted within the mounting portion 1100 of the shaft assembly 1000 to prevent the articulation driver 1420 from translating, or at least substantially translating, longitudinally relative to the frame 1110 of the mounting portion 1100, such that the rack 1520 can move longitudinally relative to the articulation driver 1420 as the rack 1520 moves longitudinally to drive the articulation system 1400 and / or firing system 1500 of the shaft assembly 1000. However, as described in more detail below, the slot 1522 and the protrusion 1422 are configured to transmit rotational motion from the articulation driver 1420 to the rack 1520.

[0045] 8, the articulation system 1400 further comprises, first, a shifter 1430 attached to the firing rod 1510, and, second, an articulation driver 1440. The shifter 1430 is fixedly attached to the firing rod 1510 such that the shifter 1430 translates longitudinally with the firing rod 1510. The shifter 1430 is further fixedly attached to the firing rod 1510 such that the shifter 1430 is rotatable with the firing rod 1510. The shifter 1430 includes longitudinal rack teeth 1431 and similarly, the articulation driver 1440 includes longitudinal rack teeth 1441. With reference to FIGS. 16, 18, 20 and 21, when the shaft assembly 1000 is placed into its articulation mode of operation, the teeth 1441 of the articulation driver 1440 meshingly engage the teeth 1431 of the shifter 1430. In such a configuration, the longitudinal movement of the firing rod 1510 can be transmitted to the articulation driver 1440.

[0046] 30 , the articulation driver 1440 further includes a distal end 1443 having an elongated gap defined therein. The articulation frame 1270 of the end effector 1300, which is attached to the channel jaw 1310, includes an articulation pin 1444 extending therefrom and positioned in the gap defined in the distal end 1443. As illustrated in FIG. 31 , when the shaft assembly 1000 is in its articulation operating mode and the firing rod 1510 is advanced distally, the firing rod 1510 pushes the articulation driver 1440 and the articulation pin 1444 distally to distally articulate the end effector 1300 in a first direction. When the firing rod 1510 is pulled proximally, it pulls the articulation driver 1440 and articulation pin 1444 to proximally articulate with the end effector 1300 in a second direction opposite the first direction. In use, a clinician can pull and push the articulation driver 1440 to operate the surgical system and rotate the end effector 1300 to a desired orientation.

[0047] 30, the articulation system 1400 further comprises a second articulation driver 1450 and a transfer gear 1470. The transfer gear 1470 is attached to the spine of the shaft 1200 and is rotatable about a fixed axis. Furthermore, the transfer gear 1470 meshingly engages with longitudinal rack teeth 1442 defined on the articulation driver 1440. Similarly, the second articulation driver 1450 comprises longitudinal rack teeth 1452 that meshingly engage with the transfer gear 1470. The second articulation driver 1450 further comprises a distal end 1453 having an elongated gap defined therein. The articulation frame 1270 of the end effector 1300 further comprises an articulation pin 1454 extending therefrom and positioned in the gap defined in the distal end 1453. 31 , when the articulation driver 1440 is advanced distally by the firing rod 1510, it rotates the transfer gear 1470, which in turn drives the articulation driver 1450 and the articulation pin 1454 proximally. As a result, the articulation drivers 1440 and 1450 cooperate to rotate the end effector 1300 in the same direction. When the articulation driver 1440 is pulled proximally by the firing rod 1510, the articulation driver 1440 rotates the transfer gear 1470 in the opposite direction, correspondingly pushing the articulation driver 1450 and the articulation pin 1454 distally.

[0048] Once the end effector 1300 is in a desired orientation, the end effector 1300 may be locked in place. Referring primarily to Figures 5 and 7-9, the shaft assembly 1000 further comprises an articulation lock bar 1480 and an articulation lock actuator 1410. The articulation lock bar 1480 comprises a proximal end 1481 that is attached to the articulation lock actuator 1410. When the articulation lock actuator 1410 is moved from a proximal position (Figure 32) to a distal position (Figure 33), the articulation lock actuator 1410 pushes the lock bar 1480 distally. When the articulation lock actuator 1410 is moved from a distal position (Figure 33) to a proximal position (Figure 32), the articulation lock actuator 1410 pulls the lock bar 1480 proximally. Referring primarily to FIG. 9, the articulation lock actuator 1410 includes a proximal drive hook 1411 that is operably engagable with an actuator of a surgical system that can move the articulation lock actuator 1410 proximally and distally, as described above.

[0049] 32 and 33, the shaft assembly 1000 further comprises an articulation lock 1494 attached to the spine of the shaft 1200. The articulation lock 1494 comprises first and second lock arms 1495 extending therefrom. With reference to FIG. 32, the distal end 1482 of the articulation lock bar 1480 does not engage the lock arm 1495 when the articulation lock actuator 1410 is in its proximal position. In such an instance, the end effector 1300 is in the unlocked configuration and rotatable relative to the spine of the shaft 1200. With reference to FIG. 33, when the articulation lock bar 1480 is advanced distally by the articulation lock actuator 1410, the distal end 1482 of the articulation lock bar 1480 engages the lock arm 1495, displacing the lock arm 1495 into engagement with the articulation drivers 1440 and 1450. 7 , the articulation driver 1440 includes longitudinal rack teeth 1445 that are engaged by a locking arm 1495 when the locking arm 1495 is displaced outwardly by the articulation locking bar 1480. Similarly, the articulation driver 1450 includes longitudinal rack teeth 1455 that are engaged by another locking arm 1495 when the locking arm 1495 is displaced outwardly by the articulation locking bar 1480. In such an example, the end effector 1300 is in the locked configuration and cannot rotate relative to the spine of the shaft 1200.

[0050] Movement of the articulation lock actuator 1410 from its proximal position ( FIG. 32 ) to its distal position ( FIG. 33 ) fully locks the end effector 1300 in place. This movement also shifts the shaft assembly 1000 from an articulation operating mode ( FIGS. 16 , 18 , 20 and 21 ) to a firing operating mode ( FIGS. 17 , 19 , 22 and 23 ). Referring primarily to FIG. 9 , the articulation lock actuator 1410 includes one or more drive lugs 1415 extending inwardly into a longitudinal gap 1414 defined in the articulation lock actuator 1410. The longitudinal gap 1414 surrounds, or at least substantially surrounds, an articulation driver 1420, with the drive lugs 1415 positioned within a cam groove 1425 defined in an outer surface of the articulation driver 1420. Further to the above, when the articulation lock actuator 1410 is advanced distally, the drive lug 1415 rotates the articulation driver 1420, the rack 1520, and the firing rod 1510 from the orientation illustrated in FIG. 16 to the orientation illustrated in FIG. 17. In such an example, the teeth 1431 of the shifter 1430 rotate out of operative engagement with the teeth 1441 of the articulation driver 1440, such that the articulation system 1400 is operatively decoupled from the firing system 1500. Distal movement of the articulation lock actuator 1410 thus locks the end effector 1300 in place and transitions the shaft assembly 1000 to the firing mode of operation. In various examples, the articulation lock actuator 1410 can be pulled proximally to shift the shaft assembly 1000 back to the articulation mode of operation.

[0051] As described above, once the articulation system 1400 is operably disconnected from the firing system 1500, the firing system 1500 can be advanced distally and a closing stroke can be performed to approximate the anvil jaws 1330 and a firing stroke can be performed to eject staples from the staple cartridge 1320 and sever tissue captured between the staple cartridge 1320 and the anvil jaws 1330. With reference to FIGS. 7-9, the firing system 1500 further includes an intermediate firing rod 1530 and a firing bar 1550. As described in more detail below, the firing rod 1510 is operably engageable with the intermediate firing rod 1530 such that longitudinal movement of the firing rod 1510 is transferable to the intermediate firing rod 1530. The firing bar 1550 includes a proximal end 1552 that is positioned in a longitudinal gap 1532 defined in a distal end of the distal firing rod 1510.

[0052] 11, when the intermediate firing rod 1530 is urged distally by the firing rod 1510, the intermediate firing rod 1530 urges the firing bar 1550 distally to engage the anvil jaws 1330 and move the anvil jaws 1330 toward a closed or clamped position, as illustrated in FIG. 12. This distal movement of the firing bar 1550 constitutes a closing stroke. If the clinician is not satisfied with the positioning of the tissue between the staple cartridge 1320 and the clamped anvil jaws 1330, the clinician can operate the surgical system to retract the firing bar 1550. In such an instance, a spring compressed between the staple cartridge 1320 and the clamped anvil jaws 1330 can act to open the jaws 1330.

[0053] Further to the above, when the clinician is satisfied with the positioning of the tissue between the staple cartridge 1320 and the clamped anvil jaws 1330, the clinician can operate the surgical system to advance the firing bar 1550 from the staple cartridge 1320 to eject the staples therefrom and transect the tissue. This distal movement of the firing bar 1550 constitutes the firing stroke, and the beginning of the firing stoke is illustrated in FIG. 13. In this example, the closing stroke and the firing stroke are separate and distinct. If the clinician chooses, the surgical system utilized to operate the firing system 1500 is stopped or halted between the closing stroke and the firing stroke, which gives the clinician the opportunity to retract the firing bar 1550 and reopen the anvil jaws 1330 again. In another example, the closing stroke and the firing stroke are not separate and distinct. Instead, the surgical system immediately transitions from the closing stroke to the firing stroke. In either case, and referring to FIG. 14, the surgical system can be operated to retract the firing bar 1550 to its unfired position, allowing the spring to reopen the anvil jaws 1330.

[0054] As discussed above, the firing rod 1510 is used to drive the articulation system 1400 and the firing system 1500. Without going any further, it may be assumed that the firing rod 1510 moves the firing bar 1550 simultaneously with the firing rod 1510 being used to operate the articulation system 1400. However, with reference to FIGS. 24-29 , the shaft assembly 1000 further comprises a clutch 1540 configured to operably couple the firing rod 1510 and the intermediate firing rod 1530 when the clutch 1540 is in the firing configuration ( FIG. 26 ) and to operably decouple the firing rod 1510 from the intermediate firing rod 1530 when the clutch 1540 is in the articulated configuration ( FIG. 29 ). When the shaft assembly 1000 is placed in the articulated operating mode, the clutch 1540 is configured to be in the articulated configuration (FIG. 29), and correspondingly, when the shaft assembly 1000 is placed in the fired operating mode, the clutch 1540 is configured to be in the fired configuration (FIG. 26).

[0055] 24 , the firing rod 1510 includes a distal piston 1515 that is slidably positioned in a cylinder 1535 defined in the intermediate firing rod 1530. The clutch 1540 includes a cantilever beam 1543 fixedly attached to the intermediate firing rod 1530 and a cam head 1544 that is slidably positioned in a lateral slot 1534 defined in the intermediate firing rod 1530. The cam head 1544 includes a gap 1545 defined therein that is configured to receive the distal piston 1515 of the firing rod 1510 therein.

[0056] 29 , when the shaft assembly 1000 is in the articulation mode of operation and the clutch 1540 is in the articulated configuration, at least a portion of the distal piston 1515 is positioned in a proximal portion 1531 of a cylinder 1535 defined in the intermediate firing rod 1530. In such an example, another portion of the distal piston 1515 is positioned in a gap 1545 defined in a cam head 1544 of the clutch 1540. Although a sidewall of the gap 1545 may contact a side of the distal piston 1515, in such an example, the piston 1515 is movable relative to the clutch 1540 and the intermediate firing rod 1530 without transmitting, or at least substantially without transmitting, movement by the firing rod 1510 to the intermediate firing rod 1530. As a result, when the firing rod 1510 is used to drive the articulation system 1400, the firing rod 1510 does not displace the firing bar 1550 distally. In certain cases, a gap can exist between the proximal end 1552 of the firing bar 1550 and the longitudinal end wall of the gap 1532 to accommodate a certain amount of movement that the intermediate firing rod 1530 may undergo when the shaft assembly 1000 is placed into an articulated operating mode.

[0057] In addition to the above, and referring again to FIG. 29, the cantilever beam 1543 of the clutch 1540 deflects or resiliently bends laterally when the clutch 1540 is in its articulated configuration. This is because the gap 1545 defined in the cam head 1544 is naturally not aligned with the distal piston 1515, and to accommodate this forced alignment, when the distal piston 1515 is positioned in the gap 1545, the cam head 1544 is laterally displaced and the beam 1543 deflects laterally. When the shaft assembly 1000 is placed in the firing mode of operation and the firing rod 1510 is advanced distally, the distal piston 1515 moves distally relative to the cam head 1544 until the entirety of the distal piston 1515 passes through the gap 1545. At this point, and referring back to FIG. 26, the clutch 1540 resiliently returns to its unbent state and the clutch 1540 is placed in the firing configuration. It is noted that in such an example, the cam head 1544 shifts laterally to lock behind the proximal shoulder of the distal piston 1515, retaining the distal piston 1515 within the cylinder 1535. As a result, the clutch 1540 locks the firing rod 1510 to the intermediate firing rod 1530 throughout operation of the firing assembly 1500, such that longitudinal movement of the firing rod 1510 is transferred to the intermediate firing rod 1530 during the firing stroke.

[0058] Further to the above, the clutch 1540 continues to hold the firing rod 1510 and the intermediate firing rod 1530 after the firing stroke is completed, or at least partially completed. As a result, the firing rod 1510 can be moved proximally to retract the intermediate firing rod 1530 and the firing bar 1550 proximally. In various examples, the spent staple cartridge 1320 can be removed from the end effector 1300 and an unused staple cartridge 1320 can be installed in the channel jaw 1310, for example. If the clinician remains satisfied with the orientation of the end effector 1300, the clinician can again operate the firing assembly 1500. However, if the clinician wishes to change the orientation of the end effector 1300, the clinician can operate the surgical system to further retract the firing rod 1510 proximally to disengage the firing rod 1510 from the intermediate firing rod 1530 and re-enter the articulation operating mode of the shaft assembly 1000. This transition is described in more detail below.

[0059] 27 and 28, the spine of the shaft assembly 1000 includes a cam 1234 configured to laterally deflect the cam head 1544 of the clutch 1540 when the cam head 1544 contacts the cam 1234 as the intermediate firing rod 1530 retracts proximally. Once the cam head 1544 is laterally deflected, a gap 1545 defined in the cam head 1544 realigns with the distal piston 1515 such that the distal piston 1515 is disengaged from the clutch 1540 and can move proximally relative to the cam 1540 into the articulated configuration ( FIG. 29 ). At such point, the firing rod 1510 can be used to manipulate the articulation system 1400 to reorient the end effector 1300. Once the clinician is satisfied with the orientation of the end effector 1300, the clinician can use the surgical system to advance the distal piston 1515 distally to shift the clutch 1540 back to the fired configuration. Additionally, it should be appreciated that the clutch 1540 can be shifted out of its fired configuration and its articulated configuration whenever the clinician desires to switch between the fired and articulated operating modes of the shaft assembly 1000.

[0060] As discussed above, and with reference now to FIGS. 10-12, a firing bar 1550 is movable distally to move the anvil jaws 1330 from an open position (FIG. 11) toward at least a closed position (FIG. 12) during a closing stroke of the firing assembly 1500. The firing bar 1550 includes an anvil cam 1564 configured to engage the anvil jaws 1330 and a cartridge cam 1563 configured to engage the channel jaws 1310. The anvil jaws 1330 include a bottom cam surface and include a longitudinal slot 1334 defined therein. Similarly, the channel jaws 1310 include a longitudinal slot 1313 defined therein and include a top cam surface. As the firing bar 1550 advances distally, the anvil cam 1564 can engage with a bottom cam surface of the longitudinal slot 1334, and the cartridge cam 1563 can engage with an upper cam surface of the longitudinal slot 1313 to cooperatively control the position of the anvil jaw 1330 relative to the staple cartridge 1320.

[0061] As discussed above, the anvil jaw 1330 is rotatably coupled to the channel jaw 1310. In at least one example, the anvil jaw 1330 is attached to the channel jaw 1310 by one or more pins and is pivotable about a fixed axis. In other examples, the anvil jaw 1330 is not attached to the channel jaw 1310 about a fixed axis. In at least one such example, the anvil jaw 1330 is translatable relative to the channel jaw 1310 as the anvil jaw 1330 rotates relative to the channel jaw 1310. In either case, the cartridge jaw 1310 can be referred to as a fixed jaw even if the cartridge jaw 1310 is rotatable, i.e., articulatable, about the articulation joint 1660. In this context, the term fixed means that the surgical system 1000 does not rotate the channel jaw 1310 between an open position and a closed position. Alternative embodiments are envisioned in which the cartridge jaw 1310 is rotatable relative to the anvil jaw 1330. In such an example, the anvil jaw 1330 may be a fixed jaw.

[0062] With reference to FIG. 7, the anvil jaw 1330 is comprised of several components assembled together. More specifically, the anvil jaw 1330 includes one or more lateral side plates 1333 attached thereto. In at least one example, for example, the anvil jaw 1330 and the side plates 1333 are comprised of steel and welded together. Among other things, such an arrangement may simplify the manufacturing process used to create the longitudinal slots 1334 defined in the anvil jaw 1330. In at least one example, the side plates 1333 may be attached to the anvil jaw 1330 after a portion of the longitudinal slots 1334 are formed in the side plates 1333. In various examples, a bottom cam surface of the longitudinal slots 1334 includes a curved profile that may be formed in the side plates 1333 using, for example, a grinding process. Additionally, in certain instances, the side plates 1333 may be heat treated differently than the seat portions of the anvil jaw 1330. Nevertheless, the anvil jaws 1330 may be formed using any suitable manufacturing process.

[0063] Further to the above, the staple cartridge 1320 includes a cartridge body 1322 and a sled 1360 movably positioned within the cartridge body 1322. The sled 1360 is movable between a proximal, unfired position (FIGS. 10, 11, and 12) and a distal, fired position by a firing bar 1550. More particularly, the firing bar 1550 includes a coupling member 1560 attached to a distal end thereof that is configured to contact the sled 1360 and move the sled 1360 distally during the firing stroke. It is noted, however, that the coupling member 1560 does not contact the sled 1360 during the closing stroke of the firing member 1550. As a result, the firing member 1550 can be moved proximally and distally to open and close the anvil jaws 1330 without distally displacing the sled 1360. As a result, the staple cartridge 1320 remains in an unused state regardless of the number of times the anvil jaws 1330 are opened and closed before a firing stroke is performed.

[0064] In addition to the above, the staple cartridge 1320 is replaceable. As a result, various cases can occur when a staple cartridge is not positioned in the channel jaws 1310. Additionally, cases can occur when a used staple cartridge is positioned in the channel jaws 1310. Now, with reference to FIGS. 10-15, the shaft assembly 1000 includes a lockout configured to prevent a firing stroke from being initiated if any of the conditions exist. The lockout includes a lock 1570 rotatably attached to the firing bar 1550 and is movable between an unlocked position (FIGS. 10-14) and a locked position (FIG. 15). The lock 1570 includes lateral ledges 1572 pivotally attached to opposing lateral sides of the coupling member 1560 that provide an axis of rotation about which the lock 1570 rotates. With reference to FIGS. 10-12, the channel jaws 1310 retain the lock 1570 in the unlocked position as the firing bar 1550 is moved longitudinally to open and close the anvil jaws 1330.

[0065] 13 , when the firing stroke of the firing bar 1550 is initiated, the sled 1360 is configured to support the lock 1570 in its unlocked position when the sled 1360 is in its proximal, unfired position. More specifically, the sled 1360 includes a proximal ledge 1365 configured to support a distal shoulder 1575 of the lock 1570 when the lock 1570 approaches a lock recess 1315 defined in the channel jaw 1310. In other words, the sled 1360 may prevent the lock 1570 from entering the lock recess 1315, but only when the sled 1360 is in its proximal, unfired position. Once the distal shoulder 1575 is supported by the proximal ledge 1365 of the sled 1360 at the beginning of the firing stroke, the proximal ledge 1365 may continue to support the distal shoulder 1575 throughout the firing stroke. However, once the lock 1570 is moved distally relative to the lock recess 1315, the lock 1570 cannot enter the lock recess 1315 and the ledge 1365 does not need to support the shoulder 1575 for the remainder of the firing stroke.

[0066] 10-13, the lockout further comprises a lock spring 1370 configured to bias the lock 1570 into the lock recess 1315. The lock spring 1370 comprises a proximal end 1371 fixedly attached to the articulating frame 1270, and further a distal end 1375 positioned opposite the proximal end 1371. Referring to FIGS. 10-12, when the firing bar 1550 is used to open and close the anvil jaws 1330 during the closing stroke, the ledge 1572 can slide against the lock spring 1370. When the firing bar 1550 is distally advanced to perform the firing stroke and the sled 1360 is in its proximal, unfired position, the ledge 1572 can bend upwardly the distal end 1375 of the lock spring 1370 to allow the ledge 1572 to slide underneath, as illustrated in FIG. As the firing bar 1550 is advanced distally, causing the ledge 1572 to clear the distal end 1375 of the locking spring 1370, the locking spring 1370 can resiliently return to its unbent state.

[0067] As illustrated in FIG. 14 , after the firing stroke is completed, or at least fully completed, the firing bar 1550 can retract back to its proximal, unfired position. It is noted that the sled 1360 does not retract proximally with the firing bar 1550. Rather, the sled 1360 remains in the distal, fired position. As a result, the sled 1360 of the spent cartridge 1320 cannot hold the lock 1570 in its unlocked position when the firing bar 1550 advances distally to perform a second firing stroke. Instead, referring to FIG. 15 , the lock spring 1370 biases the lateral ledge 1572 of the lock 1570 against the lock recess 1315, which prevents the firing bar 1550 from performing a second firing stroke, i.e., a firing stroke with a spent staple cartridge in the channel jaws 1310. 15, a distal end 1375 of the lock spring 1370 engages a ledge 1572 of the lock 1570 at a location distal to the rotary joint connecting the lock 1570 to the coupling member 1560. As a result, the lock spring 1370 is configured to apply a downward biasing torque to the lock 1570 causing the lock 1570 to rotate downwardly into its locked position and into the lock recess 1315. To reset the lock 1570 to its unlocked position, the firing bar 1550 can pull the lock 1570 proximally out of the lock recess 1315 until the lock 1570 is once again supported by the channel jaws 1310.

[0068] The firing system 1500 can be used to open and close the anvil jaw 1330 even when a spent staple cartridge is positioned in the channel jaw 1310, despite the inability to perform a firing stroke when a spent cartridge is positioned in the channel jaw 1310. Additionally, the firing system 1500 can also be operated using the articulation system 1400 even when a spent staple cartridge is positioned in the channel jaw 1310. Similarly, the firing system 1500 can be used to open and close the anvil jaw 1330 and / or operate the articulation system 1400 if the staple cartridge becomes dislodged from the channel jaw 1310. However, in order to reuse the shaft assembly 1000 and fire another staple cartridge, the spent staple cartridge 1320 must be removed from the channel jaw 1310 and replaced with an unused staple cartridge, such as, for example, another staple cartridge 1320. Such an unused staple cartridge must include a thread 1360 in its proximal, unfired position to allow the firing bar 1550 to advance through another firing stroke.

[0069] 10-15, the coupling member 1560 of the firing bar 1550 includes a cutting edge 1565 configured to laterally incise tissue captured between the staple cartridge 1320 and the anvil jaw 1330. It is noted that the coupling member 1560 is not displaced downwardly into the locking recess 1315 defined in the channel jaw 1310 by the lock spring 1370. Rather, only the lock 1570 is displaced downwardly by the lock spring 1370. As a result, the cutting edge 1565 is not displaced relative to, and remains aligned relative to, the tissue captured between the staple cartridge 1320 and the anvil jaw 1330 during the firing stroke of the firing bar 1550.

[0070] As described above, the firing system 1500 is configured to perform a closing stroke to close the end effector 1300 and a firing stroke to staple and sever tissue captured within the end effector 1300. As also described above, the firing system 1500 is operably coupled to and driven by a drive system of a surgical system. In various examples, once the closing stroke and / or firing stroke have been performed, the drive system of the surgical system may fail or be unable to advance and / or retract the firing system 1500. Such examples may be highly problematic since the end effector 1300 is locked closed by the firing bar 1550. More specifically, as discussed above, the firing bar 1550 includes cams 1563 and 1564 (FIGS. 10-15) configured to hold the anvil jaws 1330 and the channel jaws 1310 in position relative to one another during the closing and firing strokes, and if the firing bar 1550 is unable to retract, the cams 1563 and 1564 effectively lock the jaws 1310 and 1330 together without further action. Described below is a retraction system configured to pull the firing bar 1550 proximally so that the anvil jaws 1330 can be reopened.

[0071] 34-36, the shaft assembly 1000 includes a retraction or emergency removal system 1700 that is configured to be selectively positioned to engage the firing system 1500 to proximally retract the firing bar 1550. Referring primarily to FIG. 34, the retraction system 1700 includes an actuator 1702 rotatably attached to the handle or housing 1120 of the mounting portion 1100 about a pivot pin 1704. The pivot pin 1704 defines a fixed axis of rotation about which the handle 1702 may rotate. The retraction system 1700 further includes a pawl 1706 rotatably attached to the handle 1702 about a pivot pin 1708. The pivot pin 1708 defines an axis of rotation about which the pawl 1706 is rotatable relative to the handle 1702. Pawl 1706 has teeth defined thereon that are configured to engage longitudinal rack teeth 1526 defined on rack 1520. As illustrated in FIG. 34 , when handle 1702 is stored or deployed, the teeth of pawl 1706 are not engaged with rack teeth 1526.

[0072] Referring again to FIG. 34, the housing 1120 includes an access window 1129 defined therein. The access window 1129 is sized and configured to allow a clinician to grasp the handle 1702 and rotate the handle 1702 to a deployed position, as illustrated in FIG. 35. Further to the above, the tube 1620 of the outer frame 1600 includes a window 1629, as well as the spine of the shaft 1200 includes a window 1229 defined therein and therethrough that is aligned, or at least substantially aligned, with the window 1129 defined in the housing 1120. The windows 1629 and 1229 are configured to allow the pawl 1706 to access the rack teeth 1526 defined on the rack 1520. As illustrated in FIG. 35, when the handle 1702 is raised to the deployed position, the teeth of the pawl 1706 engage the rack teeth 1526. In this regard, the handle 1702 can be rotated to drive the rack 1520, the firing rod 1510, the intermediate firing rod 1530, and the firing bar 1550 proximally.

[0073] Further to the above, the handle 1702 and pawl 1706 comprise a ratchet assembly that can be actuated several times, if necessary, to drive the firing system 1500 to a proximal position where the firing bar 1550 is sufficiently disengaged from the anvil jaws 1330 to allow the anvil jaws 1330 to open. When the handle 1702 is in the deployed position of FIG. 35 , the handle 1702 can be rotated distally approximately 45 degrees, for example, to the position illustrated in FIG. 36 , to pull the firing system 1500 proximally. Such a 45 degree rotation of the handle 1702 may or may not be sufficient to disengage the firing bar 1550 from the anvil jaws 1330. If it is not sufficient, the handle 1702 can be rotated proximally back to the position illustrated in FIG. 35 , and the handle 1702 can again be actuated to further retract the firing bar 1550. This process can be repeated as many times as necessary until the anvil jaws 1330 can be opened to unclamp the end effector 1300 from the tissue and remove the shaft assembly 1000 from the surgical site.

[0074] In addition to the above, situations may arise where the shaft assembly 1000 needs to be removed from the surgical system before the firing bar 1550 is retracted, or at least fully retracted. In such instances, as above, the shaft assembly 1000 is not powered by the surgical system. However, the retraction system 1700 can be used to quickly release the end effector 1300 from tissue even when the shaft assembly 1000 is not attached to the surgical system. Such an arrangement is an improvement over other arrangements where the retraction system is part of the surgical system, instead of an attachable shaft assembly. In such other arrangements, the shaft assembly may have to remain attached to the surgical system in order to use the retraction system to reopen the end effector.

[0075] The retraction system 1700 can be used to retract the firing assembly 1500 after a portion of the closing stroke has occurred, after the full closing stroke has occurred, after a portion of the firing stroke has occurred, and / or after the full firing stroke has occurred. If the firing stroke has been fully performed and the retraction system 1700 is used to retract the firing assembly 1500, the clinician may have to crank the retraction system 1700 several times to retract the firing bar 1550 through the full firing stroke and even the full closing stroke to open the end effector 1300. While this situation is entirely preferred, it may take many actuations of the retraction system 1700 to fully retract the firing bar 1550. A shaft assembly with an alternative emergency removal system is discussed below.

[0076] A shaft assembly 2000 is illustrated in Figures 37-46 and is similar to the shaft assembly 1000 in many respects, some of which are not discussed herein for brevity. Referring primarily to Figure 37, the shaft assembly 2000 comprises a mounting portion 2100 configured to releasably mount the shaft assembly 2000 to a surgical system, such as, for example, a handle of a surgical instrument, and alternatively, the arm of a surgical robot. The shaft assembly 2000 further comprises an end effector 2300, an articulation system 1400 configured to articulate the end effector 2300 about an articulation joint 1660, and a firing system 1500 configured to fire staples from a staple cartridge positioned in the end effector 2300. Referring primarily to Figures 38 and 39, the shaft assembly 2000 also comprises an outer frame 1600 attached to a frame 2110 of the mounting portion 2100 and rotatable relative to the frame 2110 about a longitudinal shaft axis 2001. Such an arrangement may allow the end effector 2300 to be reoriented relative to the patient's tissue. For example, the anvil jaws 1330 of the end effector 2300 may be rotated from one side of the patient's tissue to the other before clamping the anvil jaws 1330 onto the tissue. However, the outer frame 1600 is affixed to the frame 2110 of the mounting portion 2100, and thus the outer frame 1660 is not translatable, or at least not substantially translatable, relative to the frame 2110.

[0077] Similar to shaft assembly 1000, shaft assembly 2000 includes a retraction system 1700 configured to retract firing system 1500. In addition to the above, retraction system 1700 is operable to proximally retract firing bar 1550 to allow end effector 2300 to reopen from a closed or clamped configuration (FIG. 45) to an open configuration (FIG. 46). Referring primarily to FIGS. 42-44, shaft assembly 2000 further includes a translatable spine 2200 and an emergency removal system 2800 configured to actuate end effector 2300 from a closed or clamped configuration (FIG. 45) to an open configuration (FIG. 46) to reopen end effector 2300. As described in more detail below, the emergency removal system 2800 is configured to move the spine 2200 distally from a proximal, unactuated position (FIG. 45) to a distal, actuated position (FIG. 46) and to move the channel jaws 2310 of the end effector 2300 distally relative to the firing bar 1550.

[0078] The translatable spine 2200 is similar in many respects to the spine 1200. Referring primarily to FIGS. 42-44, the spine 2200 includes a proximal spine portion 2210 that is rotatable relative to the frame 2110 about a longitudinal shaft axis 2001. The proximal spine portion 2210 includes a gap defined therein that is configured to receive a proximal end of a drive cover 2220. The drive cover 2220 further includes a distal end that is configured to be positioned within the proximal end of the middle spine portion 2230 of the spine 2200. The spine 2200 further includes an upper distal portion 2250 and a lower distal portion 2260 that engage the distal end of the spine portion 2230. The distal portions 2250 and 2260 include proximal ends that are laterally inserted or slid into dovetail slots defined in the distal end of the middle spine portion 2230. The spine 2200 further includes a cover 2240 configured to surround an opening defined in the spine portion 2230 and / or to lock the distal portions 2250 and 2260 in place. The lower distal portion 2260 includes an articulation projection 1262 extending therefrom which is positioned closely within an articulation gap defined in an articulation frame 2270 that is attached within the channel jaw 2210.

[0079] Unlike the spine 1200, which is attached to the frame 1110 to prevent translational movement of the spine 1200 relative to the frame 1110, the spine 2200 is slidably positioned on the frame 2110 and can be moved proximally and distally relative to the frame 2110 by the emergency removal system 2800. Referring primarily to Figs. 38 and 39, the emergency removal system 2800 comprises an emergency removal lever 2802 rotatably attached to the frame 2110 about a fixed axis pivot 2804. Indeed, referring to Fig. 41, the emergency removal system 2800 comprises two emergency removal levers 2802 rotatably attached to the frame 2110 on opposite sides thereof, interconnected by a crossbar 2807, as illustrated in Fig. 42. Thus, the emergency removal levers 2802 rotate together. The emergency removal system 2800 further comprises a drive connection 2806 rotatably attached to each of the emergency removal levers 2802. Referring to FIG. 41, each emergency release lever 2802 includes a drive pin 2803 that extends into a drive gap defined in the drive connection 2806 and operably connects the drive connection 2806 to the emergency release lever 2802.

[0080] 40 and 41 , each drive connection 2806 includes a drive pin 2808 extending therefrom and positioned in an annular slot 2218 defined in the proximal spine portion 2210. As illustrated in FIG. 46 , when the emergency release lever 2802 is rotated distally to its actuated position, the emergency release lever 2802 pulls the drive connection 2806 and the spine 2200 distally, causing the channel jaw 2310 to translate distally relative to the firing bar 1550. Additionally, distal movement of the channel jaw 2310 also causes the anvil jaw 1330 to translate distally as a result of the anvil jaw 1330 being rotatably attached to the channel jaw 2310. Such distal movement of the jaws 2310 and 1330 comprises an emergency removal opening stroke that disengages the anvil jaw 1330 from the anvil cam 1564 of the firing bar 1550, allowing the anvil jaw 1330 to move to an open position. In addition to the above, the end effector 2300 can include a compression biasing member, such as, for example, a spring, that can bias the anvil jaw 1330 to its open position once it has been sufficiently disengaged from the anvil cam 1564.

[0081] The reader should understand that the emergency detachment system 2800 is separate and distinct from the retraction system 1700. As a result, the emergency detachment system 2800 and the retraction system 1700 can be operated independently of one another. In at least one example, the emergency detachment system 2800 can be used to open the end effector 2300 during the closing stroke, if necessary, and the retraction system 1700 can be used to open the end of the end effector 2300 during the firing stroke, if necessary. In various examples, the retraction system 1700 can be used to open the end effector 2300 at any point during the closing stroke and / or during the firing stroke. In certain instances, the emergency detachment system 2800 can be used to open the end effector 2300 during the closing stroke and / or the firing stroke. In at least one such example, the emergency detachment opening stroke provided by the emergency detachment system 2800 is sufficient to open the end effector 2300 at any point during the closing stroke and / or during the firing stroke. However, in some instances, the emergency detachment opening stroke provided by the emergency detachment system 2800 may be insufficient to open the end effector 2300 during the firing stroke. In such instances, the clinician can use the retraction system 1700 in addition to or instead of the emergency detachment system 2800 to open the end effector 2300.

[0082] In addition to the above, the emergency removal system 2800 is operable to quickly open the end effector 2300. In comparison, the retraction system 1700 may have to be cranked several times to open the end effector 2300, whereas the emergency removal system 2800 can open the end effector 2300 with a single stroke. In instances where the emergency removal system 2800 is unable to open the end effector 2300 alone, the emergency removal system 2800 can be actuated to reduce the number of times the retraction system 1700 must be cranked to open the end effector 2300. Furthermore, in such instances, the channel jaws 2310 are pushed distally away from the firing bar 1550, and the firing bar 1550 is pulled proximally away from the anvil jaws 1330. In instances where the emergency detachment system 2800 can open the end effector 2300 alone, the firing bar 1550 of the firing system 1500 does not need to be retracted to open the end effector 2300.

[0083] In various examples, further to the above, the emergency removal lever 2802 of the emergency removal system 2800 can be rotated from its proximal, unactuated position (FIG. 45) to its distal, operative position (FIG. 46) to open the end effector 2300 and release it from the patient tissue. The end effector 2300 can then be moved away from the patient tissue. The emergency removal lever 2802 can then be rotated from its distal, operative position (FIG. 46) to its proximal, unactuated position (FIG. 45) to pull the spine 2200 and the channel jaws 2310 proximally and close the end effector 2300. In various examples, such a mechanism can be particularly useful when removing the end effector 2300 from a surgical site, since it can be easier to remove the end effector 2300 from a surgical site when the end effector 2300 is in its closed configuration. In either case, the emergency removal system 2800 can be activated and deactivated to open and close the end effector 2300 as many times as necessary.

[0084] 32 and 33, to lock the end effector 1300 in place and prevent the end effector 1300 from being articulated by the articulation system 1400, the shaft assembly 1000 includes an articulation lock bar 1480 configured to engage an articulation lock 1494 of the shaft assembly 1000 and to engage arms 1495 of the articulation lock 1494 with the articulation drivers 1440 and 1450 of the articulation system 1400. Such an arrangement comprises a single stage articulation locking system, since both arms 1495 engage the articulation drivers 1440 and 1450 simultaneously, or at least substantially simultaneously. In an alternative embodiment, the shaft assembly 6000 illustrated in FIGS. 67-71 includes a two stage articulation locking system 6490 configured to lock an end effector, such as the end effector 1300, in place.

[0085] The shaft assembly 6000 is similar to the shaft assemblies 1000 and 2000 in many respects, some of which will not be discussed herein for brevity. Although not necessarily shown in FIGS. 67-71 , the shaft assembly 6000 comprises a shaft 1200, an end effector 1300, an articulation system 1400, a firing system 1500, and an outer frame 1600. The shaft assembly 6000 also comprises an articulation lock actuator configured to move the lock bar 6480 relative to the end effector 1300 and to engage the lock bar 6480 with an articulation lock system 6490. As described in more detail below, the lock system 6490 is configured, in part, to directly engage a first lock with the end effector 1300, and, in part, to engage a second lock with the articulation drivers 1440 and 1450 of the articulation system 1400. In such an example, the first lock and the second lock of the articulation lock system 6490 may cooperate to hold the end effector 1300 in a fixed position.

[0086] 67, the two stage articulation locking system 6490 is positioned on the outer tube 1620 of the outer frame 1600 and comprises a frame 6491 fixedly affixed to the spine of the shaft 1200. The articulation locking system 6490 further comprises, first, a first lock 6496 slidably positioned within a cavity 6492 defined in the frame 6491, and, second, a biasing spring 6499 configured to bias the first lock 6496 into engagement with the articulation frame 1270 affixed to the end effector 1300. The first lock 6496 includes a flange 6498 extending therefrom, the biasing spring 6499 being compressed between the flange 6498 and a proximal end wall of the cavity 6492 defined in the frame 6491. As a result, the biasing spring 6499 is configured to move the first lock 6496 from a proximal unlocked position (FIG. 66) in which the first lock 6496 is not engaged with the articulation frame 1270 to a distal locked position (FIGS. 67-70) in which the first lock 6496 is engaged with the articulation frame 1270.

[0087] Further to the above, the articulation frame 1270 comprises circumferentially arranged teeth 1277 each configured to be engaged by a teeth recess 6497 defined in a distal end of the first lock 6496 when the first lock 6496 advances distally to its locked position. The arranged teeth 1277 extend around the proximal circumference of the articulation frame 1270 such that the teeth 1277 are aligned, or at least substantially aligned, with the first lock 6496 regardless of the orientation of the end effector 1300. As a result, the teeth 1277 are always present in front of the distal end of the first lock 6496 such that the first lock 6496 can lock the end effector 1300 in place when the first lock 6496 is biased to its locked position by the biasing spring 6499.

[0088] The articulation lock system 6490 further comprises a second articulation lock 6494 configured to selectively engage the articulation drivers 1440 and 1450 of the articulation system 1400. The articulation lock 6494 is fixedly attached to the spine of the shaft assembly 6490 and comprises locking arms 6495 extending therefrom. The locking arms 6495 are movable between a non-curved configuration ( FIG. 67 ) in which they do not engage the articulation drivers 1440 and 1450 and a curved configuration ( FIG. 68 ) in which they engage the articulation drivers 1440 and 1450. Stated another way, the locking arms 6495 are flexible in a lateral or outward direction to change from an unlocked configuration to a locked configuration and engage the articulation drivers 1440 and 1450.

[0089] Each of the locking arms 6495 includes teeth defined thereon and is configured to engage with the articulation drivers 1440 and 1450 when the locking arms 6495 are deflected outwardly to engage the articulation drivers 1440 and 1450. More specifically, the teeth of the first locking arm 6495 are configured to engage with the teeth 1445 defined on the articulation driver 1440 and the teeth of the second locking arm 6495 are configured to engage with the teeth 1455 defined on the articulation driver 1450. The interaction between the locking arms 6495 and the articulation drivers 1440 and 1450 prevents the articulation drivers 1440 and 1450 from moving proximally and distally to articulate with the end effector 1330, thereby locking the end effector 1330 in place. The locking arm 6495 is also configured to prevent the articulation drivers 1440 and 1450 from being driven back by the end effector 1330 when a torque is applied to the end effector 1330 .

[0090] Figures 67 and 68 illustrate a locking sequence of the two-stage articulation lock system 6490. As illustrated in Figure 67, and as discussed above, the first articulation lock 6496 is biased into the locked state by a biasing spring 6499. As a result, the first articulation lock 6496 does not require actuation to place the articulation lock system 6490 into the first locked state. However, it is noted that the second articulation lock 6494 does not engage the articulation drivers 1640 and 1650 when the articulation lock system 6490 is in the first locked state because the lock arm 6495 of the articulation lock 6494 is not biased and does not engage the articulation drivers 1640 and 1650. Instead, with reference to Figure 68, the lock bar 6480 must be advanced distally to engage the lock arm 6495 and displace the lock arm 6495 into engagement with the articulation drivers 1640 and 1650. As a result, the second articulation lock 6494 must be actuated to place the articulation lock system 6490 into the second locked state.

[0091] 67, the locking bar 6480 comprises a shaft portion 6481 configured to slide between the locking arms 6495 without displacing the locking arms 6495 into engagement with the articulation drivers 1440 and 1450. However, now referring to FIG. 68, the locking bar 6480 comprises an enlarged portion 6485 defined on the shaft portion 6481 configured to engage the locking arms 6495 and distort the locking arms 6495 into a locked configuration when the locking bar 6480 is advanced distally. At such point, the articulation locking system 6490 is in its second locked state. It is noted that the first articulation lock 6496 engages the end effector 1300 and the second articulation lock 6494 engages the articulation drivers 1440 and 1450 when the articulation locking system 6490 is in its second locked state. Similarly, it is noted that after the first articulation lock 6496 engages with the end effector 1300, during the two-stage locking sequence of the articulation lock system 6490, the second articulation lock 6494 engages with the articulation drivers 1440 and 1450.

[0092] 69-71 illustrate an unlocking sequence for the two-stage articulation locking system 6490. FIG. 69 illustrates the articulation locking system 6490 in its second locked state, and as described above, to unlock and thereby enable the end effector 1300 to be articulated, the articulation locking system 6490 is sequentially placed in a first locked state, as illustrated in FIG. 70, and then in an unlocked state, as illustrated in FIG. 71. Referring to FIG. 70, the locking bar 6480 is retracted proximally to disengage the extension 6485 from the locking arm 6495, such that the locking arm 6495 may be resiliently bent inwardly to disengage from the articulation drivers 1440 and 1450. At such point, the articulation locking system 6490 returns to its first locked state. It is noted that the locking bar 6480 includes a distal end 6482 that is slidably positioned in an elongated gap 6493 defined in the first articulation lock 6496, and, as discussed above, when the locking bar 6480 is moved proximally to transition the articulation locking system from the second locked state to the first locked state, the distal end 6482 can slide into the elongated gap 6493 without moving the first articulation lock 6496 from the locked state.

[0093] As noted above, once the articulation lock system 6490 is returned to the first locked state, the lock bar 6480 can be further retracted proximally to withdraw the first articulation lock 6496 from engagement with the articulation frame 1270. More specifically, the distal end 6482 of the lock bar 6480 can abut the proximal end wall of the gap 6483 as the lock bar 6480 is retracted proximally to apply a retraction force to the first articulation lock 6494. Such proximal retraction force must be able to overcome the distal biasing force that the spring 6499 applies to the first articulation lock 6496 to move the first articulation lock 6496 proximally. In any event, the articulation lock system 6490 is in the unlocked state once the first articulation lock 6496 is disengaged from the articulation frame 1270. At this point, the end effector 1300 can be articulated. To relock the end effector 1300 in position, the locking bar 6480 is released, again allowing the first articulation lock 6496 to enter its locked state by the biasing spring 6499. Alternatively, the locking bar 6480 can be driven distally to relock the end effector 1300 in position.

[0094] As discussed above, the two stage articulation locking system 6490 is configured to sequentially lock the first articulation lock 6496 and then the second articulation lock 6494. Alternative embodiments are contemplated in which the articulation locking system is configured to sequentially lock the second articulation lock 6494 and then the first articulation lock 6496. Further, alternative embodiments are contemplated in which the articulation locking system is configured to simultaneously lock the first articulation lock 6494 and the second articulation lock 6494.

[0095] As also discussed above, the two stage articulation locking system 6490 is configured to sequentially unlock the second articulation lock 6494 and then the first articulation lock 6496. Alternative embodiments are contemplated in which the articulation locking system is configured to sequentially unlock the first articulation lock 6496 and then the second articulation lock 6494. Further, alternative embodiments are contemplated in which the articulation locking system is configured to simultaneously unlock the first articulation lock 6494 and the second articulation lock 6494.

[0096] A shaft assembly 3000 is illustrated in FIGS. 47-51. The shaft assembly 3000 is similar to the shaft assembly 1000 in a number of respects, some of which are not discussed herein for brevity. Although not necessarily shown in FIGS. 47-51, the shaft assembly 3000 includes a mounting portion 3100 and a spine attached to the mounting portion 3100 that is rotatable, but not translatable, relative to a frame 3110 of the mounting portion 3100. The shaft assembly 3000 also includes an end effector 1300, an articulation system 1400 configured to articulate the end effector 1300, and a firing system 1500. As discussed above, the end effector 1300 includes an anvil jaw 1330 that is rotatable relative to the channel jaw 1310 between an open position and a closed position. The shaft assembly 3000 further includes an outer shaft portion 3600 configured to engage the anvil jaw 1330 and move the anvil jaw 1330 toward its closed position, as described in more detail below.

[0097] 47 and 49 , the outer shaft assembly 3600 comprises a proximal portion 3610, an intermediate portion 3620 coupled to the proximal portion 3610, and a distal portion 3630 coupled to the intermediate portion 3620. The proximal portion 3610 is affixed to a frame 3110 of the mounting portion 3100 such that the proximal portion 3610 is rotatable, but not translatable, relative to the frame 3110. The proximal portion 3610 comprises a longitudinal passage 3615 extending therethrough, and similarly, the intermediate portion 3620 comprises a longitudinal passage 3625 extending therethrough. The longitudinal passages 3615 and 3625 are aligned, or at least substantially aligned, with each other and with the periphery of the spine, articulation system 1400, and firing system 1500 of the shaft assembly 3600. Further to the above, the distal portion 3630 includes a longitudinal passage 3635 extending therethrough that is aligned with the longitudinal passage 3625 defined in the intermediate portion 3620. The proximal end of the distal portion 3630 is positioned in the longitudinal passage 3625 and engaged with the intermediate portion 3620 in a press-fit manner, thus providing little relative movement between the intermediate portion 3620 and the distal portion 3630.

[0098] Referring again to FIG. 49, the proximal portion 3610 of the outer shaft assembly 3600 includes a distal flange 3611. Additionally, the intermediate portion 3620 of the outer shaft assembly 3600 includes a proximal flange 3621 positioned adjacent the distal flange 3611. The distal flange 3611 and the proximal flange 3621 are parallel, or at least substantially parallel, to one another. Referring primarily to FIGS. 48 and 49, the outer shaft assembly 3600 further includes an extension assembly 3700 that connects the distal flange 3611 of the proximal portion 3610 to the proximal flange 3621 of the intermediate portion 3620. The extension assembly 3700 is configured to allow the outer shaft assembly 3600 to shift between a contracted configuration (FIG. 50) and an expanded configuration (FIG. 51), as discussed in more detail below.

[0099] 48 and 49, the extension assembly 3700 comprises a first linkage including a proximal linkage 3710 and a distal linkage 3720, and a second linkage further including a proximal linkage 3730 and a distal linkage 3740. The proximal linkage 3710 is rotatably attached to a proximal portion 3610 of the outer shaft assembly 3600. The proximal portion 3610 comprises a mounting post 3612 extending therefrom and positioned in a post gap 3712 defined in the proximal linkage 3710. Similarly, the distal linkage 3720 is rotatably attached to an intermediate portion 3620 of the outer shaft assembly 3600. The intermediate portion 3620 comprises a mounting gap 3622 defined therein and configured to receive a post 3722 extending from the distal linkage 3720. Additionally, the proximal link 3710 is rotatably coupled to the distal link 3720. More specifically, the proximal link 3710 includes a connector post 3724 extending therefrom and rotatably positioned in a connector gap 3724 defined in the distal link 3720.

[0100] Further to the above, the proximal coupling 3730 of the extension assembly 3700 is rotatably attached to the proximal portion 3610 of the outer shaft assembly 3600. The proximal portion 3610 includes a mounting post 3616 extending therefrom and positioned in a post gap 3736 defined in the proximal coupling 3730. Similarly, the distal coupling 3740 of the extension assembly 3700 is rotatably attached to the intermediate portion 3620 of the outer shaft assembly 3600. The intermediate portion 3620 includes a mounting gap defined therein and configured to receive a post 3746 extending from the distal coupling 3740. Additionally, the proximal coupling 3730 is rotatably coupled to the distal coupling 3740. More specifically, each proximal connection 3730 has a connector post 3734 extending therefrom and rotatably positioned in a connector gap 3744 defined in the distal connection 3740.

[0101] 50, the extension assembly 3700 of the outer shaft assembly 3600 is positioned distally relative to the rack 1520 of the firing system 1500, after which the rack 1520 is advanced distally by the firing rod 1510 to perform the closing and / or firing stroke. With reference to FIG. 51, as the rack 1520 is advanced distally, it engages the extension assembly 3700 and shifts the outer shaft assembly 3600 from its contracted configuration (FIG. 50) to its extended configuration (FIG. 51). More specifically, the rack 1520 contacts the links 3710 and 3720 of the extension assembly 3700, causing them to rotate laterally or outwardly, resulting in the links 3730 and 3740 being forced distally or longitudinally. 49, the links 3710 and 3720 can include a cam surface 3715 defined therein that is engaged and driven by the rack 1520. As a result of the above, the intermediate portion 3620 and the distal portion 3630 of the outer shaft assembly 3600 are forced distally relative to the proximal portion 3610 when the outer shaft assembly 3600 is switched from the contracted configuration (FIG. 50) to the expanded configuration (FIG. 51).

[0102] 51 , the distal portion 3630 of the outer shaft assembly 3600 engages the anvil jaws 1330 when the distal portion 3630 is advanced distally, thereby rotating the anvil jaws 1330 to their closed position. In other words, distal movement of the rack 1520 of the firing system 1500 creates a closing stroke that closes the end effector 1300. The firing system 1500 can then be used to drive the firing rod 1510, the rack 1520, the intermediate firing rod 1530, and the firing bar 1550 through the firing stroke, as discussed in more detail above. Thus, the firing system 1500 imparts separate and distinct closing and firing strokes to the end effector 1300 via the outer shaft assembly 1600 and the firing bar 1550, respectively. It is noted that the firing system 1500 can generate a closing stroke after the shaft assembly 3000 is switched from an articulation mode of operation to a firing mode of operation when the articulation lock actuator 1410 is advanced distally to lock the end effector 1300 in place. These are again discussed in more detail above.

[0103] As discussed above, during the closing stroke, the rack 1520 of the firing system 1500 engages the extension assembly 3700 to place the outer shaft assembly 3600 in its extended configuration. The rack 1520 remains engaged with the extension assembly 3700 throughout the closing and firing strokes, thereby holding the outer shaft assembly 3600 in the extended configuration throughout the closing and firing strokes. After the closing and / or firing strokes are completed, or at least sufficiently completed, the firing system 1500 can be operated to retract the firing rod 1510 and the rack 1520 proximally. As the rack 1520 retracts proximally, the rack 1520 disengages from the extension assembly 3700, such that the outer shaft assembly 3600 will not be held in the extended configuration by the rack 1520.

[0104] 49, the outer shaft assembly 3600 further comprises a spring 3750 configured to bias or pull the middle portion 3620 towards the proximal portion 3610 and return the outer shaft assembly 3600 to the contracted configuration. The distal flange 3611 of the proximal portion 3610 has a gap 3619 defined therein configured to attach the spring 3750 to the proximal portion 3610, and similarly, the proximal flange 3621 of the middle portion 3620 has a gap 3629 defined therein configured to attach the spring 3750 to the middle portion 3620. When the middle portion 3620 of the outer shaft assembly 3600 is distally displaced by the rack 1520, the rack 1520 must apply a distal extension force to the extension assembly 3700 that overcomes the proximal biasing force of the spring 3750.

[0105] An alternative shaft assembly 4000 is illustrated in FIGS. 52-54. The shaft assembly 4000 is similar to the shaft assembly 3000 in a number of respects, most of which will not be discussed herein for brevity. The shaft assembly 4000 comprises an outer shaft assembly including a proximal portion 4610 and an intermediate portion 4620 connected by a tension spring 4750 extending around the extension assembly 3700. As above, the tension spring 4750 exerts a proximal biasing force on the intermediate portion 4620 when the intermediate portion 4620 is distally displaced away from the proximal portion 4610 by the rack 1520. Also as above, the tension spring 4750 retracts the intermediate portion 4620 toward the proximal portion 4610 after the rack 1520 disengages from the extension assembly 3700.

[0106] As discussed above, and with reference again to Figures 34-36, shaft assembly 1000 includes a retraction system 1700 that is configured to manually retract launch system 1500. Turning now to Figures 55-66, shaft assembly 5000 also includes a manually actuated retraction system, which is discussed in further detail below. Shaft assembly 5000 is similar to shaft assembly 1000 in a number of respects, most of which will not be discussed herein for the sake of brevity.

[0107] With reference to FIG. 55, the shaft assembly 5000 comprises a mounting portion 5100 including an outer housing 5120. With reference primarily to FIG. 57, the outer housing 5120 comprises first and second housing portions 5121 attached to one another to comprise a housing frame. The housing portions 5121 may be coupled together, for example, by one or more snap-fit ​​mechanisms, one or more press-fit mechanisms, and / or one or more fasteners. The outer housing 5120 further comprises one or more mechanisms configured to releasably couple the mounting portion 5100 to a frame of a surgical system, such as, for example, a handle of a surgical instrument, and alternatively, an arm of a surgical robot. The housing portion 5121 comprises, for example, one or more bearing surfaces configured to slidably support a translatable component of the drive assembly 5500, as well as one or more bearing gaps configured to rotatably support a rotatable component of the drive assembly 5500.

[0108] 57-59, the drive assembly 5500 includes a translatable firing rod 5510 configured to operably couple with a drive system of a surgical system. The drive assembly 5500 further includes an input rack 5520 fixedly attached to the firing rod 5510 such that the input rack 5520 is translatable with the firing rod 5510. The drive assembly 5500 is configured to transfer translational motion of the input rack 5520 to a first rack 5560 of a first drive system, and alternatively to a second rack 5580 of a second drive system. To accomplish this, the drive assembly 5500 includes a shiftable shaft 5540 displaceable between a first position in which the input rack 5520 is operably coupled to the first rack 5560 during a first mode of operation (FIG. 64), and a second position in which the input rack 5520 is operably coupled to the second rack 5580 during a second mode of operation (FIGS. 60-62). The shaft 5540 includes a first end 5542 extending from the first housing portion 5121 and a second end 5542 extending from the second housing portion 5121. The first and second ends 5542 of the shaft 5540 each include a depressible surface that can be displaced to slide or toggle the shaft 5540 between a first position (FIG. 64) and a second position (FIGS. 60-62).

[0109] 57-59, the drive assembly 5500 further comprises a gear 5530 slidably mounted on the shaft 5540, a first output gear 5550 operably engageable with the shaft 5540, and a second output gear 5570 operably engageable with the shaft 5540. Referring to FIG. 62, the gear 5530 comprises arranged teeth 5536 extending about its circumference and further a splined gap 5534 extending therethrough. The teeth 5536 operably intermesh with longitudinally arranged teeth 5526 defined on the input rack 5520. When the input rack 5520 is displaced distally, the input rack 5520 rotates the gear 5530 in a first direction and when the input rack 5520 is displaced proximally, the input rack 5520 rotates the gear 5530 in a second or opposite direction. The splined gap 5534 of the gear 5530 operably intermeshes with a splined portion 5544 defined on the shaft 5540. As a result, when the gear 5530 rotates in a first direction, the gear 5530 rotates the shaft 5540 in the first direction. Similarly, when the gear 5530 rotates in a second direction, the gear 5530 rotates the shaft 5540 in the second direction.

[0110] Further to the above, the gear 5530 is constrained within the housing 5120, such that the gear 5530 does not move laterally, or at least does not move substantially laterally, relative to the first output gear 5550 and the second output gear 5570. However, as the shaft 5540 moves between a first position (FIG. 64) that places the shaft assembly 5000 in a first mode of operation and a second position (FIG. 62) that places the shaft assembly 5000 in a second mode of operation, the shaft 5540 is able to move laterally relative to the gear 5530, the first output gear 5550, and the second output gear 5570. It is noted that the splined portion 5544 of the shaft 5540 has a sufficient length to operably couple the gear 5530 to the shaft 5540 regardless of whether the shaft 5540 is in the first position (FIG. 64) or the second position (FIG. 62). As a result of the above, the gear 5530 remains operably engaged with the input rack 5520 and the shaft 5540 regardless of the position of the shaft 5540 and regardless of the operational mode in which the shaft assembly 5000 is placed.

[0111] 64, when the shaft 5540 is in its first position, the splined portion 5544 of the shaft 5540 is operably engaged with the first output gear 5550. More specifically, the splined portion 5544 of the shaft 5540 is positioned in a splined gap 5554 defined in the first output gear 5550 when the shaft 5540 is in its first position, such that rotation of the shaft 5540 is transmitted to the first output gear 5550. As a result, the shaft 5540 rotates the first output gear 5550 in a first direction when the shaft 5540 rotates in a first direction, and correspondingly, the shaft 5540 rotates the first output gear 5550 in a second direction when the shaft 5540 rotates in a second direction. The first output gear 5550 includes arranged teeth 5556 extending about its circumference and operably intermeshing with longitudinally arranged teeth 5566 defined on the first rack 5560. As a result, when the input rack 5520 is displaced distally, the first rack 5560 is displaced distally, and correspondingly, when the input rack 5520 is displaced proximally, the first rack 5560 is displaced proximally. Similar to the gear 5530, the first output gear 5550 is constrained within the housing 5520, such that the first output gear 5550 does not move, or at least does not move substantially, laterally relative to the first rack 5560. As a result, the first output gear 5550 remains operably engaged with the first rack 5560 regardless of the operational mode of the shaft assembly 5000.

[0112] 62, when the shaft 5540 is in its second position, the splined portion 5544 of the shaft 5540 is operably engaged with the second output gear 5570. More specifically, the splined portion 5544 of the shaft 5540 is positioned in a splined gap 5574 defined in the second output gear 5570 when the shaft 5540 is in its second position, such that rotation of the shaft 5540 is transmitted to the second output gear 5570. As a result, when the shaft 5540 rotates in a first direction, it causes the second output gear 5570 to rotate in the first direction, and correspondingly, when the shaft 5540 rotates in a second direction, it causes the second output gear 5570 to rotate in the second direction. The second output gear 5570 includes arranged teeth 5576 extending about its circumference and operably intermeshing with longitudinally arranged teeth 5586 defined on the second rack 5580. As a result, when the input rack 5520 is displaced distally, the second rack 5580 is displaced distally, and correspondingly, when the input rack 5520 is displaced proximally, the second rack 5580 is displaced proximally. Similar to the gear 5530 and the first output gear 5550, the second output gear 5570 is constrained within the housing 5520, such that the second output gear 5570 does not move, or at least does not move substantially, laterally relative to the second rack 5580. As a result, the second output gear 5570 remains operably engaged with the second rack 5580 regardless of the operational mode of the shaft assembly 5000.

[0113] Further to the above, the splined portion 5544 of the shaft 5540 has a length that prevents the shaft 5540 from simultaneously driving the first drive system and the second drive system. More specifically, when the splined portion 5544 is operably engaged with the first output gear 5550, the splined portion 5544 is not operably engaged with the second output gear 5570. Correspondingly, the splined portion 5544 is not operably engaged with the first output gear 5550 when the splined portion 5544 is operably engaged with the second output gear 5570. As a result, the firing rod 1510 is engageable with the first rack 5560 and the second rack 5580, but not both at the same time. Alternative embodiments are contemplated in which the splined portion 5544 is selectively positionable in an intermediate position in which the splined portion 5544 is operably engaged with the first output gear 5550 and the second output gear 5570 at the same time. In such an example, the firing rod 1510 can drive the first rack 5560 and the second rack 5580 simultaneously.

[0114] The drive system 5500 can be used to selectively drive a first drive system including a first rack 5560 or a second drive system including a second rack 5580. The first drive system and the second drive system can be configured to perform any suitable function of the shaft assembly 5000. For example, the first drive system can be used to produce a closing stroke that closes an end effector of the shaft assembly 5000, and the second drive system can be used to produce a firing stroke that ejects staples from a staple cartridge positioned in the end effector. In such an example, the shaft assembly 5000 can perform separate and distinct closing and firing strokes. For example, alternatively, the first drive system can be used to articulate the end effector of the shaft assembly 5000, and the second drive system can be used to close the end effector and eject staples from the staple cartridge. In either event, the drive system 5500 is configured to selectively transmit a linear input motion applied to the firing rod 5510 to two separate drive systems.

[0115] Referring primarily to FIG. 60, the drive system 5500 further includes an output shaft assembly 5590. The output shaft assembly 5590 includes a splined portion 5594, a gear 5596 slidably attached to the splined portion 5594, and a bevel gear 5598 fixedly attached thereto. The gear 5596 is slidable between a drive position (FIGS. 60, 61, and 63) and a retracted position (FIG. 65). Referring to FIGS. 60, 61, and 63, when the gear 5596 is in its drive position, the gear 5596 operably intermeshes with the longitudinally arranged teeth 5586 defined on the second rack 5580. In such an example, as described above, when the second rack 5580 is driven proximally and distally by the firing rod 1510, the shaft assembly 5590 can be rotated via the gear 5596. 65, when gear 5596 is in its retracted position, gear 5596 is operably decoupled from second rack 5580. Instead, in such examples, gear 5596 is operably coupled to retraction system 5700, as described in more detail below.

[0116] With reference to FIG. 56, the retraction system 5700 is stored or stowed in a housing 5120 of the mounting portion 5100. The housing 5120 includes a cover or hatch 5125 rotatably attached to one of the housing portions 5121 that is openable to provide access to the retraction system 5700. With reference to FIG. 57, the cover 5125 includes pin gaps 5128 defined therein that are aligned with the pin gaps 5123 defined in the housing portion 5121. Each set of pin gaps 5123, 5128 is configured to receive a pin 5127 therein that rotatably couples the cover 5125 to the housing portion 5121. Other arrangements for connecting the cover 5125 to the housing portion 5121 can be used. The housing 5120 further includes an opening 5122 defined therethrough that may be accessible to the retraction system 5700 when the cover 5125 is rotated from a closed position (FIG. 55) to an open position (FIG. 56). It is noted that the cover 5125 includes an arm 5126 extending therefrom and configured to engage a gear 5596 of the shaft assembly 5590 when the cover 5125 is rotated from a closed position (FIG. 55) to an open position (FIG. 56), as described in more detail below.

[0117] Further to the above, when the cover 5125 is opened, the cover 5125 is configured to urge the gear 5596 from the drive position ( FIG. 63 ) to the retracted position ( FIG. 65 ). With reference to FIG. 63 , when the gear 5596 is in its drive position, the gear 5596 is operably engaged with the rack 5580 and operably disengaged from the retraction system 5700. With reference to FIG. 65 , when the gear 5596 is in its retracted position, the gear 5596 is operably disengaged from the second rack 5580 and operably engaged with the retraction system 5700. Thus, when the cover 5125 is opened and accessible to the retraction system 5700, the cover 5125 automatically shifts the shaft assembly 5000 from the second operating mode to the retracted operating mode ( FIGS. 65 and 66 ). As a result, the retraction system 5700 is operably coupled to the shaft assembly 5590, and a clinician may even grasp the crank 5702 of the retraction system 5700 after the second rack 5580 is operably decoupled from the shaft assembly 5590. Additionally, the cover 5125 retains the gear 5596 in the retracted position as long as the cover 5125 is in its open position.

[0118] In view of the above, the shaft assembly 5590 can be driven by either the second rack 5580 or the retraction system 5700 depending on the operational mode of the shaft assembly 5000. In either the second operational mode or the retraction operational mode, and referring primarily to FIG. 60 , the bevel gear 5598 of the shaft assembly 5590 is operably engaged with the output system 5600. The output system 5600 comprises a bevel gear 5608 that operably intermeshes with the bevel gear 5598. The output system 5600 further comprises a rotatable output shaft 5606. The bevel gear 5608 is fixedly affixed to the output shaft 5606 such that when the shaft assembly 5590 rotates, the output shaft 5606 rotates. The output system 5600 further comprises a rotatable firing shaft 5602 and a gear reduction box 5604 operably coupling the rotatable firing shaft 5602 and the rotatable output shaft 5606. Further to the above, when the shaft assembly 5000 is in its second operational mode and the gear 5596 is operably coupled to the second rack 5580, the firing shaft 5602 can be rotated in a first direction or in a reverse direction by the second rack 5580 depending on the direction the second rack 5580 is displaced. When the shaft assembly 5000 is in a retraction mode of operation, the retraction system 5700 is only capable of rotating the firing shaft 5602 in the reverse direction, as described in more detail below.

[0119] 58, 59 and 66, the crank 5702 of the retraction system 5700 is rotatable relative to a shaft 5710 that is rotatably supported by the housing 5120. It is noted that as the crank 5702 is rotated, it does not directly drive the shaft 5710. However, the crank 5702 includes a pawl 5706 rotatably mounted thereto that drives a ratchet gear 5716 that is fixedly mounted to the shaft 5710. Referring primarily to FIG. 59, the pawl 5706 is rotatably coupled to the crank 5702 about a pin 5704 that is attached to the crank 5702. In use, the pawl 5706 is configured to drive the ratchet gear 5716 to rotate the firing shaft 5602 in the opposite direction when the crank 5702 is rotated in a first direction. On the other hand, when the crank 5702 is rotated in a second, or opposite, direction, the pawl 5706 is configured to slide against the ratchet gear 5716. The retraction system 5700 further comprises a gear 5712 fixedly attached to the shaft 5710 for rotating with the shaft 5710 as the shaft 5710 is rotated by the pawl 5706. Referring primarily to FIG. 66, the gear 5712 operably intermeshes with a gear 5722 rotatably attached to the shaft 5724 such that rotation of the gear 5712 is imparted to the gear 5722. In addition to the above, when the gear 5596 is in its retracted position, the gear 5596 operably intermeshes with the gear 5722. As a result, rotation of the crank 5702 in its first direction, illustrated in FIG. 66, is imparted to the shaft assembly 5690 to rotate the firing shaft 5602 in its opposite direction. In various examples, for example, by rotating the firing shaft 5602, the firing member is retracted proximally away from the end effector of the shaft assembly 5000.

[0120] The opening of the cover 5125 permanently decouples the gear 5596 from the second rack 5580 and correspondingly decouples the firing shaft 5602 from the input shaft 5510. More specifically, after moving to the retracted position (FIG. 65), the gear 5596 is not resettable, or at least not easily resettable, to the drive position (FIG. 63). As a result, the shaft assembly 5000 cannot return to the second mode of operation after entering the retracted mode of operation. For example, if the cover 5125 is to be opened and then closed again, the arm 5126 of the cover 5125 disengages from the gear 5596, but the gear 5596 does not move back into engagement with the second rack 5580. However, in such an example, the retraction system 5700 can still be used to rotate the firing rod 5602 in its reverse direction. Further, in such an example, the drive system 5500 can be used to engage the first rack 5560 with the firing rod 5510 to operate the first drive system. Such an arrangement prevents a clinician from reusing a potentially defective shaft assembly 5000, as the act of opening the cover 5125 may indicate that there may be something wrong with the shaft assembly 5000.

[0121] Various alternative embodiments are envisioned in which, after entering the retracted mode of operation, the shaft assembly 5000 can be reconfigured to a second mode of operation. For example, the shaft assembly 5000 can include a spring that is compressed by the gear 5596 and positioned intermediate the gear 5596 and the bevel gear 5598 when the cover 5125 is opened and the gear 5596 is slid along the splined portion 5594 of the shaft assembly 5590 to a retracted position. When the cover 5125 is closed in such an example, the spring can urge the gear 5596 back to its drive position, operably re-engaging the gear 5596 with the second rack 5580. Such an arrangement allows the shaft assembly 5000 to be restored during use and then used to complete a surgical technique.

[0122] FIG. 72 illustrates an exemplary surgical instrument 100 including a handle 110 and an interchangeable shaft assembly 200 operably coupled thereto. The handle 110 includes a housing 140 configured to be grasped, manipulated, and / or actuated by a clinician. The shaft assembly 200 includes a shaft 210 and an end effector 300. The shaft 210 includes a shaft frame (not shown in FIG. 78) and a hollow outer sleeve or closure tube 250 through which the shaft frame extends. The shaft assembly 200 further includes a nozzle assembly 290 that cooperates with the outer sleeve 250 and is configured to allow a clinician to selectively rotate the shaft 210 about its longitudinal axis. The shaft assembly 200 also includes a latch 230 that is part of a locking system that releasably locks the shaft assembly 200 to the handle 110. In various circumstances, the latch 230 can close an electrical circuit within the handle 110, for example, when the latch 230 is engaged with the handle 110. The entire disclosure of U.S. patent application Ser. No. 13 / 803,086, filed Mar. 14, 2013, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, is incorporated herein by reference. All of the embodiments disclosed herein can be used with the handle 110.

[0123] FIG. 73 illustrates an exemplary surgical robot 500 configured to actuate multiple surgical tools, generally designated 600, for example. The surgical robot 500 may be used in conjunction with a master controller (not shown) configured to allow a surgeon to control and observe the surgical procedure being performed by the surgical robot 500. In various configurations, the surgical robot 500 includes a base 510, for example, in the illustrated embodiment, from which three surgical tools 600 are supported. In various configurations, the surgical tools 600 are each supported by a series of articulated linkages, generally referred to as arms 520, and operably coupled to one or more drive systems 530. These structures are illustrated with protective covers that conceal many of their moveable components. These protective covers may be optional, and in some embodiments may be limited in size or removed entirely to minimize inertia caused by servo mechanisms used to manipulate the arms 520. In various configurations, the surgical robot 500 has wheels that allow the surgical robot 500 to be positioned adjacent to a platform by a single attendant. FIG. 73 further illustrates a working envelope 700 of the surgical robot 500. The working envelope 700 refers to the range of movement of the surgical tool 600 of the surgical robot 500. The shape and size of the working envelope 700 illustrated in FIG. 73 is merely exemplary. Thus, the working envelope is not limited to the particular size and shape of the sample working envelope illustrated in FIG. 73. The entire disclosure of U.S. Patent No. 9,060,770, issued June 23, 2015, entitled ROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, is incorporated herein by reference. All of the embodiments disclosed herein may be used with the surgical robot 500. EXAMPLES

[0124] Example 1 - A method comprising the steps of obtaining a shaft assembly having an end effector, attaching the shaft assembly to a handle of a surgical instrument, and removing the shaft assembly from the handle. The method also includes: The steps include attaching the shaft assembly to an arm of a surgical robot and removing the shaft assembly from the arm.

[0125] Example 2 - The method of Example 1, further comprising the step of removing the shaft assembly from the surgical instrument handle prior to the step of attaching the shaft assembly to the surgical robot arm, and sterilizing the shaft assembly after removing the shaft assembly from the surgical instrument handle.

[0126] Example 3 - The method of Example 1, further comprising the step of removing the shaft assembly from the surgical robot arm prior to the step of attaching the shaft assembly to the surgical robot arm, and the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical robot arm.

[0127] Example 4 - The method of Example 1, 2 or 3, wherein the shaft assembly comprises a firing member, the surgical instrument handle comprises an electric motor operably connectable to the firing member during the step of attaching the shaft assembly to the surgical instrument handle, and the surgical robotic arm comprises an electric motor operably connectable to the firing member during the step of attaching the shaft assembly to the surgical robotic arm.

[0128] Example 5 - The method of Examples 1, 2, 3 or 4, wherein the shaft assembly comprises a latch configured to engage a handle of a surgical instrument and, alternatively, an arm of a surgical robot.

[0129] Example 6 - The method of example 1, 2, 3, 4 or 5, wherein the shaft assembly comprises a shaft microprocessor and a shaft electrical connector, the handle comprises a handle microprocessor and a handle electrical connector, and the surgical robot comprises a robot microprocessor and a robot connector.

[0130] Example 7 - The method of Example 6, wherein the step of attaching the shaft assembly to the handle of the surgical instrument includes the step of electrically coupling the shaft electrical connector to the handle electrical connector.

[0131] Example 8 - The method of example 6, wherein the step of attaching the shaft assembly to the handle of the surgical instrument includes placing a shaft microprocessor in signal communication with the handle microprocessor.

[0132] Example 9 - The method of example 6, wherein the step of attaching the shaft assembly to the arm of the surgical robot includes the step of electrically coupling the shaft electrical connector to a robot electrical connector.

[0133] Example 10 - The method of example 6, wherein the step of attaching the shaft assembly to the arm of the surgical robot includes the step of positioning a shaft microprocessor in signal communication with the robot microprocessor.

[0134] Example 11 - The method of example 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10, further comprising the step of attaching a staple cartridge to the shaft assembly prior to the step of attaching the shaft assembly to the surgical instrument handle.

[0135] Example 12 - The method of example 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10, further comprising the step of attaching a staple cartridge to the shaft assembly after the step of attaching the shaft assembly to the surgical instrument handle.

[0136] Example 13 - The method of example 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10, further comprising the step of attaching a staple cartridge to the shaft assembly prior to the step of attaching the shaft assembly to the surgical robot arm.

[0137] Example 14 - The method of example 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10, further comprising the step of attaching a staple cartridge to the shaft assembly after the step of attaching the shaft assembly to the surgical robot arm.

[0138] Example 15 - The method of example 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13 or 14, further comprising the step of assembling the end effector to the shaft assembly.

[0139] Example 16 - A method comprising the steps of obtaining a shaft assembly and attaching the shaft assembly to a handle of a surgical instrument, or alternatively, attaching the shaft assembly to an arm of a surgical robot.

[0140] Example 17 - The method of example 16, further comprising the step of attaching an end effector to the shaft assembly.

[0141] Example 18 - The method of example 17, further comprising the step of attaching a staple cartridge to the end effector.

[0142] Example 19 - A method comprising the steps of obtaining a shaft assembly and selectively attaching the shaft assembly to a handle of a surgical instrument or an arm of a surgical robot.

[0143] Example 20 - A shaft assembly for use with a powered surgical system, the shaft assembly comprising a frame selectively attachable to the powered surgical system, a shaft extending from the frame, and an end effector coupled to the shaft. The shaft assembly also includes a firing member operably engageable with the powered surgical system, the firing member movable toward the end effector during a firing stroke. The shaft assembly further includes a retraction crank rotatably attached to the frame, selectively engageable with the firing member, the retraction crank being selectively operable to retract the firing member away from the end effector when the shaft assembly is not attached to the powered surgical system.

[0144] Example 21 - The shaft assembly of Example 20, wherein the end effector has a jaw movable between an open position and a closed position, and the firing member is configured to move the jaw from the open position toward the closed position during the firing stroke.

[0145] Example 22 - The shaft assembly of Example 20 or 21, wherein the end effector has a first jaw and a second jaw, the first jaw being movable between an open position and a closed position, and the shaft assembly further comprises a closure member configured to move the first jaw toward the closed position.

[0146] Example 23 - The shaft assembly of example 20, 21 or 22, wherein the shaft comprises a shaft frame slidable relative to the frame, the second jaw is attached to the shaft frame, and the second jaw is movable by the shaft frame to move the first jaw toward the open position.

[0147] Example 24 - The shaft assembly of Examples 20, 21, 22 or 23, further comprising a reverse pawl pivotally attached to the reverse crank, the reverse pawl configured to engage the firing member when the reverse crank is rotated relative to the frame.

[0148] Example 25 - The shaft assembly of Examples 20, 21, 22, 23 or 24, wherein the powered surgical system comprises a first powered surgical system, the frame is configured to be attached to a second powered surgical system, and the firing member is configured to be operably coupled to the second powered surgical system.

[0149] Example 26 - The shaft assembly of Example 25, wherein the first powered surgical system comprises a handle of a surgical instrument and the second powered surgical system comprises a surgical robot.

[0150] Example 27 - The shaft assembly of Examples 20, 21, 22, 23, 24, 25 or 26, wherein the end effector has a staple cartridge.

[0151] Example 28 - The shaft assembly of Example 27, wherein the staple cartridge is replaceable.

[0152] Example 29 - A surgical system comprising a first powered surgical system comprising a first electric motor, a second powered surgical system comprising a second electric motor, and a shaft assembly. The shaft assembly comprises a frame selectively attachable to the first powered surgical system and the second powered surgical system. The shaft assembly also comprises a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engageable with the first electric motor and the second electric motor, the firing member movable toward the end effector during a firing stroke. The shaft assembly further comprises a retraction crank rotatably attached to the frame, the retraction crank selectively engageable with the firing member, the retraction crank selectively operable to retract the firing member away from the end effector when the shaft assembly is attached to the first powered surgical system, when attached to the second powered surgical system, and when not attached to either the first or second powered surgical system.

[0153] Example 30 - The surgical system of Example 29, wherein the end effector has a jaw movable between an open position and a closed position, and during the firing stroke, the firing member is configured to move the jaw from the open position toward the closed position.

[0154] Example 31 - The surgical system of Example 29 or 30, wherein the end effector has a first jaw and a second jaw, the first jaw being movable between an open position and a closed position, and the shaft assembly further comprises a closure member configured to move the first jaw to the closed position.

[0155] Example 32 - A surgical system of Example 29, 30 or 31, wherein the shaft comprises a shaft frame slidable relative to the frame, the second jaw is attached to the shaft frame, and the second jaw is movable by the shaft frame to move the first jaw toward the open position.

[0156] Example 33 - The surgical system of Examples 29, 30, 31 or 32, further comprising a reversal pawl pivotally attached to the reversal crank, the reversal pawl configured to engage the firing member when the reversal crank is rotated relative to the frame.

[0157] Example 34 - The surgical system of Examples 29, 30, 31, 32 or 33, wherein the first powered surgical system comprises a surgical instrument handle and the second powered surgical system comprises a surgical robot.

[0158] Example 35 - The shaft assembly of Examples 29, 30, 31, 32, 33 or 34, wherein the end effector has a staple cartridge.

[0159] Example 36 - The shaft assembly of Example 35, wherein the staple cartridge is replaceable.

[0160] Example 37 - A shaft assembly for use with a first and second surgical instrument system, the shaft assembly comprising a frame selectively attachable to the first and second surgical instrument systems. The shaft assembly also comprises a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engageable with the first and second surgical instrument systems, the firing member movable toward the end effector during a firing stroke. The shaft assembly further comprises manually operable retraction means for selectively engaging the firing member and retracting the firing member away from the end effector.

[0161] Example 38 - The shaft assembly of Example 37, wherein the end effector is provided with a staple cartridge.

[0162] Example 39 - The shaft assembly of Example 38, wherein the staple cartridge is replaceable.

[0163] Example 40 - A shaft assembly for use with a surgical system, the shaft assembly comprising a frame, the frame comprising a proximal portion configured to be attached to the surgical system, and a tube extending distally from the proximal portion. The shaft assembly also comprises a spine, the spine extending through the tube and slidably attached to the proximal portion. The shaft assembly also comprises an end effector, the end effector comprising a first jaw extending distally from the spine and a second jaw rotatably attached to the first jaw, the second jaw being rotatable between an open position and a closed position. The shaft assembly also comprises a firing member operably engageable with a drive system of the surgical system, the firing member being movable distally relative to the spine during a firing stroke. The shaft assembly further comprises a firing member retraction system configured to pull the firing member proximally, and an end effector opening system configured to slide the spine distally to allow the second jaw to be rotated to the open position.

[0164] Example 41 - The shaft assembly of example 40, wherein the firing member retraction system includes a manually actuable lever.

[0165] Example 42 - A shaft assembly of example 40 or 41, wherein the end effector opening system includes a manually actuable lever.

[0166] Example 43 - The shaft assembly of examples 40, 41 or 42, wherein the end effector further comprises a staple cartridge.

[0167] Example 44 - The shaft assembly of Example 43, wherein a staple cartridge is replaceably mountable to the first jaw.

[0168] Example 45 - The shaft assembly of Example 43, wherein a staple cartridge is replaceably mountable to the second jaw.

[0169] Example 46 - The shaft assembly of Examples 40, 41, 42, 43, 44 or 45, further comprising a spring configured to bias the second jaw to an open position.

[0170] Example 47 - A shaft assembly of Examples 40, 41, 42, 43, 44, 45 or 46, wherein the end effector opening system and the firing member are operable independently of each other.

[0171] Example 48 - The shaft assembly of Examples 40, 41, 42, 43, 44, 45, 46 or 47, wherein the firing member comprises a first cam configured to engage the first jaw and a second cam member configured to engage the second jaw during a firing stroke.

[0172] Example 49 - The shaft assembly of Examples 43, 44, 45, 46, 47 or 48, wherein the staple cartridge has staples removably stored therein, and the firing member is configured to eject staples from the staple cartridge.

[0173] Example 50 - The shaft assembly of Examples 40, 41, 42, 43, 44, 45, 46, 47, 48 or 49, wherein the end effector further comprises a staple cartridge having staples removably stored therein, and the firing member is configured to eject staples from the staple cartridge.

[0174] Example 51 - The shaft assembly of Examples 40, 41, 42, 43, 44, 45, 46, 47, 48, 49 or 50, further comprising a closure member configured to move the second jaw from the open position toward the closed position during a closing stroke.

[0175] Example 52 - The shaft assembly of example 51, wherein the firing member is configured to engage and move the closure member upon a closing stroke.

[0176] Example 53 - A shaft assembly of example 51 or 52, wherein the closure member is configurable into a contracted configuration and an expanded configuration, and the closure member is configured to perform a closing stroke when the closure member transitions between the contracted configuration and the expanded configuration.

[0177] Example 54 - The shaft assembly of Examples 51, 52 or 53, wherein the closure member comprises a latch configured to releasably retain the closure member in the contracted configuration.

[0178] Example 55 - The shaft assembly of Examples 51, 52, 53 or 54, wherein the firing member is configured to engage the closure member and release the latch prior to performing the firing stroke.

[0179] Example 56 - A shaft assembly of Examples 51, 52, 53, 54 or 55, wherein the closure member has a proximal portion and a distal portion, the proximal portion of the closure member is attached to the proximal portion of the frame, and the distal portion is movable away from the proximal portion of the closure member during a closure stroke.

[0180] Example 57 - The shaft assembly of Examples 51, 52, 53, 54, 55 or 56, wherein the closure member further comprises a spring configured to bias the distal portion toward the proximal portion of the closure member.

[0181] Example 58 - The shaft assembly of Example 53, further comprising a spring configured to bias the closure member into the contracted configuration.

[0182] Example 59 - A shaft assembly for use with a surgical system, the shaft assembly comprising a frame attachable to the surgical system and an end effector, the end effector comprising a first jaw and a second jaw rotatably attached to the first jaw, the second jaw rotatable between an open position and a closed position. The shaft assembly further comprises a closure member configurable in a contracted configuration and an expanded configuration, the closure member configured to move the second jaw toward the closed position upon transition of the closure member from the contracted configuration to the expanded configuration during a closure stroke.

[0183] Example 60 - The shaft assembly of Example 59, further comprising a firing member operably engageable with a drive system of the surgical system, the firing member being movable through a firing stroke by the drive system.

[0184] Example 61 - The shaft assembly of Example 60, wherein the firing member is configured to engage the closure member and transition the closure member from the contracted configuration to the expanded configuration.

[0185] Example 62 - The shaft assembly of example 60 or 61, wherein the closure member has a latch configured to releasably hold the closure member in the contracted configuration.

[0186] Example 63 - The shaft assembly of examples 60, 61 or 62, wherein the firing member is configured to release the latch prior to performing the firing stroke.

[0187] Example 64 - The shaft assembly of Examples 59, 60, 61, 62 or 63, wherein the closure member has a proximal portion and a distal portion, the proximal portion of the closure member is attached to the frame, and the distal portion is movable away from the proximal portion during the closure stroke.

[0188] Example 65 - The shaft assembly of Example 64, wherein the closure member further comprises a spring configured to bias the distal portion of the closure member toward the proximal portion.

[0189] Example 66 - The shaft assembly of Examples 59, 60, 61, 62, 63, 64 or 65, further comprising a spring configured to bias the closure member to a contracted configuration.

[0190] Example 67 - The shaft assembly of Examples 59, 60, 61, 62, 63, 64, 65 or 66, wherein the end effector further comprises a staple cartridge.

[0191] Example 68 - The shaft assembly of Example 67, wherein the staple cartridge is replaceable.

[0192] Example 69 - The shaft assembly of example 67 or 68, wherein a staple cartridge is mountable to the first jaw.

[0193] Example 70 - The shaft assembly of example 67 or 68, wherein a staple cartridge is mountable to the second jaw.

[0194] Example 71 - A shaft assembly for use with a surgical system, comprising an end effector and an attachment portion. The end effector comprises a first jaw, a second jaw, a closure member configured to move the first jaw relative to the second jaw between an open position and a closed position, and a firing member movable through a firing stroke. The attachment portion comprises a shaft frame configured to engage a frame of the surgical system, a rotatable input configured to receive rotational motion from the surgical system, and a closure system operably coupled to the closure member. The attachment portion also comprises a firing system operably coupled to the firing member, and a clutch configurable in a closed mode and a firing mode. When the clutch is placed in the closed mode, the clutch operably couples the rotatable input to the closure system, and when the clutch is placed in the closed mode, the clutch operably decouples the firing system from the rotatable input. When the clutch is placed in the firing mode, the clutch couples the rotatable input to the firing system, and when the clutch is placed in the firing mode, the clutch operably decouples the closure system from the rotatable input.

[0195] Example 72 - The shaft assembly of example 71, wherein the clutch includes a toggle positionable in a closed position that places the clutch in a closed mode and in a fired position that places the clutch in a fired mode.

[0196] Example 73 - The shaft assembly of example 71 or 72, wherein the toggle has a first pushable end and a second pushable end.

[0197] Example 74 - The shaft assembly of Examples 71, 72 or 73, further comprising a manually operable retraction system configured to retract the firing member.

[0198] Example 75 - The shaft assembly of example 74, wherein the retraction system is configurable into a stopped configuration and an actuated configuration, and wherein when the retraction system is placed in the actuated configuration, the retraction system is configured to decouple the rotational input from the launch system.

[0199] Example 76 - The shaft assembly of example 74 or 75, wherein the closure system is operably engageable with the rotational input when the retraction system is placed in an actuated configuration.

[0200] Example 77 - The shaft assembly of examples 74, 75 or 76, wherein the firing system is permanently decoupled from the rotational input when the retraction system is placed in the activated configuration.

[0201] Example 78 - The shaft assembly of example 75, wherein the firing system is operably connectable to the rotational input after the retraction system returns to the stopped configuration.

[0202] Example 79 - The shaft assembly of Examples 74, 75, 76, 77 or 78, wherein the mounting portion comprises a housing, the housing being movable between a closed position and an open position, and comprising a cover exposing the lever of the retraction system.

[0203] Example 80 - The shaft assembly of example 79, wherein the cover is configured to operably disengage the firing system from the rotatable input when the cover moves from the closed position to the open position.

[0204] Example 81 - The shaft assembly of examples 79 or 80, wherein the cover does not operably disengage the closure system from the rotatable input when the cover moves from the closed position to the open position.

[0205] Example 82 - The shaft assembly of example 80, wherein the firing system is operably re-engageable with the rotatable input when the cover is moved back to the closed position.

[0206] Example 83 - The shaft assembly of Examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81 or 82, wherein the firing member has a rotatable output shaft.

[0207] Example 84 - The shaft assembly of example 80, 81, 82 or 83, wherein the launch system comprises a first gear and a second gear, and when the cover is in a closed position, the first gear is operably intermeshed with the second gear, and when the cover is in an open position, the first gear is disengaged from the second gear.

[0208] Example 85 - The shaft assembly of Example 84, further comprising a spring configured to bias the first gear and act to intermesh with the second gear.

[0209] Example 86 - The shaft assembly of Examples 71, 72, 73, 74, 75, 76, 77, 78, 79, and 80, wherein the end effector further comprises a staple cartridge.

[0210] Example 87 - The shaft assembly of Example 86, wherein the staple cartridge is replaceable.

[0211] Example 88 - The shaft assembly of Examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86 or 87, wherein the firing member is rotatable and the closure member is translatable.

[0212] Example 89 - A shaft assembly for use with a surgical system comprising an end effector, a first drive system, and a second drive system. The shaft assembly also comprises a mounting portion, the mounting portion comprising a shaft frame configured to engage a frame of the surgical system, and a rotatable input shaft arrangement configured to receive rotational motion from the surgical system. The mounting portion also comprises a clutch configurable to a first operating mode and a second operating mode. When the clutch is placed in the first operating mode, the clutch operably couples the rotatable input shaft to the first drive system, and when the clutch is placed in the first operating mode, the clutch operably decouples the second drive system from the rotatable input shaft. When the clutch is placed in the second operating mode, the clutch operably couples the rotatable input shaft to the second drive system, and when the clutch is placed in the second operating mode, the clutch operably decouples the first drive system from the rotatable input shaft.

[0213] Example 90 - A shaft assembly for use with a surgical system, comprising a first drive system, a second drive system, and a shaft frame configured to engage a frame of the surgical system. The shaft assembly also comprises a rotatable input shaft configured to receive rotational motion from the surgical system, and a transmission configurable into a first and a second operating mode. When the transmission is placed in the first operating mode, the transmission operably couples the rotatable input shaft to the first drive system, and when the transmission is placed in the first operating mode, the transmission operably decouples the second drive system from the rotatable input shaft. When the transmission is placed in the second operating mode, the transmission operably couples the rotatable input shaft to the second drive system, and when the transmission is placed in the second operating mode, the transmission operably decouples the first drive system from the rotatable input shaft, and a manually operable retraction system configured to operably stop the first operating mode and retract the second drive system when actuated.

[0214] Example 91 - A shaft assembly for use with a surgical system, the shaft assembly comprising a frame mountable to the surgical system, an end effector comprising a first jaw, a second jaw, the first jaw being rotatable relative to the second jaw, and a staple cartridge comprising staples removably stored therein. The shaft assembly also comprises an articulation joint, the end effector being rotatably connected to the frame about the articulation joint. The shaft assembly also comprises a firing member translatable between an unfired position and a fired position during a firing stroke that ejects staples from the staple cartridge, the firing member being rotatable between a first orientation and a second orientation. The shaft assembly further comprises an articulation driver configured to rotate the end effector about the articulation joint, such that when the firing member is in a first orientation, the firing member is operably coupled to the articulation driver, when the firing member is in the first orientation, translational motion of the firing member is transmitted to the articulation driver, and when the firing member is in a second orientation, the firing member is operably decoupled from the articulation driver.

[0215] Example 92 - The shaft assembly of Example 91, further comprising an articulation lock movable between an unlocked configuration and a locked configuration, wherein when the articulation lock is in the unlocked configuration, the end effector is rotatable relative to the frame, and when the articulation lock is in the locked configuration, the articulation lock is configured to prevent the end effector from rotating relative to the frame.

[0216] Example 93 - The shaft assembly of Example 92, wherein the articulation lock is configured to engage the articulation driver and hold the articulation driver in a fixed position when the articulation lock is in the locked configuration.

[0217] Example 94 - The shaft assembly of Example 92 or 93, wherein the articulation lock is configured to engage the end effector and hold the end effector in a fixed position when the articulation lock is in the locked configuration.

[0218] Example 95 - The shaft assembly of Examples 92, 93 or 94, further comprising an articulation lock actuator configured to move the articulation lock between an unlocked configuration and a locked configuration.

[0219] Example 96 - The shaft assembly of Example 95, wherein when the articulation lock actuator moves the articulation lock to the unlocked configuration, the articulation lock actuator is configured to rotate the firing member in a first orientation and operably couple the firing member to the articulation driver.

[0220] Example 97 - The shaft assembly of Example 95 or 96, wherein when the articulation lock actuator moves the articulation lock to the unlocked configuration, the articulation lock actuator is configured to rotate the firing member in a second orientation and operably decouple the firing member from the articulation driver.

[0221] Example 98 - The shaft assembly of Examples 91, 92, 93, 94, 95, 96 or 97, wherein the firing member is configured to engage the first jaw and move the first jaw toward the second jaw during the closing stroke, and the firing member is configured to perform a closing stroke prior to the firing stroke.

[0222] Example 99 - The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97 or 98, further comprising a retraction actuator, the retraction actuator being selectively engageable with the firing member and manually operable to retract the firing member to an unfired position.

[0223] Example 100 - The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97, 98 or 99, further comprising a closure member configured to engage the first jaw and move the first jaw toward the second jaw during a closing stroke.

[0224] Example 101 - The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97, 98, 99 or 100, wherein the firing member comprises a first portion, a second portion, and a clutch, the clutch being configured to switch the firing member between an articulation mode configuration and a firing mode configuration, and when the firing member is in the articulation mode configuration, the first portion is movable relative to the second portion, and when the firing member is in the firing mode configuration, the first portion is engaged with the second portion to drive the second portion distally.

[0225] Example 102 - The shaft assembly of Example 101, wherein the clutch includes a lock configured to releasably retain the firing member in the firing mode configuration.

[0226] Example 103 - The shaft assembly of example 101 or 102, wherein the lock is attached to the second portion of the firing member.

[0227] Example 104 - A shaft assembly of Example 101, 102 or 103, wherein when the clutch transitions the firing member between the articulation mode configuration and the firing mode configuration, a first portion of the firing member is movable toward the firing position and a lock releasably captures the first portion and enables it to be operatively engaged with the second portion.

[0228] Example 105 - A shaft assembly of Examples 101, 102, 103 or 104, wherein the frame further comprises a key, and when the firing member retracts toward the unfired position, the lock is configured to engage with the key, and the key is configured to unlock the lock and enable the firing member to be transitioned from the firing mode configuration to the articulation mode configuration.

[0229] Example 106 - The shaft assembly of Example 91, wherein the frame has a first rotational stop and a second rotational stop, the first rotational stop configured to stop the firing member in a first orientation, and the second rotational stop configured to stop the firing member in a second orientation.

[0230] Example 107 - The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105 or 106, wherein the staple cartridge is replaceable.

[0231] Example 108 - A shaft assembly for use with a surgical system, the shaft assembly comprising a frame mountable to the surgical system, and an end effector comprising a first jaw, a second jaw, the first jaw being rotatable relative to the second jaw. The shaft assembly also comprises an articulation joint, the end effector being rotatably connected to the frame about the articulation joint, and an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly further comprises a firing assembly translatable between an unfired position and a fired position during a firing stroke, the firing assembly comprising a first portion and a second portion. The first portion is rotatable relative to the second portion between an articulation mode orientation and a firing mode orientation, the first portion being operably coupled to the articulation driver when the first portion is in the articulation mode orientation. When the first portion is in the articulation mode orientation, translational motion of the firing assembly is transmitted to the articulation driver, and when the first portion is in the fire mode orientation, the firing assembly is operably decoupled from the articulation driver.

[0232] Example 109 - The shaft assembly of Example 108, wherein the end effector further comprises a staple cartridge.

[0233] Example 110 - A shaft assembly for use with a surgical system comprising a frame mountable to the surgical system and an end effector, the end effector comprising a first jaw and a second jaw, the first jaw being rotatable relative to the second jaw. The shaft assembly also comprises an articulation joint, the end effector being rotatably connected to the frame about the articulation joint, and an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly also comprises a firing assembly translatable between an unfired position and a fired position during a firing stroke, the firing assembly comprising a first portion and a second portion. The shaft assembly further comprises means for selectively rotating the first portion of the firing assembly into and out of operably engaged engagement with the articulation driver, and means for operably disengaging the second portion of the firing assembly from the first portion when the first portion is operably engaged with the articulation driver.

[0234] Example 111 - A shaft assembly for use with a surgical system comprising a staple cartridge, an end effector, and a firing member. The staple cartridge comprises a cartridge body including a staple cavity, a staple removably stored in the staple cavity, and a sled movable between an unfired position and a fired position during a firing stroke to eject the staple from the staple cavity. The end effector comprises a cartridge channel configured to receive the staple cartridge, the cartridge channel comprising a lockout recess. The end effector further comprises an anvil configured to deform the staple, and a lock spring. The firing member comprises a firing bar comprising a cutting edge configured to sever tissue of a patient during a firing stroke. The firing member further includes a lock rotatably attached to the firing bar, the lock being rotatable between an unlocked position and a locked position, the sled being configured to hold the lock in the unlocked position when a staple cartridge is installed in the cartridge channel and the sled is in the unfired position, and the lock being rotatable by a lock spring from the unlocked position to the locked position when a staple cartridge is not in the cartridge channel and the sled is not in the unfired position.

[0235] Example 112 - The shaft assembly of Example 111, further comprising a staple driver, wherein during the firing stroke, the thread is configured to engage with the staple driver to eject the staple from the staple cavity.

[0236] Example 113 - The shaft assembly of Example 112, wherein the staple driving portion is integrally formed with the staple.

[0237] Example 114 - The shaft assembly of Example 111, 112 or 113, wherein the firing bar further comprises a connecting member, the connecting member having a cutting edge, and the connecting member comprises a cartridge cam configured to engage the cartridge channel during the firing stroke, and an anvil cam configured to engage the anvil.

[0238] Example 115 - The shaft assembly of Example 114, wherein the anvil is rotatable relative to the cartridge channel between an open position and a closed position, and the connecting member is configured to control the position of the anvil relative to the staple cartridge.

[0239] Example 116 - The shaft assembly of Example 114, wherein the cartridge channel is rotatable relative to the anvil between an open position and a closed position, and the connecting member is configured to control the position of the staple cartridge relative to the anvil.

[0240] Example 117 - The shaft assembly of Examples 111, 112, 113, 114, 115 or 116, wherein the anvil is rotatable relative to the cartridge channel between an open position and a closed position, and the shaft assembly further comprises a closure member configured to move the anvil toward the closed position.

[0241] Example 118 - A shaft assembly of Examples 111, 112, 113, 114, 115, 116 or 117, wherein the cartridge channel is rotatable relative to the anvil between an open position and a closed position, and the shaft assembly further comprises a closure member configured to move the cartridge channel toward the closed position.

[0242] Example 119 - The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117 or 118, wherein the end effector has a proximal end and a distal end, and the lock extends distally relative to the cutting edge.

[0243] Example 120 - The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118 or 119, wherein when the firing stroke is initiated and the staple cartridge is not in the cartridge channel and the thread is not in the unfired position, the lock is biased by the lock spring into the lockout recess and the staple is ejected from the staple cavity after the firing stroke is stopped by the lock and lockout recess.

[0244] Example 121 - The shaft assembly of examples 111, 112, 113, 114, 115, 116, 117, 118, 119 or 120, wherein the firing bar is not biased toward the lockout recess by the lock spring.

[0245] Example 122 - The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118, 119, 120 or 121, wherein the staple cartridge is mounted in the cartridge channel and the lock is configured to push the sled in with the firing stroke if the sled is in an unfired position at the start of the firing stroke.

[0246] Example 123 - The shaft assembly of example 122, wherein the firing member is retractable and the sled is non-retractable with the firing member after at least a portion of the firing stroke is completed.

[0247] Example 124 - The shaft assembly of example 122 or 123, wherein the firing member is retractable after at least a portion of the firing stroke is completed and the lock is configured to remain in the unlocked position when the lock retracts past the lock spring.

[0248] Example 125 - The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123 or 124, wherein the lock comprises a cantilever having a proximal end fixedly attached to the cartridge channel and a distal end movable relative to the proximal end.

[0249] Example 126 - The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124 or 125, wherein the cartridge channel is removably attachable to the end effector.

[0250] Example 127 - The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124 or 125, wherein the cartridge channel is not removably attachable to the end effector.

[0251] Example 128 - A shaft assembly for use with a surgical system, the shaft assembly comprising a staple cartridge, an end effector, and a firing assembly. The staple cartridge comprises a cartridge body and staples, each of the staples being at least partially stored in the cartridge body. The staple cartridge further comprises a sled movable between an unfired position and a fired position during a firing stroke that ejects the staples from the cartridge body. The end effector comprises a cartridge channel configured to receive the staple cartridge, the cartridge channel comprising a lockout. The end effector further comprises an anvil configured to deform the staples, and a biasing member. The firing assembly includes a firing member and a lock rotatably attached to the firing member, the lock being rotatable between an unlocked position and a locked position, the sled being configured to hold the lock in the unlocked position when a staple cartridge is mounted in the cartridge channel and the sled is in the unfired position, and the lock being rotatable by a biasing member from the unlocked position to the locked position when a staple cartridge is not in the cartridge channel and the sled is not in the unfired position.

[0252] Example 129 - An end effector for use with a surgical system, the end effector comprising a staple cartridge, the staple cartridge comprising a cartridge body and staples, each of the staples being at least partially stored in the cartridge body. The staple cartridge further comprises a sled movable between an unfired position and a fired position during a firing stroke that ejects the staples from the cartridge body. The end effector also comprises a cartridge channel configured to receive the staple cartridge, the cartridge channel comprising a lockout, an anvil configured to deform the staples, and a biasing member. The end effector further comprises a firing assembly, the firing assembly comprising a firing member and a lock rotatably attached to the firing member, the lock being rotatable between an unlocked position and a locked position, the sled being configured to hold the lock in the unlocked position when the staple cartridge is mounted in the cartridge channel and the sled is in the unfired position, and the lock is rotatable by the biasing member from the unlocked position to the locked position when the staple cartridge is not in the cartridge channel and the sled is not in the unfired position.

[0253] Example 130 - A shaft assembly comprising a shaft frame, an end effector comprising an end effector frame, and an articulation joint rotatably connecting the end effector frame to the shaft frame. The shaft assembly also comprises an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly further comprises a first articulation lock selectively actuable to engage the end effector frame and prevent the end effector frame from rotating relative to the shaft frame, and a second articulation lock selectively actuable to engage the articulation driver and prevent the end effector frame from rotating relative to the shaft frame.

[0254] Example 131 - The shaft assembly of Example 130, wherein the first articulation lock and the second articulation lock are both actuated to a locked state by a lock actuator during a locking operation.

[0255] Example 132 - The shaft assembly of example 130 or 131, wherein the first articulation lock is configured to engage with the end effector frame before the second articulation lock engages with the articulation driver during the locking operation.

[0256] Example 133 - The shaft assembly of example 130 or 131, wherein the second articulation lock is configured to disengage from the articulation driver before the first articulation lock is disengaged from the end effector frame during an unlocking operation of the lock actuator.

[0257] Example 134 - The shaft assembly of Example 130 or 131, wherein the first articulation lock is configured to engage with the end effector frame after the second articulation lock engages with the articulation driver during the locking stroke.

[0258] Example 135 - The shaft assembly of Example 130 or 131, wherein the second articulation lock is configured to disengage from the articulation driver after the first articulation lock disengages from the end effector frame during an unlocking operation of the lock actuator.

[0259] Example 136 - The shaft assembly of Example 130 or 131, wherein the first articulation lock is configured to engage the end effector frame at the same time that the second articulation lock engages the articulation driver during the locking stroke.

[0260] Example 137 - The shaft assembly of Example 130 or 131, wherein the first articulation lock is configured to disengage from the end effector frame while the second articulation lock is configured to disengage from the articulation driver during an unlocking operation of the lock actuator.

[0261] Example 138 - The shaft assembly of Example 130, wherein the first articulation lock and the second articulation lock are individually operable.

[0262] Example 139 - A shaft assembly of Examples 130, 131, 132, 133, 134, 135, 136, 137 or 138, wherein the articulation driver comprises a first articulation driver configured to rotate the end effector in a first direction, and the shaft assembly further comprises a second articulation driver configured to rotate the end effector in a second direction about the articulation joint, the second direction being opposite to the first direction.

[0263] Example 140 - The shaft assembly of Example 139, wherein when the second articulation lock is actuated, the second articulation lock is configured to engage the second articulation driver to prevent the end effector frame from rotating relative to the shaft frame.

[0264] Example 141 - The shaft assembly of Example 139, wherein when the second articulation lock is actuated, the second articulation lock is configured to simultaneously engage the first articulation driver and the second articulation driver.

[0265] Example 142 - The shaft assembly of Example 139, wherein when the second articulation lock is actuated, the second articulation lock is configured to engage the first articulation driver and the second articulation driver at different times.

[0266] Example 143 - The shaft assembly of examples 139, 140, 141 or 142, wherein the second articulation lock comprises a first arm configured to engage with the first articulation driver and a second arm configured to engage with the second articulation driver, and during a locking operation of the first articulation lock, the first articulation lock is configured to engage the first arm with the first articulation driver and to engage the second arm with the second articulation driver.

[0267] Example 144 - The shaft assembly of Examples 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142 or 143, wherein the end effector further comprises a staple cartridge.

[0268] Example 145 - The shaft assembly of Example 144, wherein the staple cartridge is replaceable.

[0269] Example 146 - A shaft assembly comprising an end effector comprising a shaft frame and an end effector frame. The shaft assembly also comprises an articulation joint rotatably connecting the end effector frame to the shaft frame and an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly further comprises a locking system configured to engage the end effector frame to prevent the end effector frame from rotating relative to the shaft frame and to engage the articulation driver to prevent the end effector frame from rotating relative to the shaft frame.

[0270] Example 147 - The shaft assembly of Example 146, wherein the end effector further comprises a staple cartridge.

[0271] Example 148 - A shaft assembly comprising a shaft frame and an end effector comprising an end effector frame. The shaft assembly also comprises an articulation joint rotatably connecting the end effector frame to the shaft frame and an articulation driver displaceable to rotate the end effector about the articulation joint. The shaft assembly further comprises first locking means for selectively preventing rotation of the end effector about the articulation joint and second locking means for selectively preventing displacement of the articulation driver.

[0272] Example 149 - The shaft assembly of Example 148, wherein the end effector further comprises a staple cartridge.

[0273] Many of the surgical tool systems described herein are operated by electric motors. However, the surgical tool systems described herein may be operated in any suitable manner. In various cases, the surgical tool systems described herein may be operated, for example, by a manually operated trigger. In certain cases, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and / or tool assemblies disclosed herein may be utilized with a robotic surgical tool system. For example, U.S. Patent Application No. 13 / 118,241 (now U.S. Patent No. 9,072,535), entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, discloses some examples of robotic surgical tool systems in more detail.

[0274] The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples. However, the embodiments described herein are not so limited. Various embodiments are contemplated for deploying fasteners other than staples, such as clamps or tacks. Additionally, various embodiments are contemplated for utilizing any suitable means for sealing tissue. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Also, for example, end effectors according to certain embodiments may apply vibrational energy to seal tissue.

[0275] Full disclosure below: - 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 March 2, 2010, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR; - U.S. Patent No. 7,753,245, issued 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 Serial No. 11 / 343,803, now U.S. Patent No. 7,845,537, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES; - U.S. Patent Application Serial No. 12 / 031,573, filed February 14, 2008, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES; - U.S. Patent Application No. 12 / 031,873, filed February 15, 2008, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, now U.S. Patent No. 7,980,443; No. 12 / 235,782, now U.S. Pat. No. 8,210,411, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT"; No. 12 / 249,117, now U.S. Pat. No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM"; - U.S. Patent Application Serial No. 12 / 647,100, filed December 24, 2009, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, now U.S. Patent No. 8,220,688; - U.S. Patent Application No. 12 / 893,461, filed Sep. 29, 2012, entitled STAPLE CARTRIDGE, now U.S. Patent No. 8,733,613; - U.S. Patent Application Serial No. 13 / 036,647, filed February 28, 2011, entitled SURGICAL STAPLING INSTRUMENT, now U.S. Patent No. 8,561,870; -U.S. Patent Application Serial No. 13 / 118,241, now U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS"; - U.S. Patent Application No. 13 / 524,049, filed June 15, 2012, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Patent No. 9,101,358; - U.S. Patent Application No. 13 / 800,025, filed March 13, 2013, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, now U.S. Patent No. 9,345,481; - U.S. Patent Application No. 13 / 800,067, filed 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 January 31, 2006, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM; -U.S. Patent Application Publication No. 2010 / 0264194, now U.S. Patent No. 8,308,040, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed April 22, 2010, which is incorporated herein by reference.

[0276] Although various devices have been described herein with specific embodiments, modifications and variations may be made to those embodiments. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic illustrated or described with respect to one embodiment may be combined, in whole or in part, with the feature, structure, or characteristic of one or more other embodiments, without limitation. Similarly, although materials are disclosed with respect to particular components, other materials may be used. Furthermore, in accordance with various embodiments, a single component may be replaced with multiple components, and multiple components may be replaced with a single component, to perform a given function(s). It is intended that the foregoing description and the following claims cover all such modifications and variations.

[0277] The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular parts of the device, and then reassembly of the device. Specifically, a reconditioning facility and / or surgical team can disassemble the device, clean and / or replace particular parts of the device, and then reassemble the device for subsequent use. One of ordinary skill in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. Use of such techniques, and the resulting reconditioned devices, are all within the scope of the present application.

[0278] The devices disclosed herein may be processed prior to surgery. First, new or used instruments may be obtained and cleaned as necessary. The instruments may then be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container, such as a plastic bag or a TYVEK bag. The container and instruments may then be placed in a radiation field that can penetrate the container, such as gamma radiation, x-rays, and / or high-energy electrons. The radiation may kill bacteria on the instruments and in the container. The sterilized instruments may then be stored in the sterile container. The sealed container may keep the instruments sterile until they are opened in the medical facility. The devices may also be sterilized using any other technique known in the art, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, hydrogen peroxide plasma, and / or water vapor.

[0279] While the invention has been described as having an exemplary design, the invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

[0280] All patents, publications, or other disclosures that are incorporated herein in whole or in part are incorporated herein only to the extent that the incorporated material does not contradict existing definitions, statements, or other disclosures set forth in this disclosure. As such, and to the extent necessary, the disclosures explicitly set forth herein shall prevail over any conflicting statements incorporated herein by reference. Any content, or portions thereof, that contradicts current definitions, opinions, or other disclosures set forth herein shall be incorporated herein by reference, but only to the extent that no conflict arises between the referenced content and the current disclosures.

[0281] [Embodiment] (1) A method comprising: obtaining a shaft assembly with an end effector; attaching the shaft assembly to a handle of a surgical instrument; removing the shaft assembly from the handle; attaching the shaft assembly to an arm of a surgical robot; removing the shaft assembly from the arm; The method includes: (2) The method of embodiment 1, wherein the step of removing the shaft assembly from the surgical instrument handle is performed before the step of attaching the shaft assembly to the surgical robot arm, and the method further comprises the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical instrument handle. (3) The method of embodiment 1, wherein the step of removing the shaft assembly from the surgical robot arm is performed before the step of attaching the shaft assembly to the surgical instrument handle, and the method further comprises the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical robot arm. (4) The method of embodiment 1, wherein the shaft assembly comprises a firing member, the surgical instrument handle comprises an electric motor operably connectable to the firing member during the step of attaching the shaft assembly to the surgical instrument handle, and the surgical robotic arm comprises an electric motor operably connectable to the firing member during the step of attaching the shaft assembly to the surgical robotic arm. (5) The method of claim 1, wherein the shaft assembly comprises a latch configured to engage the handle of the surgical instrument and, alternatively, the arm of the surgical robot.

[0282] (6) The method of embodiment 1, wherein the shaft assembly comprises a shaft microprocessor and a shaft electrical connector, the handle comprises a handle microprocessor and a handle electrical connector, and the surgical robot comprises a robot microprocessor and a robot connector. (7) The method of embodiment 6, wherein the step of attaching the shaft assembly to the handle of the surgical instrument includes the step of electrically coupling the shaft electrical connector to the handle electrical connector. (8) The method of embodiment 6, wherein the step of attaching the shaft assembly to the handle of the surgical instrument includes placing the shaft microprocessor in signal communication with the handle microprocessor. (9) The method of embodiment 6, wherein the step of attaching the shaft assembly to the arm of the surgical robot includes the step of electrically coupling the shaft electrical connector to the robot electrical connector. (10) The method of embodiment 6, wherein the step of attaching the shaft assembly to the arm of the surgical robot includes placing the shaft microprocessor in signal communication with the robot microprocessor.

[0283] (11) The method of embodiment 1, further comprising the step of attaching a staple cartridge to the shaft assembly prior to the step of attaching the shaft assembly to the surgical instrument handle. (12) The method of embodiment 1, further comprising the step of attaching a staple cartridge to the shaft assembly after the step of attaching the shaft assembly to the surgical instrument handle. (13) The method of embodiment 1, further comprising the step of attaching a staple cartridge to the shaft assembly prior to the step of attaching the shaft assembly to the surgical robot arm. (14) The method of embodiment 1, further comprising the step of attaching a staple cartridge to the shaft assembly after the step of attaching the shaft assembly to the surgical robot arm. (15) The method of claim 1, further comprising assembling the end effector to the shaft assembly.

[0284] (16) A method comprising the steps of: Obtaining a shaft assembly; attaching the shaft assembly to a handle of a surgical instrument; Alternatively, attaching the shaft assembly to an arm of a surgical robot; The method includes: (17) The method of claim 16, further comprising the step of attaching an end effector to the shaft assembly. (18) The method of embodiment 17, further comprising the step of attaching a staple cartridge to the end effector. (19) A method comprising the steps of: Obtaining a shaft assembly; selectively attaching the shaft assembly to a handle of a surgical instrument or an arm of a surgical robot; The method includes:

Claims

1. 1. A surgical system comprising: A shaft assembly; a surgical instrument having a handle; a surgical robot having an arm; Equipped with the shaft assembly further comprising: a retraction system that engages a firing bar to proximally retract the firing bar, the retraction system being capable of retracting while decoupled from the surgical instrument and the surgical robot; and a housing; the retraction system includes a first pivot pin defining a first axis of rotation extending transverse to a longitudinal axis of the shaft assembly, an actuator, a second pivot pin, and a pawl mounted to the actuator for rotation about the second pivot pin; the actuator is secured to the housing by the first pivot pin for pivotal movement about the first axis of rotation and for prevention of movement along the longitudinal axis of the shaft assembly; the second pivot pin defines a second axis of rotation fixed relative to the actuator, about which the pawl is rotatable, the pawl having a tooth defined thereon, the tooth configured to engage the firing system; The retraction motion is performed when the actuator pivots about the first axis of rotation.

2. 2. The surgical system of claim 1, wherein the housing includes a cover movable between a closed position and an open position, the cover covering the actuator when the cover is in the closed position and the cover exposing the actuator and enabling the retraction operation of the retraction system when the cover is in the open position.

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