Surgical Instrument with Control Circuit

Abstract

To provide a device and a method that are provided for performing laparoscopic and minimally invasive surgical procedures.SOLUTION: A surgical instrument is disclosed comprising a housing 1110 and a control circuit mounted to and / or embedded in the housing.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Non-provisional Patent Application No. 16 / 220,296, filed December 14, 2018, entitled "SURGICAL INSTRUMENT COMPRISING A CONTROL CIRCUIT," the entire disclosure of which is incorporated herein by reference. This application claims the benefit of U.S. Provisional Patent Application No. 62 / 778,572, filed December 12, 2018, entitled "SURGICAL INSTRUMENT SYSTEMS," the entire disclosure of which is incorporated herein by reference. This application claims the benefit of U.S. Provisional Patent Application No. 62 / 750,529, entitled "METHOD FOR OPERATING A POWERED ARTICULATING MULTI-CLIP APPLIER," filed October 25, 2018; U.S. Provisional Patent Application No. 62 / 750,539, entitled "SURGICAL CLIP APPLIER," filed October 25, 2018; and U.S. Provisional Patent Application No. 62 / 750,555, entitled "SURGICAL CLIP APPLIER," filed October 25, 2018, the entire disclosures of which are incorporated herein by reference. This application claims the benefit of U.S. Provisional Patent Application No. 62 / 659,900, entitled "METHOD OF HUB COMMUNICATION," filed April 19, 2018, the entire disclosures of which are incorporated herein by reference. This application is a continuation of U.S. Provisional Patent Application No. 62 / 665,128, filed May 1, 2018, entitled "MODULAR SURGICAL INSTRUMENTS," U.S. Provisional Patent Application No. 62 / 665,129, filed May 1, 2018, entitled "SURGICAL SUTURING SYSTEMS," U.S. Provisional Patent Application No. 62 / 665,134, filed May 1, 2018, entitled "SURGICAL CLIP APPLIER," U.S. Provisional Patent Application No. 62 / 665,139, filed May 1, 2018, entitled "SURGICAL INSTRUMENTS COMPRISING CONTROL SYSTEMS," and U.S. Provisional Patent Application No. 62 / 665,140, ​​filed May 1, 2018, entitled "SURGICAL CLIP APPLIER."This application claims the benefit of U.S. Provisional Patent Application No. 62 / 665,192, filed May 1, 2018, entitled "SURGICAL DISSECTORS," the entire disclosures of which are incorporated herein by reference. This application is a continuation of U.S. Provisional Patent Application No. 62 / 649,291, filed March 28, 2018, entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT," U.S. Provisional Patent Application No. 62 / 649,294, filed March 28, 2018, entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD," U.S. Provisional Patent Application No. 62 / 649,296, filed March 28, 2018, entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES," and U.S. Provisional Patent Application No. 62 / 649,300, filed March 28, 2018, entitled "SURGICAL HUB SITUATIONAL U.S. Provisional Patent Application No. 62 / 649,302, filed March 28, 2018, entitled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES," U.S. Provisional Patent Application No. 62 / 649,307, filed March 28, 2018, entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS," U.S. Provisional Patent Application No. 62 / 649,309, filed March 28, 2018, entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER," U.S. Provisional Patent Application No. 62 / 649,309, filed March 28, 2018, entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER," U.S. Provisional Patent Application No. 62 / 649,No. 310, entitled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS," U.S. Provisional Patent Application No. 62 / 649,313, filed March 28, 2018, entitled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES," U.S. Provisional Patent Application No. 62 / 649,315, filed March 28, 2018, entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK," U.S. Provisional Patent Application No. 62 / 649,320, filed March 28, 2018, entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS," U.S. Provisional Patent Application No. 62 / 649,323, filed March 28, 2018, entitled "SENSING ARRANGEMENTS" This application claims the benefit of U.S. Provisional Patent Application No. 62 / 649,327, filed March 28, 2018, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES," and U.S. Provisional Patent Application No. 62 / 649,333, filed March 28, 2018, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER," the entire disclosures of which are incorporated herein by reference. This application is a continuation of U.S. Provisional Patent Application No. 62 / 611,339, filed December 28, 2017, entitled "ROBOT ASSISTED SURGICAL PLATFORM," U.S. Provisional Patent Application No. 62 / 611,340, filed December 28, 2017, entitled "CLOUD-BASED MEDICAL ANALYTICS," and U.S. Provisional Patent Application No. 62 / 611,340, filed December 28, 2017, entitled "CLOUD-BASED MEDICAL ANALYTICS."341, entitled "INTERACTIVE SURGICAL PLATFORM," the entire disclosures of which are incorporated herein by reference. [Background technology]

[0002] The present disclosure relates to surgical systems and, inter alia, to grasping instruments designed to grasp patient tissue, dissection instruments configured to manipulate patient tissue, clip appliers configured to clip patient tissue, and suturing instruments configured to suture patient tissue, in various configurations. [Brief explanation of the drawings]

[0003] 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] 1 illustrates a surgical system comprising a handle and several shaft assemblies selectively attachable to the handle, according to at least one embodiment. [Figure 2] FIG. 2 is an elevational view of one of the handle and shaft assemblies of the surgical system of FIG. 1. [Figure 3] FIG. 3 is a partial cross-sectional perspective view of the shaft assembly of FIG. 2. [Figure 4] FIG. 3 is another partial cross-sectional perspective view of the shaft assembly of FIG. 2. [Figure 5] FIG. 3 is a partial exploded view of the shaft assembly of FIG. 2. [Figure 6] FIG. 3 is a partial cross-sectional elevation view of the shaft assembly of FIG. 2. [Figure 7] FIG. 2 is an elevational view of the drive module of the handle of FIG. 1; [Figure 8] FIG. 8 is a cross-sectional perspective view of the drive module of FIG. 7. [Figure 9] FIG. 8 is an end view of the drive module of FIG. 7. [Figure 10]FIG. 3 is a partial cross-sectional view of the interconnection between the handle and shaft assembly of FIG. 2 in a locked configuration. [Figure 11] FIG. 3 is a partial cross-sectional view of the interconnection between the handle and shaft assembly of FIG. 2 in an unlocked configuration. [Figure 12] FIG. 8 is a cross-sectional perspective view of the motor and reduction gear assembly of the drive module of FIG. 7. [Figure 13] FIG. 13 is an end view of the reduction gear assembly of FIG. 12. [Figure 14] FIG. 3 is a partial perspective view of the end effector of the shaft assembly of FIG. 2 in an open configuration. [Figure 15] FIG. 15 is a partial perspective view of the end effector of FIG. 14 in a closed configuration. [Figure 16] FIG. 15 is a partial perspective view of the end effector of FIG. 14 articulated in a first direction. [Figure 17] FIG. 15 is a partial perspective view of the end effector of FIG. 14 articulated in a second direction. [Figure 18] 15 is a partial perspective view of the end effector of FIG. 14 rotated in a first direction. [Figure 19] FIG. 15 is a partial perspective view of the end effector of FIG. 14 rotated in a second direction. [Figure 20] 15 is a partial cross-sectional perspective view of the end effector of FIG. 14 removed from the shaft assembly of FIG. 2. FIG. [Figure 21] FIG. 15 is an exploded view of the end effector of FIG. 14 with some components removed. [Figure 22] FIG. 3 is an exploded view of the distal mounting portion of the shaft assembly of FIG. 2. [Figure 22A] FIG. 3 is an exploded view of the distal portion of the shaft assembly of FIG. 2 with some components removed. [Figure 23] 15 is another partial cross-sectional perspective view of the end effector of FIG. 14 removed from the shaft assembly of FIG. 2. FIG. [Figure 24] 15 is a partial cross-sectional perspective view of the end effector of FIG. 14 attached to the shaft assembly of FIG. 2. FIG. [Figure 25] 15 is a partial cross-sectional perspective view of the end effector of FIG. 14 attached to the shaft assembly of FIG. 2. FIG. [Figure 26] 15 is another partial cross-sectional perspective view of the end effector of FIG. 14 attached to the shaft assembly of FIG. 2. FIG. [Figure 27] 15 is a partial cross-sectional view of the end effector of FIG. 14 mounted on the shaft assembly of FIG. 2, depicting first, second, and third clutches of the end effector. [Figure 28] 28 depicts the first clutch of FIG. 27 in an inactive state. [Figure 29] 28 depicts the first clutch of FIG. 27 in an actuated state. [Figure 30] 28 depicts the second clutch of FIG. 27 in an inactive state. [Figure 31] 28 depicts the second clutch of FIG. 27 in an actuated state. [Figure 32] 28 depicts the third clutch of FIG. 27 in an inactive state. [Figure 33] 28 depicts the third clutch of FIG. 27 in an actuated state. [Figure 34] 28 depicts the second and third clutches of FIG. 27 in an unactuated state and the end effector of FIG. 14 locked to the shaft assembly of FIG. 2; [Figure 35] 28 depicts the second clutch of FIG. 27 in its inactive state and the third clutch of FIG. 27 in its active state. [Figure 36] 28 depicts the second and third clutches of FIG. 27 in an actuated state and the end effector of FIG. 14 unlocked from the shaft assembly of FIG. 2; [Figure 37] 28 is a partial cross-sectional view of a shaft assembly according to at least one alternative embodiment including sensors configured to detect the state of the first, second, and third clutches of FIG. 27. [Figure 38] 28 is a partial cross-sectional view of a shaft assembly according to at least one alternative embodiment including sensors configured to detect the state of the first, second, and third clutches of FIG. 27. [Figure 39] 39 depicts the first and second clutches of FIG. 38 in an unactuated state and a sensor according to at least one alternative embodiment. [Figure 40] 39 depicts the second and third clutches of FIG. 38 in an unactuated state and a sensor according to at least one alternative embodiment. [Figure 41] FIG. 1 is a partial cross-sectional view of a shaft assembly according to at least one embodiment. [Figure 42] FIG. 42 is a partial cross-sectional view of the shaft assembly of FIG. 41 with the clutch shown in an unactuated state. [Figure 43] FIG. 42 is a partial cross-sectional view of the shaft assembly of FIG. 41 showing the clutch in an actuated state. [Figure 44] FIG. 1 is a partial cross-sectional view of a shaft assembly according to at least one embodiment, including first and second clutches shown in an unactuated state. [Figure 45] 8 is a perspective view of the handle drive module of FIG. 7 and one of the shaft assemblies of the surgical system of FIG. 1. [Figure 46] FIG. 46 is another perspective view of the handle drive module of FIG. 7 and the shaft assembly of FIG. 45. [Figure 47] FIG. 46 is a partial cross-sectional view of the shaft assembly of FIG. 45 attached to the handle of FIG. 1. [Figure 48] 46 is another partial cross-sectional view of the shaft assembly of FIG. 45 attached to the handle of FIG. 1. [Figure 49] FIG. 46 is a partial cross-sectional perspective view of the shaft assembly of FIG. 45. [Figure 50] FIG. 2 is a schematic diagram of a control system for the surgical system of FIG. 1. [Figure 51] FIG. 2 is an elevational view of one of the handle and shaft assemblies of the surgical system of FIG. 1. [Figure 52] FIG. 3 is a perspective view of the handle of FIG. 1 and the shaft assembly of FIG. 2. [Figure 53] FIG. 3 is a partial plan view of the handle of FIG. 1 and the shaft assembly of FIG. 2. [Figure 54] FIG. 3 is a partial elevational view of the handle of FIG. 1 and the shaft assembly of FIG. 2. [Figure 55] 8 is a perspective view of the drive module of FIG. 7 and the power supply module of FIG. 1. [Figure 56] FIG. 56 is a perspective view of the drive module of FIG. 7 and the power module of FIG. 55. [Figure 57] FIG. 56 is an elevational view of the drive module of FIG. 7 and the power supply module of FIG. 55 attached to the side battery port of the drive module. [Figure 58] FIG. 56 is a partial cross-sectional view of the connection between the side battery port of the drive module of FIG. 7 and the power supply module of FIG. 55. [Figure 59] 46 is an elevational view of the handle drive module of FIG. 7, the power supply module of FIG. 45 attached to the proximal battery port of the handle drive module, and the shaft assembly of FIG. 45 attached to the drive module. [Figure 60] FIG. 46 is a top view of the drive module of FIG. 7 and the power module of FIG. 45 attached to the proximal battery port. [Figure 61] FIG. 46 is an elevational view of the drive module of FIG. 7 and the power module of FIG. 45 attached to the proximal battery port. [Figure 62] FIG. 46 is a perspective view of the drive module of FIG. 7 and the power module of FIG. 45 attached to the proximal battery port. [Figure 63] FIG. 46 is a perspective view of the power module of FIG. 45 removed from the drive module of FIG. 7. [Figure 64] 46 is another perspective view of the power module of FIG. 45 removed from the drive module of FIG. 7. [Figure 65] FIG. 46 is an elevational view of the power supply module of FIG. 45 attached to the proximal battery port of the drive module of FIG. 7. [Figure 66] 46 is a partial cross-sectional view of the connection between the proximal battery port of the drive module of FIG. 7 and the power supply module of FIG. 45. [Figure 67] FIG. 56 is an elevation view of the power supply module of FIG. 55 attached to the proximal battery port of the drive module of FIG. 7. [Figure 68] 56 is a partial cross-sectional view of the connection between the proximal battery port of the drive module of FIG. 7 and the power supply module of FIG. 55. [Figure 69] 46 is an elevational view of an attempt to connect the power supply module of FIG. 45 to the side battery port of the drive module of FIG. 7. [Figure 70] 46 is a cross-sectional detail view of an attempt to connect the power supply module of FIG. 45 to the side battery port of the drive module of FIG. 7. [Figure 71] 56 is a perspective view of the power supply module of FIG. 45 attached to the proximal battery port and the power supply module of FIG. 55 attached to the side battery port of the drive module of FIG. 7. FIG. [Figure 72] 56 is a cross-sectional view of the power module of FIG. 45 attached to the proximal battery port and the power module of FIG. 55 attached to the side battery port of the drive module of FIG. 7. [Figure 73] FIG. 1 is a perspective view of a portion of a surgical instrument with selectively attachable modular components, according to at least one embodiment of the present disclosure. [Figure 74] 74 illustrates the electrical architecture of the surgical instrument of FIG. 73, in accordance with at least one embodiment of the present disclosure. [Figure 75] FIG. 74 is a partial cross-sectional perspective view of the handle of the surgical instrument of FIG. 73, according to at least one embodiment of the present disclosure. [Figure 76] FIG. 74 is a perspective view of a system of magnetic elements disposed on the handle and shaft of the surgical instrument of FIG. 73, according to at least one embodiment of the present disclosure. [Figure 77] FIG. 74 is a perspective view of a system of magnetic elements disposed on the handle and shaft of the surgical instrument of FIG. 73, according to at least one embodiment of the present disclosure. [Figure 78] FIG. 78 is a perspective view of the system of magnetic elements of FIG. 77 aligning a shaft with a handle of a surgical instrument, according to at least one embodiment of the present disclosure. [Figure 79] FIG. 74 is a perspective view of a flex circuit for use with the surgical instrument of FIG. 73, according to at least one embodiment of the present disclosure. [Figure 79A]FIG. 80 is a detailed perspective view of the primary strain relief portion of the flex circuit of FIG. 79, in accordance with at least one embodiment of the present disclosure. [Figure 79B] FIG. 80 is a detailed perspective view of a secondary strain relief portion of the flex circuit of FIG. 79, according to at least one embodiment of the present disclosure. [Figure 79C] FIG. 80 is a detailed perspective view of control circuitry integrated into the flexible plastic of the flex circuit of FIG. 79, in accordance with at least one embodiment of the present disclosure. [Figure 80] FIG. 80 is a perspective view of a flex circuit for use in combination with the flex circuit of FIG. 79, according to at least one embodiment of the present disclosure. [Figure 81A] FIG. 81 is a perspective view of the flex circuit of FIG. 79 before being electrically coupled with the flex circuit of FIG. 80, according to at least one embodiment of the present disclosure. [Figure 81B] FIG. 81 is a perspective view of the flex circuit of FIG. 79 electrically coupled with the flex circuit of FIG. 80, according to at least one embodiment of the present disclosure. [Figure 82] FIG. 1 is an elevational view of a surgical instrument in accordance with at least one embodiment. [Figure 82A] FIG. 83 is a detailed view of a portion of the surgical instrument of FIG. 82. [Figure 82B] FIG. 83 is a partial detailed view of the surgical instrument of FIG. 82 showing the probe inserted into the handle of the surgical instrument. [Figure 82C] 83 is a perspective view of a trocar according to at least one embodiment configured to facilitate insertion of, for example, the surgical instrument of FIG. 82 into a patient. [Figure 83] FIG. 83 is a perspective view of a drive system of the surgical instrument of FIG. 82; [Figure 84] FIG. 1 is a perspective view of a drive system according to at least one embodiment. [Figure 85] FIG. 83 is a perspective view of a strain gauge of the surgical instrument of FIG. 82; [Figure 85A] 86 depicts the strain gauge of FIG. 85 in an elongated state. [Figure 85B] 86 depicts the strain gauge of FIG. 85 in a contracted state. [Figure 85C]1 illustrates a Wheatstone bridge with strain gauges according to at least one embodiment. [Figure 86] FIG. 83 is a perspective view of one half of a handle housing of the surgical instrument of FIG. 82; [Figure 87] FIG. 87 is a partial perspective view of a circuit board in the handle of FIG. 86. [Figure 88] FIG. 1 is a partial cross-sectional view of a surgical instrument according to at least one embodiment. [Figure 89] FIG. 89 is a partial detailed view of the electrical interface of the surgical instrument of FIG. 88. [Figure 90] FIG. 1 is a perspective view of a handle according to at least one embodiment. [Figure 91] FIG. 91 is a perspective view of the button shell of the handle of FIG. 90; [Figure 92] FIG. 91 is a perspective view of an alternative button shell for the handle of FIG. 90; [Figure 93] FIG. 91 is a perspective view of an alternative button shell for the handle of FIG. 90; [Figure 94] FIG. 1 is a cross-sectional view of a button shell according to at least one embodiment. [Figure 95] FIG. 1 is a cross-sectional view of a button shell according to at least one embodiment. [Figure 96] FIG. 1 is a perspective view of a surgical instrument handle according to at least one embodiment. [Figure 97] FIG. 1 is a perspective view of a surgical instrument handle according to at least one embodiment. [Figure 98] FIG. 1 is a perspective view of a surgical instrument handle according to at least one embodiment. [Figure 99] 1 is an icon displayable on a surgical instrument according to at least one embodiment. [Figure 100] 1 is an icon displayable on a surgical instrument according to at least one embodiment. [Figure 101] 1 is an icon displayable on a surgical instrument according to at least one embodiment. [Figure 101A]1 illustrates a handle flexible circuit and a shaft flexible circuit of a surgical instrument according to at least one embodiment. [Figure 101B] 101B illustrates the connection between the handle flexible circuit and the shaft flexible circuit of FIG. 101A. [Figure 102] 1 illustrates a control circuit for a surgical instrument in accordance with at least one embodiment. [Figure 103] 103 illustrates a timing diagram associated with the control circuit of FIG. 102, according to at least one embodiment. [Figure 104] 1 illustrates a control circuit for a surgical instrument in accordance with at least one embodiment. [Fig. 104A-B] Fig. 104A shows a control circuit configured to indicate power delivered to an electric motor, according to at least one embodiment. Fig. 104B shows a graduated display in communication with the control circuit of Fig. 104A, according to at least one embodiment. [Figure 104C] 1 illustrates a surgical instrument including a handle, according to at least one embodiment. [Figure 105] 1 illustrates a surgical instrument according to at least one embodiment. [Figure 106] FIG. 106 shows a schematic diagram illustrating current and signal paths in the surgical system of FIG. 105 according to at least one embodiment. [Figure 107] 106 shows a graph illustrating the relationship between a patient's continuity level and the level of electrosurgical power delivered by the surgical system of FIG. 105, according to at least one embodiment. [Figure 108] 1 illustrates a flexible circuit for a surgical instrument according to at least one embodiment. [Figure 109] 109 shows a cross-sectional view of the flexible circuit of FIG. 108. [Figure 110] 1 illustrates a flexible circuit for a surgical instrument according to at least one embodiment. [Figure 111] 111 shows a cross-sectional view for the flexible circuit of FIG. 110. [Figure 111A] 1 illustrates a flexible circuit for a surgical instrument according to at least one embodiment. [Figure 112] 1 illustrates a control circuit for a surgical instrument in accordance with at least one embodiment. [Figure 113] 1 illustrates a method for identifying component disassembly or failure of a surgical instrument, according to at least one embodiment. [Figure 114] 1 shows a graph illustrating frequency component signals of an acoustic signature of a component of a surgical instrument, according to at least one embodiment. [Figure 115] 115 shows the components associated with the frequency component signal of FIG. [Figure 116] 1 illustrates a method for identifying a disassembly or failure of a drive component of a surgical instrument, according to at least one embodiment. [Figure 117] 1 shows a graph illustrating the relationship between motor current draw and frequency component signals for a motor of a surgical instrument, in accordance with at least one embodiment. [Figure 118] 1 illustrates a method for adjusting a motor control algorithm of a surgical instrument, according to at least one embodiment. [Figure 119] 1 illustrates a surgical environment in accordance with at least one embodiment. [Figure 120] 1 illustrates a monopolar surgical instrument according to at least one embodiment. [Figure 121] 121 shows the electrical termination of the monopolar surgical instrument of FIG. 120. [Figure 122] 121 shows the electrical termination of the monopolar surgical instrument of FIG. 120. [Figure 123] 1 shows a graph illustrating leakage current versus distance between surgical instruments, in accordance with at least one embodiment of the present disclosure. [Figure 124] 1 shows a graph illustrating direct current (DC) output voltage thresholds for different types of surgical instrument contact, according to at least one embodiment. [Figure 125] 1 illustrates a powered surgical tool according to at least one embodiment. [Figure 126] 126 shows a graph illustrating electrical potentials associated with the powered surgical tool of FIG. 125 in accordance with at least one embodiment. [Figure 127] 1 illustrates an active transmitting and sensing scheme utilized by a surgical instrument, according to at least one embodiment. [Figure 128] 128 shows a graph illustrating signals transmitted and received by the surgical instrument of FIG. 127. [Figure 129] 128 shows a graph illustrating proximity measurements associated with the surgical instrument of FIG. 127. [Figure 130] 1 illustrates a passive sensing scheme utilized by a surgical instrument, according to at least one embodiment. [Figure 131] 131 shows the primary magnetic field associated with the surgical instrument of FIG. 130 in an unaffected state. [Figure 132] 131 shows the primary magnetic field associated with the surgical instrument of FIG. 130 in an affected state. [Figure 133] 131 shows a graph illustrating Hall current associated with the surgical instrument of FIG. 130 in accordance with at least one embodiment. [Figure 134] 1 illustrates a passive sensing scheme utilized by a surgical instrument, according to at least one embodiment. [Figure 135] 1 illustrates a passive sensing scheme utilized by a surgical instrument, according to at least one embodiment. [Figure 136] 1 illustrates a schematic of a surgical instrument according to at least one embodiment. [Figure 137] 137 shows a graph illustrating induced current measured by a current sensor of the surgical instrument of FIG. 136 in accordance with at least one embodiment. [Figure 138] 1 illustrates a surgical instrument according to at least one embodiment shown with components removed; [Figure 139] 139 shows the electrical circuit of the surgical instrument of FIG. 138. [Figure 140] 1 shows a graph illustrating the relationship between altitude, atmospheric pressure, and power utilized by a surgical instrument, according to at least one embodiment. [Figure 141] 1 illustrates a method for predicting the occurrence of exceeding a predetermined temperature threshold, according to at least one embodiment. [Figure 142] 10 shows a graph illustrating the relationship between sensed temperature, approximate temperature, and energy usage of a surgical instrument, in accordance with at least one embodiment.

[0004] Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set forth herein illustrate various embodiments of the invention in one form only, and such exemplifications should not be construed as limiting the scope of the invention in any manner. DETAILED DESCRIPTION OF THE INVENTION

[0005] The applicant of this application owns the following U.S. patent applications, filed on December 14, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 16 / 220,281, entitled "SURGICAL INSTRUMENT WITH A HARDWARE-ONLY CONTROL CIRCUIT"; - U.S. Patent Application No. 16 / 220,301, entitled "SURGICAL INSTRUMENT WITH ACOUSTIC-BASED MOTOR CONTROL"; - U.S. Patent Application No. 16 / 220,313, entitled "SURGICAL INSTRUMENT COMPRISING A PLURALITY OF DRIVE SYSTEMS"; - U.S. Patent Application No. 16 / 220,309, entitled "SURGICAL INSTRUMENTS COMPRISING BUTTON CIRCUITS"; - U.S. Patent Application No. 16 / 220,318, entitled "SURGICAL INSTRUMENT COMPRISING A CONTROL SYSTEM THAT USES INPUT FROM A STRAIN GAGE ​​CIRCUIT"; -U.S. Patent Application No. 16 / 220,273, entitled "SURGICAL INSTRUMENT WITH A SENSING ARRAY"; and -U.S. Patent Application No. 16 / 220,280, entitled "SURGICAL INSTRUMENT WITH ENVIRONMENT SENSING."

[0006] The applicant of this application owns the following U.S. patent applications, filed on December 12, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Provisional Patent Application No. 62 / 778,571, entitled "SURGICAL INSTRUMENT SYSTEMS"; -U.S. Provisional Patent Application No. 62 / 778,572, entitled "SURGICAL INSTRUMENT SYSTEMS"; -U.S. Provisional Patent Application No. 62 / 778,573, entitled "SURGICAL INSTRUMENT SYSTEMS."

[0007] The applicant of this application owns the following U.S. patent applications, filed on October 26, 2018, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 16 / 172,130, entitled "CLIP APPLIER COMPRISING INTERCHANGEABLE CLIP RELOADS"; - U.S. Patent Application No. 16 / 172,066, entitled "CLIP APPLIER COMPRISING A MOVABLE CLIP MAGAZINE"; -U.S. Patent Application No. 16 / 172,078, entitled "CLIP APPLIER COMPRISING A ROTATABLE CLIP MAGAZINE"; - U.S. Patent Application No. 16 / 172,087, entitled "CLIP APPLIER COMPRISING CLIP ADVANCING SYSTEMS"; -U.S. Patent Application No. 16 / 172,094, entitled "CLIP APPLIER COMPRISING A CLIP CRIMPING SYSTEM"; -U.S. Patent Application No. 16 / 172,128, entitled "CLIP APPLIER COMPRISING A RECIPROCATING CLIP ADVANCING MEMBER"; -U.S. Patent Application No. 16 / 172,168, entitled "CLIP APPLIER COMPRISING A MOTOR CONTROLLER"; -U.S. Patent Application No. 16 / 172,164, entitled "SURGICAL SYSTEM COMPRISING A SURGICAL TOOL AND A SURGICAL HUB"; and -U.S. Patent Application No. 16 / 172,303, entitled "METHOD FOR OPERATING A POWERED ARTICULATING MULTI-CLIP APPLIER."

[0008] The applicant of this application owns the following U.S. patent applications, filed on October 26, 2018, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 16 / 172,328, entitled "METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS"; - U.S. Patent Application No. 16 / 172,280, entitled "METHOD FOR PRODUCING A SURGICAL INSTRUMENT COMPRISING A SMART ELECTRICAL SYSTEM"; -U.S. Patent Application No. 16 / 172,219, entitled "METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS"; -U.S. Patent Application No. 16 / 172,248, entitled "METHOD FOR COMMUNICATING WITH SURGICAL INSTRUMENT SYSTEMS"; -U.S. Patent Application No. 16 / 172,198, entitled "METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS," and -U.S. Patent Application No. 16 / 172,155, entitled "METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS."

[0009] The applicant of this application owns the following U.S. patent applications, filed on August 24, 2018, each of which is incorporated herein by reference in its entirety: - U.S. Patent Application No. 16 / 112,129, entitled "SURGICAL SUTURING INSTRUMENT CONFIGURED TO MANIPULATE TISSUE USING MECHANICAL AND ELECTRICAL POWER"; - U.S. Patent Application No. 16 / 112,155, entitled "SURGICAL SUTURING INSTRUMENT COMPRISING A CAPTURE WIDTH WHICH IS LARGER THAN TROCAR DIAMETER"; - U.S. Patent Application No. 16 / 112,168, entitled "SURGICAL SUTURING INSTRUMENT COMPRISING A NON-CIRCULAR NEEDLE"; -U.S. Patent Application No. 16 / 112,180, entitled "ELECTRICAL POWER OUTPUT CONTROL BASED ON MECHANICAL FORCES"; - U.S. Patent Application No. 16 / 112,193, entitled "REACTIVE ALGORITHM FOR SURGICAL SYSTEM"; - U.S. Patent Application No. 16 / 112,099, entitled "SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE ELECTRICAL SYSTEM"; - U.S. Patent Application No. 16 / 112,112, entitled "CONTROL SYSTEM ARRANGEMENTS FOR A MODULAR SURGICAL INSTRUMENT"; -U.S. Patent Application No. 16 / 112,119, entitled "ADAPTIVE CONTROL PROGRAMS FOR A SURGICAL SYSTEM COMPRISING MORE THAN ONE TYPE OF CARTRIDGE"; - U.S. Patent Application No. 16 / 112,097, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING BATTERY ARRANGEMENTS"; - U.S. Patent Application No. 16 / 112,109, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING HANDLE ARRANGEMENTS"; - U.S. Patent Application No. 16 / 112,114, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING FEEDBACK MECHANISMS"; - U.S. Patent Application No. 16 / 112,117, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING LOCKOUT MECHANISMS"; - U.S. Patent Application No. 16 / 112,095, entitled "SURGICAL INSTRUMENTS COMPRISING A LOCKABLE END EFFECTOR SOCKET"; -U.S. Patent Application No. 16 / 112,121, entitled "SURGICAL INSTRUMENTS COMPRISING A SHIFTING MECHANISM"; - U.S. Patent Application No. 16 / 112,151, entitled "SURGICAL INSTRUMENTS COMPRISING A SYSTEM FOR ARTICULATION AND ROTATION COMPENSATION"; - U.S. Patent Application No. 16 / 112,154, entitled "SURGICAL INSTRUMENTS COMPRISING A BIASED SHIFTING MECHANISM"; - U.S. Patent Application No. 16 / 112,226, entitled "SURGICAL INSTRUMENTS COMPRISING AN ARTICULATION DRIVE THAT PROVIDES FOR HIGH ARTICULATION ANGLES"; -U.S. Patent Application No. 16 / 112,062, entitled "SURGICAL DISSECTORS AND MANUFACTURING TECHNIQUES"; -U.S. Patent Application No. 16 / 112,098, entitled "SURGICAL DISSECTORS CONFIGURED TO APPLY MECHANICAL AND ELECTRICAL ENERGY"; -U.S. Patent Application No. 16 / 112,237, entitled "SURGICAL CLIP APPLIER CONFIGURED TO STORE CLIPS IN A STORED STATE"; -U.S. Patent Application No. 16 / 112,245, entitled "SURGICAL CLIP APPLIER COMPRISING AN EMPTY CLIP CARTRIDGE LOCKOUT"; - U.S. Patent Application No. 16 / 112,249, entitled "SURGICAL CLIP APPLIER COMPRISING AN AUTOMATIC CLIP FEEDING SYSTEM"; -U.S. Patent Application No. 16 / 112,253, entitled "SURGICAL CLIP APPLIER COMPRISING ADAPTIVE FIRING CONTROL"; and -U.S. Patent Application No. 16 / 112,257, entitled "SURGICAL CLIP APPLIER COMPRISING ADAPTIVE CONTROL IN RESPONSE TO A STRAIN GAUGE CIRCUIT."

[0010] The applicant of this application owns the following U.S. patent applications, filed on May 1, 2018, each of which is incorporated herein by reference in its entirety: -U.S. Provisional Patent Application No. 62 / 665,129, entitled "SURGICAL SUTURING SYSTEMS"; - U.S. Provisional Patent Application No. 62 / 665,139, entitled "SURGICAL INSTRUMENTS COMPRISING CONTROL SYSTEMS"; - U.S. Provisional Patent Application No. 62 / 665,177, entitled "SURGICAL INSTRUMENTS COMPRISING HANDLE ARRANGEMENTS"; - U.S. Provisional Patent Application No. 62 / 665,128, entitled "MODULAR SURGICAL INSTRUMENTS"; -U.S. Provisional Patent Application No. 62 / 665,192, entitled "SURGICAL DISSECTORS," and -U.S. Provisional Patent Application No. 62 / 665,134, entitled "SURGICAL CLIP APPLIER."

[0011] The applicant of this application owns the following U.S. patent applications, filed on February 28, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 908,021, entitled "SURGICAL INSTRUMENT WITH REMOTE RELEASE"; - U.S. Patent Application No. 15 / 908,012, entitled "SURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENT TYPES OF END EFFECTOR MOVEMENT"; - U.S. Patent Application No. 15 / 908,040, entitled "SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS"; - U.S. Patent Application No. 15 / 908,057, entitled "SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS"; -U.S. Patent Application No. 15 / 908,058, entitled "SURGICAL INSTRUMENT WITH MODULAR POWER SOURCES"; and -U.S. Patent Application No. 15 / 908,143, entitled "SURGICAL INSTRUMENT WITH SENSOR AND / OR CONTROL SYSTEMS."

[0012] The applicant of this application owns the following U.S. patent applications, filed on October 30, 2017, the entire contents of each of which are incorporated herein by reference: -U.S. Provisional Patent Application No. 62 / 578,793, entitled "SURGICAL INSTRUMENT WITH REMOTE RELEASE"; - U.S. Provisional Patent Application No. 62 / 578,804, entitled "SURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENT TYPES OF END EFFECTOR MOVEMENT"; - U.S. Provisional Patent Application No. 62 / 578,817, entitled "SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS"; - U.S. Provisional Patent Application No. 62 / 578,835, entitled "SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS"; -U.S. Provisional Patent Application No. 62 / 578,844, entitled "SURGICAL INSTRUMENT WITH MODULAR POWER SOURCES," and -U.S. Provisional Patent Application No. 62 / 578,855, entitled "SURGICAL INSTRUMENT WITH SENSOR AND / OR CONTROL SYSTEMS."

[0013] The applicant of this application owns the following U.S. provisional patent applications, filed on December 28, 2017, the entire disclosures of each of which are incorporated herein by reference: -U.S. Provisional Patent Application No. 62 / 611,341, entitled "INTERACTIVE SURGICAL PLATFORM"; -U.S. Provisional Patent Application No. 62 / 611,340, entitled "CLOUD-BASED MEDICAL ANALYTICS"; and -U.S. Provisional Patent Application No. 62 / 611,339, entitled "ROBOT ASSISTED SURGICAL PLATFORM."

[0014] The applicant of this application owns the following U.S. provisional patent applications, filed on March 28, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Provisional Patent Application No. 62 / 649,302, entitled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES"; - U.S. Provisional Patent Application No. 62 / 649,294, entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD"; -U.S. Provisional Patent Application No. 62 / 649,300, entitled "SURGICAL HUB SITUATIONAL AWARENESS"; -U.S. Provisional Patent Application No. 62 / 649,309, entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER"; - U.S. Provisional Patent Application No. 62 / 649,310, entitled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS"; - U.S. Provisional Patent Application No. 62 / 649,291, entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT"; -U.S. Provisional Patent Application No. 62 / 649,296, entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES"; -U.S. Provisional Patent Application No. 62 / 649,333, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER"; -U.S. Provisional Patent Application No. 62 / 649,327, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES"; -U.S. Provisional Patent Application No. 62 / 649,315, entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK"; -U.S. Provisional Patent Application No. 62 / 649,313, entitled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES"; -U.S. Provisional Patent Application No. 62 / 649,320, entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; -U.S. Provisional Patent Application No. 62 / 649,307, entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS," and -U.S. Provisional Patent Application No. 62 / 649,323, entitled "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS."

[0015] The applicant of this application owns the following U.S. patent applications, filed on March 29, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 940,641, entitled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES"; -U.S. Patent Application No. 15 / 940,648, entitled "INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES"; -U.S. Patent Application No. 15 / 940,656, entitled "SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES"; -U.S. Patent Application No. 15 / 940,666, entitled "SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS"; - U.S. Patent Application No. 15 / 940,670, entitled "COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS"; -U.S. Patent Application No. 15 / 940,677, entitled "SURGICAL HUB CONTROL ARRANGEMENTS"; -U.S. Patent Application No. 15 / 940,632, entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD"; - U.S. Patent Application No. 15 / 940,640, entitled "COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD-BASED ANALYTICS SYSTEMS"; -U.S. Patent Application No. 15 / 940,645, entitled "SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT"; -U.S. Patent Application No. 15 / 940,649, entitled "DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME"; -U.S. Patent Application No. 15 / 940,654, entitled "SURGICAL HUB SITUATIONAL AWARENESS"; -U.S. Patent Application No. 15 / 940,663, entitled "SURGICAL SYSTEM DISTRIBUTED PROCESSING"; -U.S. Patent Application No. 15 / 940,668, entitled "AGGREGATION AND REPORTING OF SURGICAL HUB DATA"; -U.S. Patent Application No. 15 / 940,671, entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER"; -U.S. Patent Application No. 15 / 940,686, entitled "DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE"; -U.S. Patent Application No. 15 / 940,700, entitled "STERILE FIELD INTERACTIVE CONTROL DISPLAYS"; -U.S. Patent Application No. 15 / 940,629, entitled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS"; - U.S. Patent Application No. 15 / 940,704, entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT"; -U.S. Patent Application No. 15 / 940,722, entitled "CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY"; and -U.S. Patent Application No. 15 / 940,742, entitled "DUAL CMOS ARRAY IMAGING."

[0016] The applicant of this application owns the following U.S. patent applications, filed on March 29, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 940,636, entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES"; -U.S. Patent Application No. 15 / 940,653, entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS"; -U.S. Patent Application No. 15 / 940,660, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER"; -U.S. Patent Application No. 15 / 940,679, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET"; - U.S. Patent Application No. 15 / 940,694, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR MACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION"; -U.S. Patent Application No. 15 / 940,634, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES"; -U.S. Patent Application No. 15 / 940,706, entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK"; and -U.S. Patent Application No. 15 / 940,675, entitled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES."

[0017] The applicant of this application owns the following U.S. patent applications, filed on March 29, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 940,627, entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; -U.S. Patent Application No. 15 / 940,637, entitled "COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; -U.S. Patent Application No. 15 / 940,642, entitled "CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; -U.S. Patent Application No. 15 / 940,676, entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; -U.S. Patent Application No. 15 / 940,680, entitled "CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; -U.S. Patent Application No. 15 / 940,683, entitled "COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; -U.S. Patent Application No. 15 / 940,690, entitled "DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS," and -U.S. Patent Application No. 15 / 940,711, entitled "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS."

[0018] The applicant of this application owns the following U.S. provisional patent applications, filed on March 30, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Provisional Patent Application No. 62 / 650,887, entitled "SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES"; -U.S. Provisional Patent Application No. 62 / 650,877, entitled "SURGICAL SMOKE EVACUATION SENSING AND CONTROLS"; -U.S. Provisional Patent Application No. 62 / 650,882, entitled "SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM"; and -U.S. Provisional Patent Application No. 62 / 650,898, entitled "CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS."

[0019] The applicant of this application owns the following U.S. provisional patent applications, filed on April 19, 2018, the entire contents of which are incorporated herein by reference: -U.S. Provisional Patent Application No. 62 / 659,900, entitled "METHOD OF HUB COMMUNICATION."

[0020] The applicant of this application owns the following U.S. provisional patent applications, filed on October 25, 2018, the entire contents of each of which are incorporated herein by reference: -U.S. Provisional Patent Application No. 62 / 750,529, entitled "METHOD FOR OPERATING A POWERED ARTICULATING MULTI-CLIP APPLIER"; -U.S. Provisional Patent Application No. 62 / 750,539, entitled "SURGICAL CLIP APPLIER"; and -U.S. Provisional Patent Application No. 62 / 750,555, entitled "SURGICAL CLIP APPLIER."

[0021] As described in the specification and illustrated in the accompanying drawings, numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements have not been 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 can be made thereto without departing from the scope of the claims.

[0022] 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 modifiable linking verbs. Consequently, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Similarly, a system, device, or apparatus element that "comprises," "has," "includes," or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

[0023] The terms "proximal" and "distal" are used herein with reference to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located away from the clinician. It will be further understood that for convenience and clarity, spatial terms such as "vertical," "horizontal," "above," and "below" 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.

[0024] 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 can be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. By proceeding through the Detailed Description of the Invention section of this specification, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural opening, an incision or puncture made in tissue, etc. The working portions or end effector portions of these instruments can be inserted directly into the patient's body or can be inserted through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument can be advanced.

[0025] For example, a surgical instrument, such as a grasper, can include a handle, a shaft extending from the handle, and an end effector extending from the shaft. In various examples, the end effector includes a first jaw and a second jaw, one or both of which are movable relative to the other to grasp tissue of a patient. Thus, the end effector of a surgical instrument can have any suitable configuration and can perform any suitable function. For example, the end effector can include first and second jaws configured to incise or separate tissue of a patient. Also, for example, the end effector can be configured to suture and / or clip tissue of a patient. In various examples, the end effector and / or shaft of a surgical instrument is configured to be inserted into a patient through a trocar or cannula and can have any suitable diameter, such as, for example, approximately 5 mm, 8 mm, and / or 12 mm. U.S. Patent Application No. 11 / 013,924, entitled "TROCAR SEAL ASSEMBLY," now U.S. Patent No. 7,371,227, is incorporated herein by reference in its entirety. The shaft can define a longitudinal axis, and at least a portion of the end effector can be rotatable about the longitudinal axis. Additionally, the surgical instrument can further include an articulation joint that can allow at least a portion of the end effector to articulate relative to the shaft. During use, a clinician can rotate and / or articulate the end effector to manipulate it within a patient.

[0026] A surgical instrument system is depicted in FIG. 1. The surgical instrument system includes a handle assembly 1000, which is selectively usable with shaft assembly 2000, shaft assembly 3000, shaft assembly 4000, shaft assembly 5000, and / or any other suitable shaft assembly. Shaft assembly 2000 is attached to handle assembly 1000 of FIG. 2, and shaft assembly 4000 is attached to handle assembly 1000 of FIG. 45. Shaft assembly 2000 includes a proximal portion 2100, an elongate shaft 2200 extending from proximal portion 2100, a distal mounting portion 2400, and an articulation joint 2300 rotatably connecting distal mounting portion 2400 to elongate shaft 2200. Shaft assembly 2000 further includes an interchangeable end effector assembly 7000 attached to distal mounting portion 2400. The interchangeable end effector assembly 7000 includes a jaw assembly 7100 configured to open and close to clamp and / or manipulate tissue of a patient. In use, as described in further detail below, the end effector assembly 7000 can be articulated about the articulation joint 2300 and / or rotated about a longitudinal axis relative to the distal mounting portion 2400 to better position the jaw assembly 7100 within the patient.

[0027] 1 , handle assembly 1000 includes, among other things, drive module 1100. As described in more detail below, drive module 1100 includes a distal mounting interface that allows a clinician to selectively attach one of, for example, shaft assemblies 2000, 3000, 4000, and 5000 to drive module 1100. Accordingly, each of shaft assemblies 2000, 3000, 4000, and 5000 includes an identical or at least similar proximal mounting interface configured to engage the distal mounting interface of drive module 1100. As described in more detail below, the mounting interface of drive module 1100 mechanically and electrically couples the selected shaft assembly to drive module 1100. Drive module 1100 further includes at least one electric motor, one or more controls and / or displays, and a controller configured to operate the electric motor, the rotational output of which is transmitted to the drive system of the shaft assembly attached to drive module 1100. Additionally, drive module 1100 can be used with one or more power supply modules, such as, for example, power supply modules 1200 and 1300, that are operably attachable to and provide power to drive module 1100.

[0028] 1 and 2, the handle drive module 1100 includes a housing 1110, a first module connector 1120, and a second module connector 1120′. The power supply module 1200 includes a housing 1210, a connector 1220, one or more release latches 1250, and one or more batteries 1230. The connector 1220 is configured to engage with the first module connector 1120 of the drive module 1100 to attach the power supply module 1200 to the drive module 1100. The connector 1220 includes one or more latches 1240 that mechanically couple and securely fasten the housing 1210 of the power supply module 1200 to the housing 1110 of the drive module 1100. The latches 1240 are movable to a disengaged position when the release latches 1250 are depressed so that the power supply module 1200 can be removed from the drive module 1100. Connector 1220 also includes one or more electrical contacts that place battery 1230 and / or the electrical circuitry including battery 1230 in electrical communication with the electrical circuitry within drive module 1100 .

[0029] 1 and 2, power supply module 1300 includes a housing 1310, a connector 1320, one or more release latches 1350, and one or more batteries 1330 (FIG. 47). Connector 1320 is configured to engage with second module connector 1120′ of drive module 1100 to attach power supply module 1300 to drive module 1100. Connector 1320 includes one or more latches 1340 that mechanically couple and securely fasten housing 1310 of power supply module 1300 to housing 1110 of drive module 1100. Latch 1340 is movable to a disengaged position when release latch 1350 is depressed so that power supply module 1300 may be removed from drive module 1100. The connector 1320 also includes one or more electrical contacts that place the battery 1330 of the power supply module 1300 and / or the power circuitry including the battery 1330 in electrical communication with the power circuitry within the drive module 1100 .

[0030] Further to the above, when attached to the drive module 1100, the power supply module 1200 comprises a pistol grip that may allow a clinician to hold the handle 1000 to position the drive module 1100 in the clinician's hand. When attached to the drive module 1100, the power supply module 1300 comprises an end grip that allows a clinician to hold the handle 1000 like a wand. While the power supply modules 1200 and 1300 may have any suitable length, the power supply module 1200 is longer than the power supply module 1300. The power supply module 1200 has more battery cells than the power supply module 1300, and its length allows it to suitably accommodate these additional battery cells. In various examples, the power supply module 1200 can provide more power to the drive module 1100 than the power supply module 1300, while in some examples the power supply module 1200 can provide power for a longer period of time. In some examples, the housing 1110 of the drive module 1100 includes a key and / or any other suitable mechanism that prevents the power supply module 1200 from being connected to the second module connector 1120′ and similarly prevents the power supply module 1300 from being connected to the first module connector 1120. Such a configuration can ensure that the longer power supply module 1200 is used in a pistol grip configuration and the shorter power supply module 1300 is used in a wand grip configuration. In alternative embodiments, the power supply module 1200 and the power supply module 1300 can be selectively coupled to the drive module 1100 at either the first module connector 1120 or the second module connector 1120′. Such embodiments provide clinicians with more options for customizing the handle 1000 in a manner suitable for them.

[0031] Further to the above, in various examples, only one of power supply modules 1200 and 1300 is coupled to drive module 1100 at a time. In certain examples, power supply module 1200 may interfere with, for example, shaft assembly 4000 when attached to drive module 1100. Alternatively, both power supply modules 1200 and 1300 may be operably coupled to drive module 1100 simultaneously. In such examples, drive module 1100 may have access to power provided by both power supply modules 1200 and 1300. Furthermore, a clinician may switch between a pistol grip and a wand grip when both power supply modules 1200 and 1300 are attached to drive module 1100. Furthermore, such a configuration allows power supply module 1300 to function as a counterweight to a shaft assembly, such as shaft assembly 2000, 3000, 4000, or 5000, attached to drive module 1100.

[0032] 7 and 8, handle drive module 1100 further comprises a frame 1500, a motor assembly 1600, a drive system 1700 operably engaged with motor assembly 1600, and a control system 1800. Frame 1500 comprises an elongate shaft extending through motor assembly 1600. The elongate shaft comprises a distal end 1510 and an electrical contact or socket 1520 defined in distal end 1510. Electrical contact 1520 is in electrical communication with control system 1800 of drive module 1100 via one or more electrical circuits and is configured to transfer signals and / or power between control system 1800 and a shaft assembly, such as shaft assembly 2000, 3000, 4000, or 5000, attached to drive module 1100. The control system 1800 includes a printed circuit board (PCB) 1810, at least one microprocessor 1820, and at least one memory device 1830. The board 1810 may be rigid and / or flexible and may include any suitable number of layers. The microprocessor 1820 and memory device 1830 are part of control circuitry defined on the board 1810 that controls the operation of the motor assembly 1600, as described in more detail below.

[0033] 12 and 13, the motor assembly 1600 comprises an electric motor 1610 including a housing 1620, a drive shaft 1630, and a gear reduction system. The electric motor 1610 further comprises a stator including windings 1640 and a rotor including magnetic elements 1650. The stator windings 1640 are supported within the housing 1620, and the rotor magnetic elements 1650 are attached to the drive shaft 1630. When the stator windings 1640 are energized with a current controlled by a control system 1800, the drive shaft 1630 rotates about its longitudinal axis. The drive shaft 1630 is operably meshed with a first planetary gear system 1660 including a central sun gear and several planetary gears operably meshed with the sun gear. The sun gear of the first planetary gear system 1660 is fixedly attached to the drive shaft 1630 for rotation therewith. The planet gears of the first planetary gear system 1660 are rotatably mounted to the sun gear of the second planetary gear system 1670 and mesh with the geared or splined inner surface 1625 of the motor housing 1620. As a result of the above, rotation of the first sun gear rotates the first planetary gears, which rotate the second sun gear. As above, the second planetary gear system 1670 further includes planetary gears 1665 ( FIG. 13 ), which drive the third planetary gear system and ultimately the drive shaft 1710. The planetary gear systems 1660, 1670, and 1680 cooperate to reduce the speed applied to the drive shaft 1710 by the motor shaft 1620. Various alternative embodiments are envisioned without a reduction system. Such embodiments are preferred when it is desirable to quickly drive the end effector function. In particular, the drive shaft 1630 includes an opening or hollow core extending therethrough through which wires and / or electrical circuitry can extend.

[0034] The control system 1800 communicates with the power circuitry of the motor assembly 1600 and the drive module 1100. The control system 1800 is configured to control the power supplied to the motor assembly 1600 from the power circuitry. The power circuitry is configured to provide a constant, or at least approximately constant, direct current (DC) voltage. In at least one example, the power circuitry provides 3 VDC to the control system 1800. The control system 1800 includes a pulse width modulation (PWM) circuitry configured to provide voltage pulses to the motor assembly 1600. The duration or width of the voltage pulses and / or the duration or width between voltage pulses provided by the PWM circuitry can be controlled to control the power applied to the motor assembly 1600. By controlling the power applied to the motor assembly 1600, the PWM circuitry can control the speed of the output shaft of the motor assembly 1600. In addition to or instead of the PWM circuitry, the control system 1800 can include a frequency modulation (FM) circuitry. As discussed in more detail below, the control system 1800 is capable of operating in two or more operating modes, and depending on the operating mode used, the control system 1800 can operate the motor assembly 1600 at a speed or range of speeds determined to be appropriate for that operating mode.

[0035] 7 and 8 , the drive system 1700 includes a rotatable shaft 1710 including a splined distal end 1720 and a longitudinal opening 1730 defined therein. The rotatable shaft 1710 is operably mounted to the output shaft of the motor assembly 1600 such that the rotatable shaft 1710 rotates with the motor output shaft. The handle frame 1510 extends through the longitudinal opening 1730 and rotatably supports the rotatable shaft 1710. As a result, the handle frame 1510 functions as a bearing for the rotatable shaft 1710. The handle frame 1510 and the rotatable shaft 1710 extend distally from a mounting interface 1130 of the drive module 1110 and couple with corresponding components on the shaft assembly 2000 when the shaft assembly 2000 is assembled to the drive module 1100. 3-6, the shaft assembly 2000 further comprises a frame 2500 and a drive system 2700. The frame 2500 comprises a longitudinal shaft 2510 extending through the shaft assembly 2000 and a plurality of electrical contacts or pins 2520 extending proximally from the shaft 2510. When the shaft assembly 2000 is attached to the drive module 1100, the electrical contacts 2520 on the shaft frame 2510 engage with the electrical contacts 1520 on the handle frame 1510, forming an electrical path therebetween.

[0036] Similar to above, the drive system 2700 includes a rotatable drive shaft 2710 that is operably coupled to the rotatable drive shaft 1710 of the handle 1000 such that the drive shaft 2710 rotates with the drive shaft 1710 when the shaft assembly 2000 is assembled to the drive module 1100. To this end, the drive shaft 2710 includes a splined proximal end 2720 that mates with the splined distal end 1720 of the drive shaft 1710 such that the drive shafts 1710 and 2710 rotate together when the drive shaft 1710 is rotated by the motor assembly 1600. Given the nature of the splined interconnection between the drive shafts 1710 and 2710, as well as the nature of the electrical interconnection between the frames 1510 and 2510, the shaft assembly 2000 is assembled to the handle 1000 along its longitudinal axis. However, the operable interconnection between the drive shafts 1710 and 2710, as well as the electrical interconnection between the frames 1510 and 2510, may have any suitable configuration that allows the shaft assembly to be assembled to the handle 1000 in any suitable manner.

[0037] As noted above, with reference to FIGS. 3-8 , the mounting interface 1130 of the drive module 1110 is configured to couple to a corresponding mounting interface on, for example, the shaft assemblies 2000, 3000, 4000, and 5000. For example, the shaft assembly 2000 includes a mounting interface 2130 configured to couple to the mounting interface 1130 of the drive module 1100. More specifically, the proximal portion 2100 of the shaft assembly 2000 includes a housing 2110 that defines the mounting interface 2130. Referring primarily to FIG. 8 , the drive module 1100 includes a latch 1140 configured to releasably hold the mounting interface 2130 of the shaft assembly 2000 to the mounting interface 1130 of the drive module 1100. When the drive module 1100 and the shaft assembly 2000 are brought together along the longitudinal axis as described above, the latch 1140 contacts the mounting interface 2130 and rotates outward to an unlocked position. 8, 10, and 11, each latch 1140 includes a locking end 1142 and a pivot portion 1144. The pivot portion 1144 of each latch 1140 is rotatably coupled to the housing 1110 of the drive module 1100, such that when the latch 1140 is rotated outward, the latch 1140 rotates about the pivot portion 1144. In particular, each latch 1140 further includes a biasing spring 1146 configured to bias the latch 1140 inward toward the locked position. Each biasing spring 1146 is compressed between the latch 1140 and the housing 1110 of the drive module 1100 such that the biasing spring 1146 applies a biasing force to the latch 1140. However, such biasing force is counteracted when the latches 1140 are rotated outward by the shaft assembly 2000 toward their unlocked position. This allows the locking end 1142 of the latch 1140 to enter into the latch window 2140 defined in the mounting interface 2130 when the latch 1140 rotates outward after contacting the mounting interface 2130. Once the locking end 1142 passes through the latch window 2140, the spring 1146 can return the latch 1140 to its locked position.Each locking end 1142 includes a locking shoulder or surface that securely holds the shaft assembly 2000 to the drive module 1100 .

[0038] Further to the above, a biasing spring 1146 holds the latch 1140 in its locked position. The distal end 1142 is sized and configured to prevent, or at least inhibit, relative longitudinal movement, i.e., translation along the longitudinal axis, between the shaft assembly 2000 and the drive module 1100 when the latch 1140 is in their locked position. Furthermore, the latch 1140 and latch window 1240 are sized and configured to prevent relative lateral movement, i.e., translation lateral to the longitudinal axis, between the shaft assembly 2000 and the drive module 1100. Additionally, the latch 1140 and latch window 2140 are sized and configured to prevent rotation of the shaft assembly 2000 relative to the drive module 1100. The drive module 1100 further comprises a release actuator 1150 that, when depressed by a clinician, moves the latch 1140 from their locked position to their unlocked position. The drive module 1100 includes a first release actuator 1150 slidably mounted within an opening defined in a first side of the handle housing 1110 and a second release actuator 1150 slidably mounted within an opening defined in a second, or opposite, side of the handle housing 1110. The release actuators 1150 are separately actuable, but typically both release actuators 1150 must be depressed to fully unlock the shaft assembly 2000 from the drive module 1100 and allow the shaft assembly 2000 to be removed from the drive module 1100. This allows the shaft assembly 2000 to be removed from the drive module 1100 by depressing only one release actuator 1150.

[0039] Once the shaft assembly 2000 is fixedly attached to the handle 1000, for example, with the end effector 7000 assembled to the shaft 2000, a clinician can manipulate the handle 1000 to insert the end effector 7000 into a patient. In at least one example, the end effector 7000 is inserted into a patient through a trocar and then manipulated to position the jaw assembly 7100 of the end effector assembly 7000 relative to the patient's tissue. Often, the jaw assembly 7100 must be in its closed or clamping configuration to fit through the trocar. Once the trocar is penetrated, the jaw assembly 7100 can open to allow the patient tissue to fit between the jaws of the jaw assembly 7100. At such point, the jaw assembly 7100 can return to its closed configuration to clamp the patient tissue between the jaws. The clamping force applied by the jaw assembly 7100 to the patient tissue is sufficient to move or otherwise manipulate the tissue during a surgical procedure. The jaw assembly 7100 can then be opened again to release the patient tissue from the end effector 7000. This process can be repeated until it is desired to remove the end effector 7000 from the patient. At such time, the jaw assembly 7100 can be returned to its closed configuration and retracted through a trocar. Other surgical techniques are envisioned in which the end effector 7000 is inserted into the patient through an open incision or without the use of a trocar. In either case, it is envisioned that the jaw assembly 7100 may have to be opened and closed several times throughout the surgical technique.

[0040] 3-6 , the shaft assembly 2000 further includes a clamp trigger system 2600 and a control system 2800. The clamp trigger system 2600 includes a clamp trigger 2610 rotatably connected to a proximal housing 2110 of the shaft assembly 2000. As described below, when the clamp trigger 2610 is actuated, the clamp trigger 2610 activates the motor 1610 to operate the jaw drive of the end effector 7000. The clamp trigger 2610 includes an elongated portion that can be grasped by a clinician while holding the handle 1000. The clamp trigger 2610 further includes a mounting portion 2620 pivotally connected to a mounting portion 2120 of the proximal housing 2110 such that the clamp trigger 2610 is rotatable about a fixed, or at least substantially fixed, axis. The closure trigger 2610 is rotatable between a distal position and a proximal position, the proximal position of the closure trigger 2610 being closer to the pistol grip of the handle 1000 than the distal position. The closure trigger 2610 further includes a tab 2615 extending therefrom that rotates within the proximal housing 2110. When the closure trigger 2610 is in its distal position, the tab 2615 is positioned above, but not in contact with, a switch 2115 mounted on the proximal housing 2110. The switch 2115 is part of an electrical circuit configured to detect actuation of the closure trigger 2610 in its open state, with the closure trigger 2610 in the open position. When the closure trigger 2610 is moved to its proximal position, the tab 2615 contacts the switch 2115 and closes the electrical circuit. In various examples, the switch 2115 may comprise, for example, a toggle switch that is mechanically switched between an open state and a closed state when contacted by a tab 2615 of the closure trigger 2610. In particular examples, the switch 2115 may comprise, for example, a proximity sensor and / or any suitable type of sensor. In at least one example, the switch 2115 comprises a Hall Effect sensor that detects the amount the closure trigger 2610 has been rotated and can control the speed at which the motor 1610 is operated based on the amount of rotation.In such an example, a greater rotation of the closure trigger 2610 results in a faster speed of the motor 1610, while a smaller rotation, for example, results in a slower speed. In either case, the electrical circuitry communicates with a control system 2800 of the shaft assembly 2000, which is described in more detail below.

[0041] Further to the above, the control system 2800 of the shaft assembly 2000 includes a printed circuit board (PCB) 2810, at least one microprocessor 2820, and at least one memory device 2830. The board 2810 may be rigid and / or flexible and may include any suitable number of layers. The microprocessor 2820 and memory device 2830 are part of control circuitry defined on the board 2810 that communicates with the control system 1800 of the handle 1000. The shaft assembly 2000 further includes a signal communication system 2900, and the handle 1000 further includes a signal communication system 1900 configured to transmit data between the shaft control system 2800 and the handle control system 1800. The signal communication system 2900 is configured to transmit data to the signal communication system 1900 using any suitable analog and / or digital components. In various examples, communication systems 2900 and 1900 can communicate using multiple discrete channels, allowing input gates of microprocessor 1820 to be at least partially directly controlled by output gates of microprocessor 2820. In some examples, communication systems 2900 and 1900 can utilize multiplexing. In at least one such example, control system 2900 includes a multiplexing device that simultaneously transmits multiple signals over carrier channels in the form of a single composite signal to a multiplexing device of control system 1900 that recovers the separated signals from the composite signal.

[0042] The communication system 2900 includes an electrical connector 2910 mounted to a circuit board 2810. The electrical connector 2910 includes a connector body and a plurality of conductive contacts mounted to the connector body. The conductive contacts include, for example, male pins soldered to electrical traces defined in the circuit board 2810. In another example, the male pins can communicate with the circuit board traces via, for example, a zero-insertion-force (ZIF) socket. The communication system 1900 includes an electrical connector 1910 mounted to the circuit board 1810. The electrical connector 1910 includes a connector body and a plurality of conductive contacts mounted to the connector body. The conductive contacts include, for example, female pins soldered to electrical traces defined in the circuit board 1810. In another example, the female pins can communicate with the circuit board traces via, for example, a zero-insertion-force (ZIF) socket. When the shaft assembly 2000 is assembled to the drive module 1100, the electrical connector 2910 is operably coupled to the electrical connector 1910 such that the electrical contacts form an electrical path therebetween. As described above, the connectors 1910 and 2910 can comprise any suitable electrical contacts. Furthermore, the communication systems 1900 and 2900 can communicate with each other in any suitable manner. In various examples, the communication systems 1900 and 2900 communicate wirelessly. In at least one such example, the communication system 2900 comprises a wireless signal transmitter, and the communication system 1900 comprises a wireless signal receiver such that the shaft assembly 2000 can wirelessly communicate data to the handle 1000. Similarly, the communication system 1900 can comprise a wireless signal transmitter, and the communication system 2900 can comprise a wireless signal receiver such that the handle 1000 can wirelessly communicate data to the shaft assembly 2000.

[0043] As described above, the control system 1800 of the handle 1000 is configured to communicate with and control the power circuit of the handle 1000. The handle control system 1800 is also powered by the power circuit of the handle 1000. The handle communication system 1900 is in signal communication with the handle control system 1800 and is also powered by the power circuit of the handle 1000. The handle communication system 1900 is powered by the handle power circuit via the handle control system 1800, but may also be powered directly by the power circuit. Also as described above, the handle communication system 1900 is in signal communication with the shaft communication system 2900. Thus, the shaft communication system 2900 is also powered by the handle power circuit via the handle communication system 1900. For this purpose, the electrical connectors 1910 and 2010 connect both one or more signal circuits and one or more power circuits between the handle 1000 and the shaft assembly 2000. Further, the shaft communication system 2900 is in signal communication with the shaft control system 2800 as described above, and is configured to provide power to the shaft control system 2800. Thus, the control systems 1800 and 2800 and the communication systems 1900 and 2900 are all powered by the power circuitry of the handle 1000. However, in alternative embodiments, it is contemplated that the shaft assembly 2000 includes its own power source, such as one or more batteries, and a power circuitry configured to provide power from the batteries to the handle systems 2800 and 2900. In at least one such embodiment, the handle control system 1800 and the handle communication system 1900 are powered by the handle power system and the shaft control system 2800, and the handle communication system 2900 is powered by the shaft power system.

[0044] In addition to the above, actuation of the clamp trigger 2610 is detected by the shaft control system 2800 and communicated to the handle control system 1800 via communication systems 2900 and 1900. Upon receiving a signal that the clamp trigger 2610 has been actuated, the handle control system 1800 provides power to the electric motor 1610 of the motor assembly 1600 to rotate the drive shaft 1710 of the handle drive system 1700 and the drive shaft 2710 of the shaft drive system 2700 in a direction to close the jaw assembly 7100 of the end effector 7000. The mechanism for converting the rotation of the drive shaft 2710 into closing motion of the jaw assembly 7100 is described in more detail below. As long as the clamp trigger 2610 is held in its actuated position, the electric motor 1610 will rotate the drive shaft 1710 until the jaw assembly 7100 reaches its fully clamped position. When the jaw assembly 7100 reaches its fully clamped position, the handle control system 1800 cuts off power to the electric motor 1610. The handle control system 1800 can determine when the jaw assembly 7100 has reached its fully clamped position in any suitable manner. For example, the handle control system 1800 can include an encoder system that monitors and counts the rotations of the output shaft of the electric motor 1610, and when the number of rotations reaches a predetermined threshold, the handle control system 1800 can stop supplying power to the electric motor 1610. In at least one example, the end effector assembly 7000 can include one or more sensors configured to detect when the jaw assembly 7100 has reached its fully clamped position. In at least one such example, a sensor in the end effector 7000 is in signal communication with the handle control system 1800 via an electrical circuit extending through the shaft assembly 2000, which may include, for example, electrical contacts 1520 and 2520.

[0045] When the clamp trigger 2610 is rotated distally from its proximal position, the switch 2115 is opened, which is detected by the shaft control system 2800 and communicated to the handle control system 1800 via the communication systems 2900 and 1900. Upon receiving a signal that the clamp trigger 2610 has been moved from its actuated position, the handle control system 1800 reverses the polarity of the voltage difference applied to the electric motor 1610 of the motor assembly 1600, causing the drive shaft 1710 of the handle drive system 1700 and the drive shaft 2710 of the shaft drive system 2700 to rotate in the opposite direction. As a result, the jaw assembly 7100 of the end effector 7000 opens. When the jaw assembly 7100 reaches its fully open position, the handle control system 1800 cuts off power to the electric motor 1610. The handle control system 1800 can determine when the jaw assembly 7100 has reached its fully open position in any suitable manner. For example, the handle control system 1800 can utilize an encoder system and / or one or more of the sensors described above to determine the configuration of the jaw assembly 7100. In view of the above, the clinician must be careful about holding the clamp trigger 2610 in its actuated position to maintain the jaw assembly 7100 in its clamping configuration; otherwise, the control system 1800 will open the jaw assembly 7100. With this in mind, the shaft assembly 2000 further comprises an actuator latch 2630 configured to releasably hold the clamp trigger 2610 in its actuated position to prevent accidental opening of the jaw assembly 7100. The actuator latch 2630 can be manually released or otherwise overridden by the clinician to rotate the clamp trigger 2610 distally and open the jaw assembly 7100.

[0046] The clamp trigger system 2600 further comprises a resilient biasing member, such as, for example, a torsion spring, configured to resist closure of the clamp trigger system 2600. The torsion spring can also assist in reducing and / or mitigating sudden movement and / or jitter of the clamp trigger 2610. Such a torsion spring can also automatically return the clamp trigger 2610 to its unactuated position when the clamp trigger 2610 is released. The actuator latch 2630, described above, can suitably hold the clamp trigger 2610 in its actuated position against the biasing force of the torsion spring.

[0047] As described above, the control system 1800 operates the electric motor 1610 to open and close the jaw assembly 7100. The control system 1800 is configured to open and close the jaw assembly 7100 at the same speed. In such an example, the control system 1800 applies the same voltage pulses to the electric motor 1610 with different voltage polarities when opening and closing the jaw assembly 7100. This allows the control system 1800 to be configured to open and close the jaw assembly 7100 at different speeds. For example, the jaw assembly 7100 can close at a first speed and open at a second speed that is faster than the first speed. In such an example, the slower closing speed provides a clinician an opportunity to better position the jaw assembly 7100 while clamping tissue. Alternatively, the control system 1800 can open the jaw assembly 7100 at a slower speed. In such an example, a slower opening speed reduces the likelihood of the opening jaws colliding with adjacent tissue. In either case, the control system 1800 can decrease the duration of the voltage pulses and / or increase the duration between voltage pulses to slow down and / or speed up the movement of the jaw assembly 7100.

[0048] As described above, the control system 1800 is configured to interpret the position of the clamp trigger 2610 as a command to position the jaw assembly 7100 in a particular configuration. For example, the control system 1800 is configured to interpret the proximal-most position of the clamp trigger 2610 as a command to close the jaw assembly 7100 and any other position of the clamp trigger as a command to open the jaw assembly 7100. Thus, the control system 1800 may be configured to interpret the position of the clamp trigger 2610 in a proximal range of positions, instead of a single position, as a command to close the jaw assembly 7100. Such a configuration may allow the jaw assembly 7000 to be more responsive to clinician input. In such an example, the range of motion of the clamp trigger 2610 is divided into a proximal range that is interpreted as a command to close the jaw assembly 7100 and a distal range that is interpreted as a command to open the jaw assembly 7100. In at least one example, the range of motion of the clamp trigger 2610 may have an intermediate range between the proximal range and the distal range. When the clamp trigger 2610 is in the intermediate range, the control system 1800 can interpret the position of the clamp trigger 2610 as a command not to open or close the jaw assembly 7100. Such an intermediate range can prevent or reduce the possibility of jitter between the open and closed ranges. In the example above, the control system 1800 can be configured to ignore cumulative commands to open or close the jaw assembly 7100. For example, if the closure trigger 2610 is already fully retracted to its proximal-most position, the control assembly 1800 can ignore movement of the clamp trigger 2610 in the proximal or clamping range until the clamp trigger 2610 enters the distal or open range, at which point the control system 1800 can then actuate the electric motor 1610 to open the jaw assembly 7100.

[0049] In certain examples, further to the above, the position of the clamp trigger 2610 within the clamp trigger range, or at least a portion of the clamp trigger range, allows a clinician to control the speed of the electric motor 1610 (and therefore the speed at which the jaw assembly 7100 is opened and closed by the control assembly 1800). In at least one example, the sensor 2115 comprises a Hall Effect sensor and / or any other suitable sensor configured to detect the position of the clamp trigger 2610 between its distal unactuated position and its proximal fully actuated position. The Hall Effect sensor is configured to transmit a signal to the handle control system 1800 via the shaft control system 2800 such that the handle control system 1800 can control the speed of the electric motor 1610 depending on the position of the clamp trigger 2610. In at least one example, the handle control system 1800 controls the speed of the electric motor 1610 proportionally or linearly with the position of the clamp trigger 2610. For example, when the clamp trigger 2610 is moved halfway through its range, the handle control system 1800 operates the electric motor 1610 at half the speed at which the electric motor 1610 would operate if the clamp trigger 2610 were fully retracted. Similarly, when the clamp trigger 2610 is moved a quarter way through its range, the handle control system 1800 operates the electric motor 1610 at a quarter of the speed at which the electric motor 1610 would operate if the clamp trigger 2610 were fully retracted. Other embodiments are envisioned in which the handle control system 1800 controls the speed of the electric motor 1610 non-linearly with respect to the position of the clamp trigger 2610. In at least one example, the control system 1800 operates the electric motor 1610 slowly in the distal portion of the clamp trigger range, while quickly accelerating the speed of the electric motor 1610 in the proximal portion of the clamp trigger range.

[0050] As described above, the clamp trigger 2610 is movable to operate the electric motor 1610 to open and close the jaw assembly 7100 of the end effector 7000. The electric motor 1610 is also operable to rotate the end effector 7000 about its longitudinal axis and to articulate the end effector 7000 relative to the elongate shaft 2200 about the articulation joint 2300 of the shaft assembly 2000. Referring primarily to FIGS. 7-8 , the drive module 1100 comprises an input system 1400 including a rotational actuator 1420 and an articulation actuator 1430. The input system 1400 further comprises a printed circuit board (PCB) 1410 in signal communication with a printed circuit board (PCB) 1810 of a control system 1800. The drive module 1100 comprises electrical circuitry, such as a flexible wiring harness or ribbon, that enables the input system 1400 to communicate with the control system 1800. Rotational actuator 1420 is rotatably supported on housing 1110 and is in signal communication with input board 1410 and / or control board 1810, as described in more detail below. Articulation actuator 1430 is supported by and in signal communication with input board 1410 and / or control board 1810, as described in more detail below.

[0051] 8, 10, and 11, the handle housing 1110 additionally includes an annular groove or slot defined therein adjacent the distal mounting interface 1130. The rotational actuator 1420 includes an annular ring 1422 rotatably supported within the annular groove, the configuration of the sidewalls of the annular groove constraining the annular ring 1422 from longitudinal and / or lateral translation relative to the handle housing 1110. The annular ring 1422 is rotatable in a first or clockwise direction and a second or counterclockwise direction about a longitudinal axis extending through the frame 1500 of the drive module 1100. The rotational actuator 1420 includes one or more sensors configured to detect rotation of the annular ring 1422. In at least one example, the rotational actuator 1420 comprises a first sensor positioned on a first side of the drive module 1100 and a second sensor positioned on a second, or opposite, side of the drive module 1100, and the annular ring 1422 comprises a detectable element detectable by the first and second sensors. The first sensor is configured to detect when the annular ring 1422 is rotated in a first direction, and the second sensor is configured to detect when the annular ring 1422 is rotated in a second direction. When the first sensor detects that the annular ring 1422 is rotated in the first direction, the handle control system 1800 rotates the handle drive shaft 1710, the drive shaft 2710, and the end effector 7000 in the first direction, as described in more detail below. Similarly, the handle control system 1800 rotates the handle drive shaft 1710, the drive shaft 2710, and the end effector 7000 in a second direction when the second sensor detects that the annular ring 1422 has rotated in a second direction. In view of the above, the reader should understand that the clamp trigger 2610 and the rotational actuator 1420 are both operable to rotate the drive shaft 2710.

[0052] In various embodiments, further to the above, the first and second sensors comprise switches that are mechanically closable by the detectable element of the annular ring 1422. When the annular ring 1422 is rotated in a first direction from the center position, the detectable element closes the switch of the first sensor. When the switch of the first sensor is closed, the control system 1800 operates the electric motor 1610 to rotate the end effector 7000 in the first direction. When the annular ring 1422 is rotated in a second direction toward the center position, the detectable element disengages from the first switch, and the first switch is again opened. When the first switch is again opened, the control system 1800 cuts off power to the electric motor 1610, stopping rotation of the end effector 7000. Similarly, the detectable element closes the switch of the second sensor when the annular ring 1422 is rotated in a second direction from the center position. When the switch of the second sensor is closed, the control system 1800 operates the electric motor 1610 to rotate the end effector 7000 in a second direction. When the annular ring 1422 is rotated in the first direction toward the center position, the detectable element disengages from the second switch, which is again opened. When the second switch is again opened, the control system 1800 cuts off power to the electric motor 1610, stopping the rotation of the end effector 7000.

[0053] In various embodiments, further to the above, the first and second sensors of the rotary actuator 1420 comprise, for example, proximity sensors. In certain embodiments, the first and second sensors of the rotary actuator 1420 comprise Hall effect sensors and / or any suitable sensors configured to detect the distance between the detectable element of the annular ring 1422 and the first and second sensors. If the first Hall effect sensor detects that the annular ring 1422 has rotated in a first direction, then the control system 1800 rotates the end effector 7000 in the first direction, as described above. Additionally, the control system 1800 can rotate the end effector 7000 at a faster rate when the detectable element is closer to the first Hall effect sensor than when the detectable element is further away from the first Hall effect sensor. If the second Hall effect sensor detects that the annular ring 1422 has rotated in a second direction, then the control system 1800 rotates the end effector 7000 in the second direction, as described above. Additionally, the control system 1800 can rotate the end effector 7000 faster when the detectable element is closer to the second Hall effect sensor than when the detectable element is farther away from the second Hall effect sensor. As a result, the speed at which the end effector 7000 rotates is a function of the amount or degree at which the annular ring 1422 rotates. The control system 1800 is further configured to evaluate input from both the first Hall effect sensor and the second Hall effect sensor when determining the direction and speed at which to rotate the end effector 7000. In various examples, the control system 1800 can use the Hall effect sensor closest to the detectable element of the annular ring 1422 as a primary source of data and the Hall effect sensor farthest from the detectable element as a confirming source of data to double-check the data provided by the primary source of data. The control system 1800 can further include a data integrity protocol to resolve situations in which the control system 1800 provides conflicting data.In either case, when the Hall effect sensors detect that the detectable element is in its center position or in a position equidistant between the first and second Hall effect sensors, the handle control system 1800 can enter a neutral state in which the handle control system 1800 does not rotate the end effector 7000. In at least one such example, the control system 1800 can enter its neutral state when the detectable element is in a central range of positions. Such a configuration prevents, or at least reduces, the possibility of rotational jitter when the clinician does not intend to rotate the end effector 7000.

[0054] Further to the above, the rotary actuator 1420 can include one or more springs configured to center, or at least substantially center, the rotary actuator 1420 when released by the clinician. In such an example, the springs can act to shut off the electric motor 1610 and stop rotation of the end effector 7000. In at least one example, the rotary actuator 1420 includes a first torsion spring configured to rotate the rotary actuator 1420 in a first direction and a second torsion spring configured to rotate the rotary actuator 1420 in a second direction. The first and second torsion springs can have the same, or at least substantially the same, spring constants such that the force and / or torque applied by the balance of the first and second torsion springs at least substantially balances the rotary actuator 1420 in its center position.

[0055] In view of the above, the reader should understand that the clamp trigger 2610 and the rotational actuator 1420 are both operable to rotate the drive shaft 2710, which are operable to either operate the jaw assembly 7100 or rotate the end effector 7000, respectively. Systems that use rotation of the drive shaft 2710 to selectively perform these functions are described in more detail below.

[0056] 7 and 8 , the articulation actuator 1430 includes a first push button 1432 and a second push button 1434. The first push button 1432 is part of a first articulation control circuit, and the second push button 1434 is part of a second articulation circuit of the input system 1400. The first push button 1432 includes a first switch that is closed when the first push button 1432 is pressed. The handle control system 1800 is configured to sense the closure of the first switch and, in turn, the closure of the first articulation control circuit. When the handle control system 1800 detects that the first articulation control circuit is closed, the handle control system 1800 operates the electric motor 1610 to articulate the end effector 7000 in a first articulation direction about the articulation joint 2300. When the first push button 1432 is released by the clinician, the first articulation control circuit is opened, which, when detected by the control system 1800, causes the control system 1800 to cut off power to the electric motor 1610 to stop the articulation of the end effector 7000.

[0057] In various examples, further to the above, the range of articulation of the end effector 7000 is limited, and the control system 1800 can utilize the encoder system described above to monitor the rotational output of the electric motor 1610, for example, to monitor the amount or degree to which the end effector 7000 is rotated in a first direction. In addition to, or instead of, an encoder system, the shaft assembly 2000 can include a first sensor configured to detect when the end effector 7000 has reached the limit of its articulation in the first direction. In either case, when the control system 1800 determines that the end effector 7000 has reached the limit of its articulation in the first direction, the control system 1800 can cut power to the electric motor 1610 to stop the articulation of the end effector 7000.

[0058] Similar to above, the second push button 1434 includes a second switch that is closed when the second push button 1434 is depressed. The handle control system 1800 is configured to sense the closure of the second switch, and thus the closure of the second articulation control circuit. When the handle control system 1800 detects that the second articulation control circuit is closed, the handle control system 1800 operates the electric motor 1610 to articulate the end effector 7000 in a second direction about the articulation joint 2300. When the second push button 1434 is released by the clinician, the second articulation control circuit is opened, which, when detected by the control system 1800, causes the control system 1800 to cut power to the electric motor 1610 to stop articulation of the end effector 7000.

[0059] In various examples, the range of articulation of the end effector 7000 is limited, and the control system 1800 can utilize the encoder system described above to monitor the rotational output of the electric motor 1610, for example, to monitor the amount or degree to which the end effector 7000 is rotated in the second direction. In addition to, or instead of, the encoder system, the shaft assembly 2000 can include a second sensor configured to detect when the end effector 7000 has reached the limit of its articulation in the second direction. In either case, when the control system 1800 determines that the end effector 7000 has reached the limit of its articulation in the second direction, the control system 1800 can cut power to the electric motor 1610 to stop the articulation of the end effector 7000.

[0060] As described above, the end effector 7000 is articulatable in a first direction ( FIG. 16 ) and / or a second direction ( FIG. 17 ) from a centered or non-articulated position ( FIG. 15 ). Once the end effector 7000 is articulated, the clinician may attempt to recenter the end effector 7000 by using the first and second articulation push buttons 1432 and 1434. As the reader can appreciate, the clinician may have difficulty recentering the end effector 7000 because, for example, the end effector 7000 may not be completely visible once positioned within the patient. In some instances, if the end effector 7000 is not recentered, or at least substantially recentered, the end effector 7000 may not be able to return through the trocar. With this in mind, the control system 1800 is configured to provide feedback to the clinician when the end effector 7000 is moved to its non-articulated or centered position. In at least one example, the feedback comprises audio feedback, and the handle control system 1800 can include, for example, a speaker that emits a sound, such as a beep, when the end effector 7000 is centered. In a particular example, the feedback comprises visual feedback, and the handle control system 1800 can include, for example, a light-emitting diode (LED) positioned on the handle housing 1110 that flashes when the end effector 7000 is centered. In various examples, the feedback comprises tactile feedback, and the handle control system 1800 can include an electric motor with an eccentric element that vibrates the handle 1000 when the end effector 7000 is centered. Manual recentering of the end effector 7000 in this manner can be facilitated by the control system 1800 slowing down the motor 1610 when the end effector 7000 is approaching its center position. In at least one example, the control system 1800 slows down the articulation of the end effector 7000, for example, when the end effector 7000 is within approximately 5 degrees of center in either direction.

[0061] Additionally or alternatively, the handle control system 1800 may be configured to recenter the end effector 7000. In at least one such example, the handle control system 1800 may recenter the end effector 7000 when both articulation buttons 1432 and 1434 of the articulation actuator 1430 are simultaneously depressed. When the handle control system 1800 includes an encoder system configured to monitor the rotational output of the electric motor 1610, the handle control system 1800 may, for example, determine the amount and direction of articulation required to recenter, or at least substantially recenter, the end effector 7000. In various examples, the input system 1400 may, for example, include a home button that automatically centers the end effector 7000 when pressed.

[0062] 5 and 6 , the elongate shaft 2200 of the shaft assembly 2000 includes an outer housing or tube 2210 attached to the proximal housing 2110 of the proximal portion 2100. The outer housing 2210 includes a longitudinal opening 2230 extending therethrough and a proximal flange 2220 that secures the outer housing 2210 to the proximal housing 2110. The frame 2500 of the shaft assembly 2000 extends through the longitudinal opening 2230 of the elongate shaft 2200. More specifically, the shaft 2510 of the shaft frame 2500 necks down into a smaller shaft 2530 that extends through the longitudinal opening 2230. Thus, the shaft frame 2500 can have any suitable configuration. The drive system 2700 of the shaft assembly 2000 also extends through the longitudinal opening 2230 of the elongate shaft 2200. More specifically, the drive shaft 2710 of the shaft drive system 2700 necks down into a smaller drive shaft 2730 that extends through the longitudinal opening 2230. This allows the shaft drive system 2700 to have any suitable configuration.

[0063] 20, 23, and 24, the outer housing 2210 of the elongate shaft 2200 extends to an articulation joint 2300. The articulation joint 2300 comprises a proximal frame 2310 mounted to the outer housing 2210 such that there is little, if any, relative translation and / or rotation between the proximal frame 2310 and the outer housing 2210. Referring primarily to FIG. 22, the proximal frame 2310 comprises an annular portion 2312 mounted to a side wall of the outer housing 2210 and a tab 2314 extending distally from the annular portion 2312. The articulation joint 2300 further comprises links 2320 and 2340 rotatably mounted to the frame 2310 and mounted to the outer housing 2410 of the distal mounting portion 2400. The link 2320 has a distal end 2322 mounted to the outer housing 2410. 22 , a pin extends through an opening defined in the proximal joint frame 2310 and the proximal end 2324, defining a pivot axis therebetween. Similarly, the link 2340 has a proximal end 2344 that is rotatably coupled to the tab 2314 of the proximal joint frame 2310. Although not shown in FIG. 22 , a pin extends through an opening defined in the proximal end 2324 and the tab 2314, defining a pivot axis therebetween. Similarly, the link 2340 has a proximal end 2344 that is rotatably coupled to the tab 2314 of the proximal joint frame 2310. More specifically, the distal end 2322 of the link 2320 is received within and fixedly secured within a mounting slot 2412 defined in the outer housing 2410. Similarly, the link 2340 has a proximal end 2344 that is rotatably coupled to the tab 2314 of the proximal joint frame 2310. 22, the pin extends through openings defined in the proximal end 2344 and the tab 2314 to define a pivot axis therebetween. These pivot axes are collinear, or at least substantially collinear, and define the articulation axis A of the articulation joint 2300.

[0064] 20 , 23, and 24 , the outer housing 2410 of the distal mounting portion 2400 includes a longitudinal opening 2430 extending therethrough. The longitudinal opening 2430 is configured to receive the proximal mounting portion 7400 of the end effector 7000. The end effector 7000 includes an outer housing 6230 that is tightly received within the longitudinal opening 2430 of the distal mounting portion 2400, thereby eliminating little, if any, relative radial movement between the proximal mounting portion 7400 of the end effector 7000 and the distal mounting portion 2400 of the shaft assembly 2000. The proximal mounting portion 7400 further includes an annular array of locking notches 7410 defined on the outer housing 6230 that are releasably engaged by an end effector lock 6400 in the distal mounting portion 2400 of the shaft assembly 2000. When the end effector lock 6400 is engaged with the array of locking notches 7410, the end effector lock 6400 prevents, or at least inhibits, relative longitudinal movement between the proximal mounting portion 7400 of the end effector 7000 and the distal mounting portion 2400 of the shaft assembly 2000. As a result of the above, only relative rotation is possible between the proximal mounting portion 7400 of the end effector 7000 and the distal mounting portion 2400 of the shaft assembly 2000. To this end, the outer housing 6230 of the end effector 7000 is tightly received within a longitudinal opening 2430 defined in the distal mounting portion 2400 of the shaft assembly 2000.

[0065] 21 , the outer housing 6230 further includes an annular slot or recess 6270 defined therein configured to receive an O-ring 6275 therein. The O-ring 6275 is compressed between the outer housing 6230 and the sidewall of the longitudinal opening 2430 when the end effector 7000 is inserted into the distal mounting portion 2400. The O-ring 6275 is configured to resist but allow relative rotation between the end effector 7000 and the distal mounting portion 2400 such that the O-ring 6275 can prevent or reduce unintended relative rotation between the end effector 7000 and the distal mounting portion 2400. In various examples, the O-ring 6275 can provide a seal between the end effector 7000 and the distal mounting portion 2400 to, for example, prevent or at least reduce the possibility of fluid intrusion into the shaft assembly 2000.

[0066] 14-21 , the jaw assembly 7100 of the end effector 7000 includes a first jaw 7110 and a second jaw 7120. Each jaw 7110, 7120 includes a distal end configured to assist a clinician in cutting tissue with the end effector 7000. Each jaw 7110, 7120 further includes a plurality of teeth configured to assist a clinician in grasping and holding tissue using the end effector 7000. Additionally, referring primarily to FIG. 21 , each jaw 7110, 7120 includes a proximal end (i.e., proximal end 7115, 7125), respectively, that rotatably connects the jaws 7110, 7120 together. Each proximal end 7115, 7125 includes an opening extending therethrough configured to tightly receive a pin 7130 therein. The pin 7130 includes a central body 7135 that is tightly received within openings defined in the proximal ends 7115, 7125 of the jaws 7110, 7120, thereby eliminating little, if any, relative translation between the jaws 7110, 7120 and the pin 7130. The pin 7130 defines a jaw axis J about which the jaws 7110, 7120 may rotate and rotatably mounts the jaws 7110, 7120 to the outer housing 6230 of the end effector 7000. More specifically, the outer housing 6230 includes a distally extending tab 6235 having an opening defined therein that is also configured to tightly receive the pin 7130 such that the jaw assembly 7100 does not translate relative to the shaft portion 7200 of the end effector 7000. The pin 7130 further includes an enlarged end that prevents the jaws 7110, 7120 from disengaging from the pin 7130 and prevents the jaw assembly 7100 from disengaging from the shaft portion 7200. This arrangement defines a rotary joint 7300.

[0067] 21 and 23 , the jaws 7110 and 7120 are rotatable between their open and closed positions by a jaw assembly drive, including a drive link 7140, a drive nut 7150, and a drive screw 6130. As described in more detail below, the drive screw 6130 is selectively rotatable by a drive shaft 2730 of the shaft drive system 2700. The drive screw 6130 includes an annular flange 6132 that is tightly received within a slot or groove 6232 ( FIG. 25 ) defined in an outer housing 6230 of the end effector 7000. Sidewalls of the slot 6232 are configured to prevent or at least inhibit longitudinal and / or radial translation between the drive screw 6130 and the outer housing 6230, but allow relative rotational movement between the drive screw 6130 and the outer housing 6230. The drive screw 6130 further comprises a threaded end 6160 that threadingly engages a threaded opening 7160 defined in the drive nut 7150. The drive nut 7150 is constrained from rotating with the drive screw 6130, such that rotation of the drive screw 6130 causes the drive nut 7150 to translate. In use, the drive screw 6130 rotates in a first direction to displace the drive nut 7150 proximally and in a second, or opposite, direction to displace the drive nut 7150 distally. The drive nut 7150 further comprises a distal end 7155 that includes an opening defined therein configured to tightly receive a pin 7145 extending from a drive link 7140. Referring primarily to FIG. 21 , a first drive link 7140 is attached to one side of the distal end 7155 and a second drive link 7140 is attached to the opposite side of the distal end 7155. The first drive link 7140 has another pin 7145 extending therefrom that is closely received within an opening defined in the proximal end 7115 of the first jaw 7110, and similarly, the second drive link 7140 has another pin extending therefrom that is closely received within an opening defined in the proximal end 7125 of the second jaw 7120. As a result of the above, the drive link 7140 operably connects the jaws 7110 and 7120 to the drive nut 7150.When the drive nut 7150 is driven proximally by the drive screw 6130 as described above, the jaws 7110, 7120 are rotated to a closed or clamped configuration. Correspondingly, when the drive nut 7150 is driven distally by the drive screw 6130, the jaws 7110, 7120 are rotated to their open configuration.

[0068] As described above, the control system 1800 is configured to operate the electric motor 1610 to perform three different end effector functions: clamping / opening the jaw assembly 7100 ( FIGS. 14 and 15 ), rotating the end effector 7000 about its longitudinal axis ( FIGS. 18 and 19 ), and articulating the end effector 7000 about its articulation axis ( FIGS. 16 and 17 ). Referring primarily to FIGS. 26 and 27 , the control system 1800 is configured to operate the transmission 6000 to selectively perform these three end effector functions. The transmission 6000 includes a first clutch system 6100 configured to selectively transfer rotation of the drive shaft 2730 to the drive screw 6130 of the end effector 7000 to open or close the jaw assembly 7100 depending on the direction the drive shaft 2730 is rotated. Transmission 6000 further includes a second clutch system 6200 configured to selectively transfer rotation of drive shaft 2730 to an outer housing 6230 of end effector 7000 to rotate end effector 7000 about longitudinal axis L. Transmission 6000 also includes a third clutch system 6300 configured to selectively transfer rotation of drive shaft 2730 to articulation joint 2300 to articulate distal mounting portion 2400 and end effector 7000 about articulation axis A. Clutch systems 6100, 6200, and 6300 are in electrical communication with control system 1800, e.g., via electrical circuitry extending through shaft 2510, connector pin 2520, connector pin 1520, and shaft 1510. In at least one example, each of these clutch control circuits includes, e.g., two connector pins 2520 and two connector pins 1520.

[0069] In various examples, further to the above, shaft 2510 and / or shaft 1510 comprise a flexible circuit including electrical traces that form part of the clutch control circuit. The flexible circuit can comprise a ribbon or substrate having conductive paths defined therein and / or thereon. The flexible circuit can also comprise sensors and / or any solid-state components, such as, for example, signal-smoothing capacitors, attached thereto. In at least one example, each conductive path can comprise one or more signal-smoothing capacitors that can, among other things, even out fluctuations in the signal transmitted through the conductive path. In various examples, the flexible circuit can be coated with at least one material, such as, for example, an elastomer, that can seal the flexible circuit against fluid intrusion.

[0070] Referring primarily to FIG. 28 , the first clutch system 6100 includes a first clutch 6110, an expandable first drive ring 6120, and a first electromagnetic actuator 6140. The first clutch 6110 includes an annular ring and is slidably disposed on the drive shaft 2730. The first clutch 6110 is constructed of a magnetic material and is movable between a disengaged or unactuated position ( FIG. 28 ) and an engaged or actuated position ( FIG. 29 ) by an electromagnetic field EF generated by the first electromagnetic actuator 6140. In various examples, the first clutch 6110 is at least partially constructed of, for example, iron and / or nickel. In at least one example, the first clutch 6110 includes a permanent magnet. As shown in FIG. 22A , the drive shaft 2730 includes one or more longitudinal key slots 6115 defined therein configured to constrain longitudinal movement of the clutch 6110 relative to the drive shaft 2730. More specifically, the clutch 6110 has one or more keys that extend into a key slot 6115 such that a distal end of the key slot 6115 stops distal movement of the clutch 6110 and a proximal end of the key slot 6115 stops proximal movement of the clutch 6110.

[0071] When the first clutch 6110 is in its disengaged position ( FIG. 28 ), the first clutch 6110 rotates with the drive shaft 2130 but does not transmit rotational motion to the first drive ring 6120. As seen in FIG. 28 , the first clutch 6110 is separated from or not in contact with the first drive ring 6120. As a result, rotation of the drive shaft 2730 and the first clutch 6110 is not transmitted to the drive screw 6130 when the first clutch assembly 6100 is in its disengaged state. When the first clutch 6110 is in its engaged position ( FIG. 29 ), the first clutch 6110 is engaged with the first drive ring 6120 such that the first drive ring 6120 expands or stretches radially outward into contact with the drive screw 6130. In at least one example, the first drive ring 6120 comprises, for example, an elastomeric band. 29 , the first drive ring 6120 is compressed against the annular inner sidewall 6135 of the drive screw 6130. As a result, rotation of the drive shaft 2730 and first clutch 6110 is transmitted to the drive screw 6130 when the first clutch assembly 6100 is in its engaged state. Depending on the direction that the drive shaft 2730 is rotated, the first clutch assembly 6100 can move the jaw assembly 7100 to its open and closed configurations when the first clutch assembly 6100 is in its engaged state.

[0072] As described above, the first electromagnetic actuator 6140 is configured to generate a magnetic field that moves the first clutch 6110 between its disengaged ( FIG. 28 ) and engaged ( FIG. 29 ) states. For example, with reference to FIG. 28 , the first electromagnetic actuator 6140 generates a magnetic field EF that repels or drives the first clutch 6110 away from the first drive ring 6120 when the first clutch assembly 6100 is in its disengaged state. L The first electromagnetic actuator 6140 is configured to emit a magnetic field EF when flowing in a first direction through a first electrical clutch circuit that includes a wound coil. LThe first clutch 6110 includes one or more wound coils within a cavity defined in the shaft frame 2530 that generate a current. The control system 1800 is configured to apply a first voltage polarity to the first electric clutch circuit to generate a current flowing in a first direction. The control system 1800 can continuously apply the first voltage polarity to the first electric shaft circuit to continuously hold the first clutch 6110 in its disengaged position. While such a configuration may prevent the first clutch 6110 from unintentionally engaging the first drive ring 6120, such a configuration may also consume a lot of power. Alternatively, the control system 1800 can apply the first voltage polarity to the first electric clutch circuit for a sufficient time to position the first clutch 6110 in its disengaged position and then cease applying the first voltage polarity to the first electric clutch circuit, thereby reducing power consumption. That is, the first clutch assembly 6100 further includes a first clutch lock 6150 attached to the drive screw 6130 and configured to releasably hold the first clutch 6110 in its disengaged position. The first clutch lock 6150 is configured to prevent, or at least reduce, the first clutch 6110 from unintentionally engaging the first clutch 6110 with the first drive ring 6120. As shown in FIG. 28 , when the first clutch 6110 is in its disengaged position, the first clutch lock 6150 interferes with the free movement of the first clutch 6110 and holds the first clutch 6110 in place through frictional and / or interference forces therebetween. In at least one example, the first clutch lock 6150 includes an elastomeric plug, seat, or detent, e.g., constructed from rubber. In a particular example, the first clutch lock 6150 includes a permanent magnet that holds the first clutch 6110 in its disengaged position through electromagnetic force. In any event, as will be explained in more detail below, the first electromagnetic actuator 6140 can apply an attractive electromagnetic force to the first clutch 6110 that counteracts these forces.

[0073] In addition to the above, and with reference to FIG. 29, the first electromagnetic actuator 6140 generates a magnetic field EF that pulls or drives the first clutch 6110 toward the first drive ring 6120 when the first clutch assembly 6100 is in its engaged state. D The coil of the first electromagnetic actuator 6140 is configured to emit a magnetic field EF when current flows in a second, or opposite, direction through the first electric clutch circuit. D The control system 1800 is configured to apply opposite voltage polarities to the first electric clutch circuit to generate current flowing in opposite directions. The control system 1800 can continuously apply opposite voltage polarities to the first electric clutch circuit to continuously hold the first clutch 6110 in its engaged position and maintain operative engagement between the first drive ring 6120 and the drive screw 6130. Alternatively, the first clutch 6110 may be configured to be wedged within the first drive ring 6120 when the first clutch 6110 is in its engaged position; in such examples, the control system 1800 may not need to continuously apply voltage polarities to the first electric clutch circuit to hold the first clutch assembly 6100 in its engaged state. In such examples, the control system 1800 can stop applying voltage polarities once the first clutch 6110 is sufficiently wedged within the first drive ring 6120.

[0074] Notably, in addition to the above, the first clutch lock 6150 is also configured to lock out the jaw assembly drive when the first clutch 6110 is in its disengaged position. More specifically, referring again to FIG. 28 , when the first clutch 6110 is in its disengaged position, the first clutch 6110 engages the first clutch lock 6150 in the drive screw 6130 with the outer housing 6230 of the end effector 7000 such that the drive screw 6130 does not rotate, or at least does not substantially rotate, relative to the outer housing 6230. The outer housing 6230 includes a slot 6235 defined therein configured to receive the first clutch lock 6150. 29 , when the first clutch 6110 is moved to its engaged position, the first clutch 6110 is no longer engaged with the first clutch lock 6150, and as a result, the first clutch lock 6150 is no longer biased into engagement with the outer housing 6230, allowing the drive screw 6130 to rotate freely relative to the outer housing 6230. As a result of the above, the first clutch 6110 can do at least two things: operate the jaw drive when the first clutch 6110 is in its engaged position, and lock out the jaw drive when the first clutch 6110 is in its disengaged position.

[0075] Further to the above, the threads of threaded portions 6160 and 7160 can be configured to prevent, or at least resist, backdriving of the jaw driver. In at least one example, the thread pitch and / or angle of threaded portions 6160 and 7160 can be selected to prevent backdriving or unintentional opening of jaw assembly 7100. As a result of the above, the possibility of unintentional opening or closing of jaw assembly 7100 is prevented or at least reduced.

[0076] Referring primarily to FIG. 30 , the second clutch system 6200 includes a second clutch 6210, an expandable second drive ring 6220, and a second electromagnetic actuator 6240. The second clutch 6210 includes an annular ring and is slidably disposed on the drive shaft 2730. The second clutch 6210 is constructed of a magnetic material and is movable between a disengaged or unactuated position ( FIG. 30 ) and an engaged or actuated position ( FIG. 31 ) by an electromagnetic field EF generated by the second electromagnetic actuator 6240. In various examples, the second clutch 6210 is at least partially constructed of, for example, iron and / or nickel. In at least one example, the second clutch 6210 includes a permanent magnet. As shown in FIG. 22A , the drive shaft 2730 includes one or more longitudinal key slots 6215 defined therein configured to constrain longitudinal movement of the second clutch 6210 relative to the drive shaft 2730. More specifically, the second clutch 6210 has one or more keys that extend into a key slot 6215 such that a distal end of the key slot 6215 stops distal movement of the second clutch 6210 and a proximal end of the key slot 6215 stops proximal movement of the second clutch 6210.

[0077] When the second clutch 6210 is in its disengaged position, referring to FIG. 30 , the second clutch 6210 rotates with the drive shaft 2730 but does not transmit rotational motion to the second drive ring 6220. As seen in FIG. 30 , the second clutch 6210 is separated from or not in contact with the second drive ring 6220. As a result, rotation of the drive shaft 2730 and the second clutch 6210 is not transmitted to the outer housing 6230 of the end effector 7000 when the second clutch assembly 6200 is in its disengaged state. When the second clutch 6210 is in its engaged position ( FIG. 31 ), the second clutch 6210 is engaged with the second drive ring 6220 such that the second drive ring 6220 expands or stretches radially outward into contact with the outer housing 6230. In at least one example, the second drive ring 6220 comprises, for example, an elastomeric band. 31 , the second drive ring 6220 is compressed against the annular inner sidewall 7415 of the outer housing 6230. As a result, rotation of the drive shaft 2730 and second clutch 6210 is transmitted to the outer housing 6230 when the second clutch assembly 6200 is in its engaged state. Depending on the direction that the drive shaft 2730 is rotated, the second clutch assembly 6200 can rotate the end effector 7000 about the longitudinal axis L in a first direction or a second direction when the second clutch assembly 6200 is in its engaged state.

[0078] As described above, the second electromagnetic actuator 6240 is configured to generate a magnetic field that moves the second clutch 6210 between its disengaged ( FIG. 30 ) and engaged ( FIG. 31 ) states. For example, the second electromagnetic actuator 6240 generates a magnetic field EF that repels or drives the second clutch 6210 away from the second drive ring 6220 when the second clutch assembly 6200 is in its disengaged state. L The second electromagnetic actuator 6240 is configured to emit a magnetic field EF when flowing in a first direction through a second electrical clutch circuit that includes a wound coil. LThe second clutch 6210 includes one or more wound coils within a cavity defined in the shaft frame 2530 that generate a current. The control system 1800 is configured to apply a first voltage polarity to the second electric clutch circuit to generate a current flowing in a first direction. The control system 1800 can continuously apply the first voltage polarity to the second electric clutch circuit to continuously hold the second clutch 6210 in its disengaged position. While such a configuration may prevent the second clutch 6210 from unintentionally engaging the second drive ring 6220, such a configuration may also consume a lot of power. Alternatively, the control system 1800 can apply the first voltage polarity to the second electric clutch circuit for a sufficient time to position the second clutch 6210 in its disengaged position and then cease applying the first voltage polarity to the second electric clutch circuit, thereby reducing power consumption. That is, the second clutch assembly 6200 further includes a second clutch lock 6250 mounted to the outer housing 6230 and configured to releasably retain the second clutch 6210 in its disengaged position. Similar to the above, the second clutch lock 6250 can prevent or at least reduce unintentional engagement of the second clutch 6210 with the second drive ring 6220. As shown in FIG. 30 , when the second clutch 6210 is in its disengaged position, the second clutch lock 6250 interferes with the free movement of the second clutch 6210 and holds the second clutch 6210 in place through frictional and / or interference forces therebetween. In at least one example, the second clutch lock 6250 includes an elastomeric plug, seat, or detent, e.g., constructed from rubber. In a particular example, the second clutch lock 6250 includes a permanent magnet that holds the second clutch 6210 in its disengaged position through electromagnetic force. This allows the second electromagnetic actuator 6240 to apply an attractive electromagnetic force to the second clutch 6210 that counteracts these forces, as will be explained in more detail below.

[0079] In addition to the above, and with reference to FIG. 31, the second electromagnetic actuator 6240 generates a magnetic field EF that pulls or drives the second clutch 6210 toward the second drive ring 6220 when the second clutch assembly 6200 is in its engaged state. D The coil of the second electromagnetic actuator 6240 is configured to emit a magnetic field EF when current flows in a second, or opposite, direction through the second electric shaft circuit. D The control system 1800 is configured to apply opposite voltage polarities to the second electrical shaft circuit to generate current flowing in the opposite direction. The control system 1800 can continuously apply opposite voltage polarities to the second electrical shaft circuit to continuously hold the second clutch 6210 in its engaged position and maintain operative engagement between the second drive ring 6220 and the outer housing 6230. Alternatively, the second clutch 6210 may be configured to be wedged within the second drive ring 6220 when the second clutch 6210 is in its engaged position; in such examples, the control system 1800 may not need to continuously apply voltage polarities to the second shaft electrical circuit to hold the second clutch assembly 6200 in its engaged state. In such examples, the control system 1800 can continue to apply voltage polarities once the second clutch 6210 is sufficiently wedged within the second drive ring 6220.

[0080] Notably, and in addition to the above, the second clutch lock 6250 is also configured to lock out rotation of the end effector 7000 when the second clutch 6210 is in its disengaged position. More specifically, referring again to FIG. 30 , when the second clutch 6210 is in its disengaged position, the second clutch 6210 pushes the second clutch lock 6250 within the outer shaft 6230 into engagement with the articulation link 2340 such that the end effector 7000 does not rotate, or at least does not substantially rotate, relative to the distal mounting portion 2400 of the shaft assembly 2000. As shown in FIG. 27 , the second clutch lock 6250 is positioned or wedged within a slot or channel 2345 defined in the articulation link 2340 when the second clutch 6210 is in its disengaged position. As a result of the above, the possibility of unintended rotation of the end effector 7000 is prevented, or at least reduced. Furthermore, as a result of the above, the second clutch 6210 can do at least two things: operate the end effector rotation drive when the second clutch 6210 is in its engaged position, and lock out the end effector rotation drive when the second clutch 6210 is in its disengaged position.

[0081] 22, 24, and 25 , the shaft assembly 2000 further comprises an articulation drive system configured to articulate the distal mounting portion 2400 and the end effector 7000 about the articulation joint 2300. The articulation drive system comprises an articulation drive section 6330 that is rotatably supported within the distal mounting portion 2400. The articulation drive section 6330 is thereby closely received within the distal mounting portion 2400, such that the articulation drive section 6330 does not translate, or at least does not substantially translate, relative to the distal mounting portion 2400. The articulation drive system of the shaft assembly 2000 further comprises a fixed gear 2330 fixedly mounted to the articulation frame 2310. More specifically, the fixed gear 2330 is fixedly mounted to a pin connecting the tab 2314 of the articulation frame 2310 and the articulation link 2340 such that the fixed gear 2330 does not rotate relative to the articulation frame 2310. The stationary gear 2330 includes a central body 2335 and an annular array of stationary teeth 2332 extending around the circumference of the central body 2335. The articulation drive 6330 includes an annular array of drive teeth 6332 meshingly engaged with the stationary teeth 2332. When the articulation drive 6330 is rotated, the articulation drive 6330 pushes against the stationary gear 2330, causing the distal mounting portion 2400 of the shaft assembly 2000 and the end effector 7000 to articulate about the articulation joint 2300.

[0082] Referring primarily to FIG. 32 , the third clutch system 6300 includes a third clutch 6310, an expandable third drive ring 6320, and a third electromagnetic actuator 6340. The third clutch 6310 includes an annular ring and is slidably disposed on the drive shaft 2730. The third clutch 6310 is constructed of a magnetic material and is movable between a disengaged or unactuated position ( FIG. 32 ) and an engaged or actuated position ( FIG. 33 ) by an electromagnetic field EF generated by the third electromagnetic actuator 6340. In various examples, the third clutch 6310 is at least partially constructed of, for example, iron and / or nickel. In at least one example, the third clutch 6310 includes a permanent magnet. As shown in FIG. 22A , the drive shaft 2730 includes one or more longitudinal key slots 6315 defined therein configured to restrain longitudinal movement of the third clutch 6310 relative to the drive shaft 2730. More specifically, the third clutch 6310 has one or more keys extending into a key slot 6315 such that a distal end of the key slot 6315 stops distal movement of the third clutch 6310 and a proximal end of the key slot 6315 stops proximal movement of the third clutch 6310.

[0083] When the third clutch 6310 is in its disengaged position, referring to FIG. 32 , the third clutch 6310 rotates with the drive shaft 2730 but does not transmit rotational motion to the third drive ring 6320. As seen in FIG. 32 , the third clutch 6310 is separated from or not in contact with the third drive ring 6320. As a result, rotation of the drive shaft 2730 and the third clutch 6310 is not transmitted to the articulation drive portion 6330 when the third clutch assembly 6300 is in its disengaged state. When the third clutch 6310 is in its engaged position, referring to FIG. 33 , the third clutch 6310 is engaged with the third drive ring 6320 such that the third drive ring 6320 expands or stretches radially outward into contact with the articulation drive portion 6330. In at least one example, the third drive ring 6320 comprises, for example, an elastomeric band. 33 , the third drive ring 6320 is compressed against the annular inner sidewall 6335 of the articulation drive portion 6330. As a result, rotation of the drive shaft 2730 and third clutch 6310 is transmitted to the articulation drive portion 6330 when the third clutch assembly 6300 is in its engaged state. Depending on the direction the drive shaft 2730 is rotated, the third clutch assembly 6300 can articulate the distal mounting portion 2400 of the shaft assembly 2000 and the end effector 7000 in a first or second direction about the articulation joint 2300.

[0084] As described above, the third electromagnetic actuator 6340 is configured to generate a magnetic field that moves the third clutch 6310 between its disengaged ( FIG. 32 ) and engaged ( FIG. 33 ) states. For example, referring to FIG. 32 , the third electromagnetic actuator 6340 generates a magnetic field EF that repels or drives the third clutch 6310 away from the third drive ring 6320 when the third clutch assembly 6300 is in its disengaged state. L The third electromagnetic actuator 6340 is configured to emit a magnetic field EF when flowing in a first direction through a third electrical clutch circuit that includes a wound coil. LThe third clutch 6310 includes one or more wound coils within a cavity defined in the shaft frame 2530 that generate a current. The control system 1800 is configured to apply a first voltage polarity to the third electric clutch circuit to generate a current flowing in a first direction. The control system 1800 can continuously apply the first voltage polarity to the third electric clutch circuit to continuously hold the third clutch 6310 in its disengaged position. While such a configuration may prevent the third clutch 6310 from unintentionally engaging the third drive ring 6320, such a configuration may also consume a lot of power. Alternatively, the control system 1800 can apply the first voltage polarity to the third electric clutch circuit for a sufficient time to position the third clutch 6310 in its disengaged position and then stop applying the first voltage polarity to the third electric clutch circuit, thereby reducing power consumption.

[0085] In addition to the above, the third electromagnetic actuator 6340 generates a magnetic field EF that pulls or drives the third clutch 6310 toward the third drive ring 6320 when the third clutch assembly 6300 is in its engaged state. D The coil of the third electromagnetic actuator 6340 is configured to emit a magnetic field EF when current flows in a second, or opposite, direction through the third electric clutch circuit. DThe control system 1800 is configured to apply opposite voltage polarities to the third electrical shaft circuit to generate currents flowing in opposite directions. The control system 1800 can continuously apply opposite voltage polarities to the third electrical shaft circuit to continuously hold the third clutch 6310 in its engaged position and maintain operative engagement between the third drive ring 6320 and the articulation drive portion 6330. Alternatively, the third clutch 6210 may be configured to be wedged within the third drive ring 6320 when the third clutch 6310 is in its engaged position; in such examples, the control system 1800 may not need to continuously apply voltage polarities to the third shaft electrical circuit to hold the third clutch assembly 6300 in its engaged state. In such examples, the control system 1800 can continue to apply voltage polarities once the third clutch 6310 is sufficiently wedged within the third drive ring 6320. In any event, the end effector 7000 is articulatable in a first direction or a second direction depending on the direction the drive shaft 2730 is rotated when the third clutch assembly 6300 is in its engaged state.

[0086] 22, 32, and 33, the articulation drive system further comprises a lockout 6350 that prevents, or at least inhibits, articulation of the end effector 7000 about the distal mounting portion 2400 of the shaft assembly 2000 and the articulation joint 2300 when the third clutch 6310 is in its disengaged position (FIG. 32). Referring primarily to FIG. 22, the articulation link 2340 comprises a slot or groove 2350 defined therein, the lockout 6350 being slidably positioned within the slot 2350 and extending at least partially below the stationary articulation gear 2330. The lockout 6350 comprises a mounting hook 6352 engaged with the third clutch 6310. More specifically, the third clutch 6310 includes an annular slot or groove 6312 defined therein, and the mounting hook 6352 is positioned within the annular slot 6312 such that the lockout 6350 translates with the third clutch 6310. Notably, however, the lockout 6350 does not rotate, or at least does not substantially rotate, with the third clutch 6310. Instead, the annular groove 6312 in the third clutch 6310 allows the third clutch 6310 to rotate relative to the lockout 6350. The lockout 6350 further includes a lockout hook 6354 that is slidably positioned within a radially extending lockout slot 2334 defined in a bottom portion of the fixed gear 2330. 32, when the third clutch 6310 is in its disengaged position, the lockout 6350 is in a locked position where the lockout hook 6354 prevents the end effector 7000 from rotating about the articulation joint 2300. As shown in FIG. 33, when the third clutch 6310 is in its engaged position, the lockout 6350 is in an unlocked position where the lockout hook 6354 is no longer positioned in the lockout slot 2334. Instead, the lockout hook 6354 is positioned in a clearance slot defined in the center or body 2335 of the stationary gear 2330.In such an example, the lockout hook 6354 can rotate within the clearance slot when the end effector 7000 rotates about the articulation joint 2300.

[0087] 32 and 33 extend longitudinally, i.e., along an axis parallel to the longitudinal axis of the elongate shaft 2200. However, when the end effector 7000 is articulated, the lockout hook 6354 is no longer aligned with the longitudinal lockout slot 2334. With this in mind, the stationary gear 2330 includes a plurality or array of radially extending lockout slots 2334 defined in a bottom portion thereof, such that when the lockout 6350 is pulled distally after the third clutch 6310 is deactivated and the end effector 7000 is articulated, the lockout hook 6354 can enter one of the lockout slots 2334 and lock the end effector 7000 in its articulated position. As a result, the end effector 7000 can be locked in a non-articulated position and an articulated position. In various examples, the lockout slots 2334 can define distinct articulation positions for the end effector 7000. For example, the lockout slots 2334 can be defined at intervals of, e.g., 10 degrees, thereby defining distinct articulation orientations for the end effector 7000 at intervals of, e.g., 10 degrees. In other examples, these orientations can be at intervals of, e.g., 5 degrees. In alternative embodiments, the lockout 6350 comprises a brake that engages a circumferential shoulder defined in the stationary gear 2330 when the third clutch 6310 disengages from the third drive ring 6320. In such embodiments, the end effector 7000 can be locked in any suitable orientation. In any event, the lockout 6350 prevents, or at least reduces, the possibility of unintentional articulation of the end effector 7000. As a result of the above, the third clutch 6310 can operate the articulation drive when it is in its engaged position and lock out the articulation drive when it is in its disengaged position.

[0088] 24 and 25 , the shaft frame 2530 and the drive shaft 2730 extend through the articulation joint 2300 to the distal mounting portion 2400. As shown in FIGS. 16 and 17 , when the end effector 7000 is articulated, the shaft frame 2530 and the drive shaft 2730 flex to accommodate the articulation of the end effector 7000. Thus, the shaft frame 2530 and the drive shaft 2730 are constructed of any suitable material that accommodates the articulation of the end effector 7000. Additionally, as described above, the shaft frame 2530 houses the first, second, and third electromagnetic actuators 6140, 6240, and 6340. In various examples, the first, second, and third electromagnetic actuators 6140, 6240, and 6340 each comprise a wound coil, such as, for example, a copper wire coil, and the shaft frame 2530 is constructed of an insulating material that prevents or at least reduces short circuits between the first, second, and third electromagnetic actuators 6140, 6240, and 6340. In various examples, the first, second, and third electrical clutch circuits extending through the shaft frame 2530 are constructed of, for example, insulated wire. In addition to the above, the first, second, and third electrical clutch circuits place the electromagnetic actuators 6140, 6240, and 6340 in communication with the control system 1800 within the drive module 1100.

[0089] As described above, clutches 6110, 6210, and / or 6310 can be held in their disengaged positions to prevent unintentional movement to their engaged positions. In various configurations, clutch system 6000 includes a first biasing member, such as a spring, configured to bias first clutch 6110 toward its disengaged position, a second biasing member, such as a spring, configured to bias second clutch 6210 toward its disengaged position, and / or a third biasing member, such as a spring, configured to bias third clutch 6110 toward its disengaged position. In such configurations, the biasing force of the springs can be selectively counteracted by an electromagnetic force generated by an electromagnetic actuator when energized with electrical current. In addition to the above, clutches 6110, 6210, and / or 6310 can be held in their engaged positions by drive rings 6120, 6220, and / or 6320, respectively. More specifically, in at least one example, drive rings 6120, 6220, and / or 6320 are comprised of a resilient material that grips or frictionally retains clutches 6110, 6210, and / or 6310, respectively, in their engaged positions. In various alternative embodiments, clutch system 6000 includes a first biasing member, such as, for example, a spring, configured to bias first clutch 6110 toward its engaged position, a second biasing member, such as, for example, a spring, configured to bias second clutch 6210 toward its engaged position, and / or a third biasing member, such as, for example, a spring, configured to bias third clutch 6110 toward its engaged position. In such a configuration, the biasing force of the springs can be counteracted by electromagnetic forces applied by electromagnetic actuators 6140, 6240, and / or 6340, respectively, as needed to selectively retain clutches 6110, 6210, and 6310 in their disengaged positions. In any one operating mode of the surgical system, the control assembly 1800 can energize one of the electromagnetic actuators to engage one of the clutches while energizing the other two electromagnetic actuators to disengage the other two clutches.

[0090] Although clutch system 6000 includes three clutches for controlling three drive systems of the surgical system, the clutch system may include any suitable number of clutches for controlling any suitable number of systems. Further, although the clutches of clutch system 6000 slide proximally and distally between their engaged and disengaged positions, the clutches of the clutch system may move in any suitable manner. Additionally, while the clutches of clutch system 6000 are engaged one at a time to control one drive motion at a time, it is contemplated that in various examples, two or more clutches may be engaged to control two or more drive motions at a time.

[0091] In view of the above, the reader should understand that the control system 1800 is configured to, first, operate the motor system 1600 to rotate the drive shaft system 2700 in the appropriate direction, and, second, operate the clutch system 6000 to transfer the rotation of the drive shaft system 2700 to the appropriate function of the end effector 7000. Furthermore, as described above, the control system 1800 is responsive to inputs from the clamp trigger system 2600 of the shaft assembly 2000 and the input system 1400 of the handle 1000. As described above, when the clamp trigger system 2600 is actuated, the control system 1800 activates the first clutch assembly 6100 and deactivates the second clutch assembly 6200 and the third clutch assembly 6300. In such an example, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in a first direction to clamp the jaw assembly 7100 of the end effector 7000. When the control system 1800 detects that the jaw assembly 7100 is in its clamping configuration, the control system 1800 stops the motor assembly 1600 and stops the first clutch assembly 6100. When the control system 1800 detects that the clamp trigger system 2600 has been moved or is being moved to its inactivated position, the control system 1800 activates or keeps activated the first clutch assembly 6100 and deactivates or keeps deactivated the second clutch assembly 6200 and the third clutch assembly 6300. In such an example, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the second direction to open the jaw assembly 7100 of the end effector 7000.

[0092] When the rotary actuator 1420 is actuated in the first direction, in addition to the above, the control system 1800 activates the second clutch assembly 6200 and deactivates the first clutch assembly 6100 and the third clutch assembly 6300. In such an example, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in the first direction, thereby rotating the end effector 7000 in the first direction. When the control system 1800 detects that the rotary actuator 1420 is actuated in the second direction, the control system 1800 activates or keeps activated the second clutch assembly 6200 and deactivates or keeps deactivated the first clutch assembly 6100 and the third clutch assembly 6300. In such an example, the control system 1800 also provides power to the motor system 1600 to rotate the drive shaft system 2700 in a second direction, causing the drive shaft system 2700 to rotate in a second direction, causing the end effector 7000 to rotate in a second direction. When the control system 1800 detects that the rotary actuator 1420 is not actuated, the control system 1800 deactivates the second clutch assembly 6200.

[0093] Further to the above, when first articulation actuator 1432 is depressed, control system 1800 activates third clutch assembly 6300 and deactivates first clutch assembly 6100 and second clutch assembly 6200. In such an example, control system 1800 also provides power to motor system 1600 to rotate drive shaft system 2700 in a first direction to articulate end effector 7000 in the first direction. When control system 1800 detects that second articulation actuator 1434 is depressed, control system 1800 activates or maintains activation of third clutch assembly 6200 and deactivates or maintains deactivation of first clutch assembly 6100 and second clutch assembly 6200. In such an example, control system 1800 also provides power to motor system 1600 to rotate drive shaft system 2700 in a second direction to articulate end effector 7000 in the second direction. When control system 1800 detects that neither first articulation actuator 1432 nor second articulation actuator 1434 is actuated, control system 1800 deactivates third clutch assembly 6200.

[0094] Further to the above, the control system 1800 is configured to change the operating mode of the stapling system based on inputs received from the clamp trigger system 2600 of the shaft assembly 2000 and the input system 1400 of the handle 1000. The control system 1800 is configured to shift the clutch system 6000 before rotating the shaft drive system 2700 to perform a corresponding end effector function. Furthermore, the control system 1800 is configured to stop rotation of the shaft drive system 2700 before shifting the clutch system 6000. Such a configuration can prevent sudden movement of the end effector 7000. Alternatively, the control system 1800 can shift the clutch system 600 while the shaft drive system 2700 is rotating. Such a configuration can enable the control system 1800 to quickly shift between operating modes.

[0095] 34 , the distal mounting portion 2400 of the shaft assembly 2000 includes an end effector lock 6400 configured to prevent the end effector 7000 from being unintentionally separated from the shaft assembly 2000. The end effector lock 6400 includes a locking end 6410 selectively engageable with an annular array of locking notches 7410 defined on the proximal mounting portion 7400 of the end effector 7000, a proximal end 6420, and a pivot portion 6430 rotatably connecting the end effector lock 6400 to the articulation link 2320. As shown in FIG. 34 , when the third clutch 6310 of the third clutch assembly 6300 is in its disengaged position, the third clutch 6310 contacts the proximal end 6420 of the end effector lock 6400, causing the locking end 6410 of the end effector lock 6400 to be engaged with the array of locking notches 7410. In such an example, the end effector 7000 can rotate relative to the end effector lock 6400 but cannot translate relative to the distal mounting portion 2400. As shown in FIG. 35 , when the third clutch 6310 is moved to its engaged position, the third clutch 6310 is no longer engaged with the proximal end 6420 of the end effector lock 6400. In such an example, the end effector lock 6400 is free to pivot upward, allowing the end effector 7000 to be removed from the shaft assembly 2000.

[0096] 34 , the second clutch 6210 of the second clutch assembly 6200 can be in its disengaged position when the clinician has detached or is attempting to detach the end effector 7000 from the shaft assembly 2000. As mentioned above, the second clutch 6210 is engaged with the second clutch lock 6250 when the second clutch 6210 is in its disengaged position, and in such an instance, the second clutch lock 6250 is pushed into engagement with the articulation link 2340. More specifically, when the second clutch 6210 is engaged with the second clutch lock 6250, the second clutch lock 6250 is positioned within the channel 2345 defined in the articulation link 2340, which can prevent, or at least impede, the end effector 7000 from being detached from the shaft assembly 2000. To facilitate disengagement of the end effector 7000 from the shaft assembly 2000, the control system 1800 can move the second clutch 6210 to its engaged position in addition to moving the third clutch 6310 to its engaged position. In such an example, the end effector 7000 can clear both the end effector lock 6400 and the second clutch lock 6250 when the end effector 7000 is removed.

[0097] In at least one example, further to the above, the drive module 1100 includes an input switch and / or sensor in communication with the control system 1800 via the input system 1400 and / or directly through the control system 1800, which, when actuated, causes the control system 1800 to unlock the end effector 7000. In various examples, the drive module 1100 includes an input screen 1440 in communication with the board 1410 of the input system 1400 configured to receive an unlock input from a clinician. In response to the unlock input, the control system 1800 can stop the motor system 1600, if it is operating, and unlock the end effector 7000 as described above. The input screen 1440 is also configured to receive a lock input from the clinician, which causes the input system 1800 to move the second clutch assembly 6200 and / or the third clutch assembly 6300 to their unactuated states to lock the end effector 7000 to the shaft assembly 2000.

[0098] FIG. 37 depicts a shaft assembly 2000′ according to at least one alternative embodiment. The shaft assembly 2000′ is similar to the shaft assembly 2000 in many respects, most of which will not be repeated herein for the sake of brevity. Like the shaft assembly 2000, the shaft assembly 2000′ comprises a shaft frame, i.e., shaft frame 2530′. The shaft frame 2530′ comprises a longitudinal passage 2535′ and, in addition, a plurality of clutch position sensors, i.e., a first sensor 6180′, a second sensor 6280′, and a third sensor 6380′ positioned within the shaft frame 2530′. The first sensor 6180′ is in signal communication with the control system 1800 as part of a first sensing circuit. The first sensing circuit comprises a signal wire extending through the longitudinal passage 2535′. However, the first sensing circuit may include a wireless signal transmitter and receiver for placing the first sensor 6180′ in signal communication with the control system 1800. The first sensor 6180′ is positioned and arranged to detect the position of the first clutch 6110 of the first clutch assembly 6100. Based on the data received from the first sensor 6180′, the control system 1800 can determine whether the first clutch 6110 is in its engaged position, its disengaged position, or somewhere in between. This information allows the control system 1800 to evaluate whether the first clutch 6110 is in the correct position, taking into account the operational state of the surgical instrument. For example, when the surgical instrument is in its jaw clamping / opening operational state, the control system 1800 can verify whether the first clutch 6110 is properly positioned in its engaged position. In such an example, in addition to the following, the control system 1800 can also verify that the second clutch 6210 is in its disengaged position via the second sensor 6280′ and that the third clutch 6310 is in its disengaged position via the third sensor 6380′. Correspondingly, the control system 1800 can verify whether the first clutch 6110 is properly positioned in its disengaged position when the surgical instrument is not in its jaw clamp / open state.Unless first clutch 6110 is in its proper position, control system 1800 can actuate first electromagnetic actuator 6140 in an attempt to properly position first clutch 6110. Similarly, control system 1800 can actuate electromagnetic actuators 6240 and / or 6340 to properly position clutches 6210 and / or 6310 as needed.

[0099] The second sensor 6280′ is in signal communication with the control system 1800 as part of a second sensing circuit. The second sensing circuit comprises a signal wire extending through the longitudinal passage 2535′. However, the second sensing circuit may comprise a wireless signal transmitter and receiver for placing the second sensor 6280′ in signal communication with the control system 1800. The second sensor 6280′ is positioned and arranged to detect the position of the second clutch 6210 of the first clutch assembly 6200. Based on the data received from the second sensor 6280′, the control system 1800 can determine whether the second clutch 6210 is in its engaged position, its disengaged position, or somewhere in between. This information allows the control system 1800 to evaluate whether the second clutch 6210 is in the correct position, taking into account the operating state of the surgical instrument. For example, when the surgical instrument is in its end effector rotation operating state, the control system 1800 can verify whether the second clutch 6210 is properly positioned in its engaged position. In such an example, the control system 1800 can also verify that the first clutch 6110 is in its disengaged position via the first sensor 6180', and in addition, the control system 1800 can also verify that the third clutch 6310 is in its disengaged position via the third sensor 6380'. Correspondingly, the control system 1800 can verify whether the second clutch 6110 is properly positioned in its disengaged position when the surgical instrument is not in its end effector rotation operating state. Unless the second clutch 6210 is in its proper position, the control system 1800 can activate the second electromagnetic actuator 6240 in an attempt to properly position the second clutch 6210. Similarly, the control system 1800 can operate the electromagnetic actuators 6140 and / or 6340 to appropriately position the clutches 6110 and / or 6310 as needed.

[0100] The third sensor 6380′ is in signal communication with the control system 1800 as part of a third sensing circuit. The third sensing circuit comprises a signal wire extending through the longitudinal passage 2535′. However, the third sensing circuit may comprise a wireless signal transmitter and receiver for placing the third sensor 6380′ in signal communication with the control system 1800. The third sensor 6380′ is positioned and arranged to detect the position of the third clutch 6310 of the third clutch assembly 6300. Based on the data received from the third sensor 6380′, the control system 1800 can determine whether the third clutch 6310 is in its engaged position, its disengaged position, or somewhere in between. This information allows the control system 1800 to evaluate whether the third clutch 6310 is in the correct position, taking into account the operating state of the surgical instrument. For example, when the surgical instrument is in its end effector articulated state, the control system 1800 can verify whether the third clutch 6310 is properly positioned in its engaged position. In such an example, the control system 1800 can also verify that the first clutch 6110 is in its disengaged position via the first sensor 6180′ and that the second clutch 6210 is in its disengaged position via the second sensor 6280′. Correspondingly, the control system 1800 can verify whether the third clutch 6310 is properly positioned in its disengaged position when the surgical instrument is not in its end effector articulated state. Unless the third clutch 6310 is in its proper position, the control system 1800 can activate the third electromagnetic actuator 6340 in an attempt to properly position the third clutch 6310. Similarly, the control system 1800 can operate the electromagnetic actuators 6140 and / or 6240 to appropriately position the clutches 6110 and / or 6210 as needed.

[0101] Further to the above, the clutch position sensors, i.e., first sensor 6180′, second sensor 6280′, and third sensor 6380′, can comprise any suitable type of sensor. In various examples, first sensor 6180′, second sensor 6280′, and third sensor 6380′ each comprise a proximity sensor. In such a configuration, sensors 6180′, 6280′, and 6380′ are configured to detect whether clutches 6110, 6210, and 6310, respectively, are in their engaged positions. In various examples, first sensor 6180′, second sensor 6280′, and third sensor 6380′ each comprise a Hall effect sensor, for example. In such a configuration, sensors 6180', 6280' and 6380' not only detect whether clutches 6110, 6210 and 6310, respectively, are in their engaged positions, but sensors 6180', 6280' and 6380' can also detect how close clutches 6110, 6210 and 6310 are to their engaged or disengaged positions.

[0102] FIG. 38 depicts shaft assembly 2000′ and end effector 7000″ according to at least one alternative embodiment. End effector 7000″ is similar to end effector 7000 in many respects, most of which will not be repeated herein for the sake of brevity. Like end effector 7000, shaft assembly 7000″ includes a jaw assembly 7100 and a jaw assembly driver configured to move jaw assembly 7100 between its open and closed configurations. The jaw assembly driver includes a drive link 7140, a drive nut 7150″, and a drive screw 6130″. Drive nut 7150″ includes a sensor 7190″ positioned therein that is configured to detect the position of a magnetic element 6190″ positioned within drive screw 6130″. The magnetic element 6190'' is positioned within an elongated opening 6134'' defined in the drive screw 6130'' and can comprise a permanent magnet and / or may be constructed of iron, nickel, and / or any suitable metal. In various examples, the sensor 7190'' comprises, for example, a proximity sensor in signal communication with the control system 1800. In particular examples, the sensor 7190'' comprises, for example, a Hall effect sensor in signal communication with the control system 1800. In particular examples, the sensor 7190'' comprises, for example, an optical sensor, and the detectable element 6190'' comprises, for example, an optically detectable element, such as a reflective element. In either case, the sensor 7190'' is configured to communicate wirelessly with the control system 1800 via a wireless signal transmitter and receiver and / or via a wired connection extending through the shaft frame passageway 2532'.

[0103] Further to the above, the sensor 7190'' is configured to detect when the magnetic element 6190'' is adjacent to the sensor 7190'', and the control system 1800 can use this data to determine that the jaw assembly 7100 has reached the end of its clamping stroke. At such point, the control system 1800 can stop the motor assembly 1600. The sensor 7190'' and the control system 1800 are also configured to determine the distance between where the drive screw 6130'' is currently positioned and where the drive screw 6130'' should be positioned at the end of its closing stroke in order to calculate the amount of closing stroke of the drive screw 6130'' still required to close the jaw assembly 7100. Furthermore, such information can be used by the control system 1800 to assess the current configuration of the jaw assembly 7100, i.e., whether the jaw assembly 7100 is in its open configuration, its closed configuration, or a partially closed configuration. The sensor system can determine when the jaw assembly 7100 has reached its fully open position, at which point the motor assembly 1600 can be stopped. In various examples, the control system 1800 can use this sensor system to verify that the first clutch assembly 6100 is in its actuated state by verifying that the jaw assembly 7100 is moving while the motor assembly 1600 is pivoting. Similarly, the control system 1800 can use this sensor system to verify that the first clutch assembly 6100 is in its deactuated state by verifying that the jaw assembly 7100 is not moving while the motor assembly 1600 is pivoting.

[0104] FIG. 39 depicts shaft assembly 2000''' and end effector 7000''' in accordance with at least one alternative embodiment. Shaft assembly 2000''' is similar to shaft assemblies 2000 and 2000' in many respects, most of which will not be repeated herein for the sake of brevity. End effector 7000''' is similar to end effectors 7000 and 7000'' in many respects, most of which will not be repeated herein for the sake of brevity. Like end effector 7000, end effector 7000''' comprises a jaw assembly 7100 and a jaw assembly drive configured to move jaw assembly 7100 between its open and closed configurations, as well as an end effector rotation drive configured to rotate end effector 7000''' relative to distal mounting portion 2400 of shaft assembly 2000'. The end effector rotational drive includes an outer housing 6230'" that is rotated relative to the shaft frame 2530'" of the end effector 7000'" by the second clutch assembly 6200. The shaft frame 2530'" includes an internally positioned sensor 6290'" configured to detect the position of a magnetic element 6190'" positioned in and / or on the outer housing 6230'". The magnetic element 6190'" can include a permanent magnet and / or may be constructed of iron, nickel, and / or any suitable metal. In various examples, the sensor 6290'" includes, for example, a proximity sensor in signal communication with the control system 1800. In certain examples, the sensor 6290'" includes, for example, a Hall effect sensor in signal communication with the control system 1800. In either case, the sensor 6290''' is configured to communicate wirelessly with the control system 1800 via a wireless signal transmitter and receiver and / or via a wired connection extending through the shaft frame passage 2532'.In various examples, the control system 1800 can use the sensor 6290''' to verify whether the magnetic element 6190''' is rotating, and therefore can verify that the second clutch assembly 6200 is in its activated state. Similarly, the control system 1800 can use the sensor 6290''' to verify whether the magnetic element 6190''' is not rotating, and therefore can verify that the second clutch assembly 6200 is in its deactivated state. The control system 1800 can also use the sensor 6290''' to verify that the second clutch assembly 6200 is in its deactivated state by verifying that the second clutch 6210 is positioned adjacent to the sensor 6290'''.

[0105] FIG. 40 depicts shaft assembly 2000'''' according to at least one alternative embodiment. Shaft assembly 2000'''' is similar to shaft assemblies 2000, 2000', and 2000''', most of which will not be repeated herein for the sake of brevity. Like shaft assembly 2000, shaft assembly 2000'''' comprises, among other things, an elongate shaft 2200, an articulation joint 2300, and a distal mounting portion 2400 configured to receive an end effector, such as end effector 7000'. Like shaft assembly 2000, shaft assembly 2000'''' comprises an articulation drive, i.e., articulation drive 6330'''', configured to rotate distal mounting portion 2400 and end effector 7000' about articulation joint 2300. Similar to above, the shaft frame 2530'''' includes an internally positioned sensor configured to detect the position and / or rotation of the magnetic element 6390'''' positioned in and / or on the articulation drive 6330''''. The magnetic element 6390'''' can comprise a permanent magnet and / or may be constructed of iron, nickel, and / or any suitable metal. In various examples, the sensor includes, for example, a proximity sensor in signal communication with the control system 1800. In certain examples, the sensor includes, for example, a Hall effect sensor in signal communication with the control system 1800. In either case, the sensor is configured to wirelessly communicate with the control system 1800 via a wireless signal transmitter and receiver and / or via a wired connection extending through the shaft frame passageway 2532'. In various examples, the control system 1800 can use the sensor to determine whether the magnetic element 6390''' is rotating and therefore can determine that the third clutch assembly 6300 is in its actuated state. Similarly, the control system 1800 can use a sensor to determine if the magnetic element 6390'''' is not rotating and therefore can determine that the third clutch assembly 6300 is in its deactivated state.In a particular example, the control system 1800 can verify that the third clutch assembly 6300 is in its deactivated state by using a sensor to verify that the third clutch 6310 is positioned adjacent to the sensor.

[0106] Referring again to FIG. 40 , shaft assembly 2000″″ includes an end effector lock 6400′ configured to releasably lock end effector 7000′, for example, to shaft assembly 2000″″. End effector lock 6400′ is similar to end effector lock 6400 in many respects, most of which will not be discussed herein for the sake of brevity. In particular, however, a proximal end 6420′ of lock 6400′ includes teeth 6422′ configured to engage annular slot 6312 of third clutch 6310 and releasably retain third clutch 6310 in its disengaged position. This allows actuation of third electromagnetic assembly 6340 to disengage third clutch 6310 from end effector lock 6400′. Further, in such an example, proximal movement of the third clutch 6310 to the engaged position rotates the end effector lock 6400′ to the locked position and engages the locking notch 7410, locking the end effector 7000′ to the shaft assembly 2000″″. Correspondingly, distal movement of the third clutch 6310 to its disengaged position unlocks the end effector 7000′, allowing the end effector 7000′ to be disassembled from the shaft assembly 2000″″.

[0107] Further to the above, the implement system, including the handle and attached shaft assembly, may be configured to perform diagnostic checks to evaluate the condition of the clutch assemblies 6100, 6200, and 6300. In at least one example, the control system 1800 sequentially actuates the electromagnetic actuators 6140, 6240, and / or 6340 in any suitable order to verify the position of the clutches 6110, 6210, and / or 6310, respectively, and / or to verify that the clutches are responsive to the electromagnetic actuators and therefore not stuck. The control system 1800 can use sensors, including any of the sensors disclosed herein, to verify the movement of the clutches 6110, 6120, and 6130 in response to the electromagnetic fields generated by the electromagnetic actuators 6140, 6240, and / or 6340. Additionally, the diagnostic checks may also include verifying the movement of the drive system. In at least one example, the control system 1800 sequentially actuates the electromagnetic actuators 6140, 6240, and / or 6340 in any suitable order to verify that the jaw drive opens and closes the jaw assembly 7100, the rotation drive rotates the end effector 7000, and / or the articulation drive articulates the end effector 7000. The control system 1800 can use sensors to verify the movement of the jaw assembly 7100 and the end effector 7000.

[0108] The control system 1800 may run a diagnostic test at any suitable time, such as, for example, when the shaft assembly is attached to the handle and / or when the handle is powered on. If the control system 1800 determines that the instrument system passes the diagnostic test, the control system 1800 may allow normal operation of the instrument system. In at least one example, the handle may include an indicator, such as a green LED, that indicates that the diagnostic check has passed. If the control system 1800 determines that the instrument system has failed the diagnostic test, the control system 1800 may prevent and / or modify operation of the instrument system. In at least one example, the control system 1800 may limit the functionality of the instrument system to only those functions necessary to remove the instrument system from the patient, such as, for example, straightening the end effector 7000 and / or opening and closing the jaw assembly 7100. At at least one point, the control system 1800 enters a limp mode. The limp mode of the control system 1800 may, for example, reduce the current rotational speed of the motor 1610 by any percentage selected from the range of about 75% to about 25%. In one embodiment, the limp mode may reduce the current rotational speed of the motor 1610 by 50%. In one embodiment, the limp mode may reduce the current rotational speed of the motor 1610 by 75%. The limp mode may, for example, reduce the current torque of the motor 1610 by any percentage selected from the range of about 75% to about 25%. In one embodiment, the limp mode may reduce the current torque of the motor 1610 by 50%. The handle may include an indicator, such as a red LED, that indicates that the instrument system has failed a diagnostic check and / or that the instrument system has entered limp mode. As noted above, any suitable feedback may be used to alert the clinician that the instrument system is not operating properly, such as, for example, an audible alert and / or a tactile or vibration alert.

[0109] FIGS. 41-43 depict a clutch system 6000′ according to at least one alternative embodiment. Clutch system 6000′ is similar to clutch system 6000 in many respects, most of which will not be repeated herein for the sake of brevity. Like clutch system 6000, clutch system 6000′ includes a clutch assembly 6100′ operable to selectively couple a rotatable drive input 6030′ with a rotatable drive output 6130′. Clutch assembly 6100′ includes clutch plates 6110′ and a drive ring 6120′. Clutch plates 6110′ are constructed of a magnetic material, such as iron and / or nickel, and may include permanent magnets. As described in more detail below, clutch plates 6110′ are movable between an inoperative position ( FIG. 42 ) and an operative position ( FIG. 43 ) within drive output 6130′. The clutch plate 6110' is slidably positioned within an opening defined in the drive output 6130' so that the clutch plate 6110' rotates with the drive output 6130' regardless of whether the clutch plate 6110' is in an inoperative position or an operative position.

[0110] When the clutch plate 6110' is in the inoperative position, as shown in FIG. 42, rotation of the drive input 6030' is not transmitted to the drive output 6130'. More specifically, when the drive input 6030' is rotated, in such an example, the drive input 6030' slides past the drive ring 6120' and rotates relative to the drive ring 6120', and as a result, the drive ring 6120' does not drive the clutch plate 6110' and the drive output 6130'. When the clutch plate 6110' is in the operative position, as shown in FIG. 43, the clutch plate 6110' resiliently compresses the drive ring 6120' against the drive input 6030'. The drive ring 6120' is constructed of any suitable compressible material, such as, for example, rubber. In either case, in such examples, rotation of the drive input 6030' is transmitted to the drive output 6130' via the drive ring 6120' and the clutch plates 6110'. The clutch system 6000' includes a clutch actuator 6140' configured to move the clutch plates 6110' to their actuated positions. The clutch actuator 6140' is constructed of a magnetic material, such as iron and / or nickel, and may include a permanent magnet. The clutch actuator 6140' is slidably positioned within a longitudinal shaft frame 6050' extending through the drive input 6030' and may be moved between an inactivated position ( FIG. 42 ) and an actuated position ( FIG. 43 ) by a clutch shaft 6060'. In at least one example, the flexible drive shaft 6060' comprises, for example, a cable. When the clutch actuator 6140' is in its actuated position, as shown in FIG. 43, the clutch actuator 6140' pulls the clutch plates 6110' inward, compressing the drive ring 6120' as described above. When the clutch actuator 6140' is moved to its unactuated position, as shown in FIG. 42, the drive ring 6120' resiliently expands, pushing the clutch plates 6110' away from the drive input 6030'. In various alternative embodiments, the clutch actuator 6140' may comprise an electromagnet.In such a configuration, the clutch actuator 6140' can be actuated by, for example, an electrical circuit extending through a longitudinal opening defined in the clutch shaft 6060'. In various examples, the clutch system 6000' further includes an electrical wire 6040', for example, extending through the longitudinal opening.

[0111] 44 depicts an end effector 7000a including a jaw assembly 7100a, a jaw assembly driver, and a clutch system 6000a according to at least one alternative embodiment. The jaw assembly 7100a includes a first jaw 7110a and a second jaw 7120a that are selectively rotatable about a pivot 7130a. The jaw assembly driver includes a translatable actuator rod 7160a and a drive link 7140a pivotally coupled to an actuator rod 7160a about a pivot 7150a. The drive link 7140a is also pivotally coupled to the jaws 7110a and 7120a such that the jaws 7110a and 7120a rotate closed when the actuator rod 7160a is pulled proximally and rotate open when the actuator rod 7160a is pushed distally. Clutch system 6000a is similar to clutch systems 6000 and 6000' in many respects, most of which will not be repeated herein for the sake of brevity. Clutch system 6000a includes first and second clutch assemblies 6100a and 6200a configured to selectively transfer rotation of drive input 6030a to rotate jaw assembly 7100a about its longitudinal axis and articulate jaw assembly 7100a about articulation joint 7300a, as described in more detail below.

[0112] The first clutch assembly 6100a includes a clutch plate 6110a and a drive ring 6120a and operates in a manner similar to the clutch plate 6110' and drive ring 6120' described above. When the clutch plate 6110a is actuated by the electromagnetic actuator 6140a, rotation of the drive input 6030a is transmitted to the outer shaft housing 7200a. More specifically, the outer shaft housing 7200a includes a proximal outer housing 7210a and a distal outer housing 7220a that is rotatably supported by the proximal outer housing 7210a and is rotated relative to the proximal outer housing 7210a by the drive input 6030a when the clutch plate 6110a is in its actuated position. Rotation of the distal outer housing 7220a rotates the jaw assembly 7100a about its longitudinal axis due to the fact that the pivot portion 7130a of the jaw assembly 7100a is attached to the distal outer housing 7220a. As a result, the outer shaft housing 7200a rotates the jaw assembly 7100a in a first direction when the outer shaft housing 7200a is rotated in a first direction by the drive input 6030a. Similarly, the outer shaft housing 7200a rotates the jaw assembly 7100a in a second direction when the outer shaft housing 7200a is rotated in a second direction by the drive input 6030a. When the electromagnetic actuator 6140a is de-energized, the drive ring 6120a expands and the clutch plates 6110a move to their unactuated positions, thereby decoupling the end effector rotational drive from the drive input 6030a.

[0113] The second clutch assembly 6200a includes a clutch plate 6210a and a drive ring 6220a and operates in a manner similar to the clutch plate 6110' and drive ring 6120' described above. When the clutch plate 6210a is actuated by an electromagnetic actuator 6240a, rotation of the drive input 6030a is transmitted to the articulation drive 6230a. The articulation drive 6230a is rotatably supported within an outer shaft housing 7410a of the end effector mounting portion 7400a and by a shaft frame 6050a extending through the outer shaft housing 7410a. The articulation drive 6230a includes a gear surface defined thereon that operably meshes with a fixed gear surface 7230a defined on a proximal outer housing 7210a of the outer shaft housing 7200a. As a result, the articulation drive 6230a articulates the outer shaft housing 7200a and jaw assembly 7100a in a first direction when the articulation drive 6230a is rotated in a first direction by the drive input 6030a. Similarly, the articulation drive 6230a articulates the outer shaft housing 7200a and jaw assembly 7100a in a second direction when the articulation drive 6230a is rotated in a second direction by the drive input 6030a. When the electromagnetic actuator 6240a is de-energized, the drive ring 6220a expands and the clutch plates 6210a move to their unactuated positions, thereby decoupling the end effector articulation drive from the drive input 6030a.

[0114] In addition to the above, shaft assembly 4000 is shown in FIGS. 45-49. Shaft assembly 4000 is similar to shaft assemblies 2000, 2000′, 2000′″, and 2000′″ in many respects, most of which will not be repeated herein for the sake of brevity. Shaft assembly 4000 comprises a proximal portion 4100, an elongate shaft 4200, a distal mounting portion 2400, and an articulation joint 2300 that rotatably connects the distal mounting portion 2040 to the elongate shaft 4200. Like proximal portion 2100, proximal portion 4100 is operably attachable to the drive module 1100 of the handle 1000. Proximal portion 4100 comprises a housing 4110 that includes a mounting interface 4130 configured to attach shaft assembly 4000 to a mounting interface 1130 of the handle 1000. The shaft assembly 4000 further comprises a frame 4500 including a shaft 4510 configured to be coupled to the shaft 1510 of the handle frame 1500 when the shaft assembly 4000 is attached to the handle 1000. The shaft assembly 4000 also comprises a drive system 4700 including a rotatable drive shaft 4710 configured to be operably coupled to the drive shaft 1710 of the handle drive system 1700 when the shaft assembly 4000 is attached to the handle 1000. The distal mounting portion 2400 is configured to receive an end effector, such as, for example, end effector 8000. The end effector 8000 is similar to the end effector 7000 in many respects, most of which will not be repeated herein for the sake of brevity. Accordingly, the end effector 8000 comprises a jaw assembly 8100 configured, among other things, to grasp tissue.

[0115] As noted above, and referring primarily to FIGS. 47-49 , the frame 4500 of the shaft assembly 4000 includes a frame shaft 4510. The frame shaft 4510 includes a notch or cutout 4530 defined therein. As discussed in more detail below, the cutout 4530 is configured to provide clearance for the jaw closure actuation system 4600. The frame 4500 further includes a distal portion 4550 and a bridge 4540 connecting the distal portion 4550 to the frame shaft 4510. The frame 4500 further includes a longitudinal portion 4560 that extends through the elongate shaft 4200 to the distal mounting portion 2400. As above, the frame shaft 4510 includes one or more electrical traces defined thereon and / or therein. The electrical traces extend through the longitudinal portion 4560, the distal portion 4550, the bridge 4540, and / or any suitable portion of the frame shaft 4510 to the electrical contacts 2520. Referring primarily to FIG. 48 , the distal portion 4550 and the longitudinal portion 4560 include longitudinal openings defined therein that are configured to receive the rod 4660 of the jaw closure actuation system 4600, as described in more detail below.

[0116] As also described above, and referring primarily to FIGS. 48 and 49 , the drive system 4700 of the shaft assembly 4000 includes a drive shaft 4710. The drive shaft 4710 is rotatably supported within the proximal shaft housing 4110 by the frame shaft 4510 and is rotatable about a longitudinal axis extending through the frame shaft 4510. The drive system 4700 further includes a transmission shaft 4750 and an output shaft 4780. The transmission shaft 4750 is also rotatably supported within the proximal shaft housing 4110 and is rotatable about a longitudinal axis extending parallel to, or at least substantially parallel to, and defined therethrough the frame shaft 4510. The transmission shaft 4750 includes a proximal spur gear 4740 fixedly mounted thereto, such that the proximal spur gear 4740 rotates with the transmission shaft 4750. The proximal spur gear 4740 operatively meshes with an annular gear surface 4730 defined about the outer periphery of the drive shaft 4710 such that rotation of the drive shaft 4710 is transmitted to the transmission shaft 4750. The transmission shaft 4750 further includes a distal spur gear 4760 fixedly mounted thereto, whereby the distal spur gear 4760 rotates with the transmission shaft 4750. The distal spur gear 4760 operatively meshes with an annular gear 4770 defined about the outer periphery of the output shaft 4780 such that rotation of the transmission shaft 4750 is transmitted to the output shaft 4780. Similar to above, the output shaft 4780 is rotatably supported within the proximal shaft housing 4110 by the distal portion 4550 of the shaft frame 4500 such that the output shaft 4780 rotates about the longitudinal shaft axis. Notably, the output shaft 4780 is not directly coupled to the input shaft 4710. Rather, the output shaft 4780 is operatively coupled to the input shaft 4710 by the transmission shaft 4750. Such a configuration provides room for the manually actuated jaw closure actuation system 4600, described below.

[0117] 47 and 48 , the jaw closure actuation system 4600 includes an actuation or scissor trigger 4610 rotatably coupled to a proximal shaft housing 4110 about a pivot 4620. The actuation trigger 4610 includes an elongated portion 4612, a proximal end 4614, and a grip ring opening 4616 defined in the proximal end 4614 configured to be grasped by a clinician. The shaft assembly 4000 further includes a stationary grip 4160 extending from the proximal housing 4110. The stationary grip 4160 includes an elongated portion 4162, a proximal end 4164, and a grip ring opening 4166 defined in the proximal end 4164 configured to be grasped by a clinician. In use, as described in more detail below, the actuation trigger 4610 is rotatable between an inactive position and an activated position (FIG. 48), i.e., toward the stationary grip 4160, to close the jaw assembly 8100 of the end effector 8000.

[0118] 48 , the jaw closure actuation system 4600 further includes a drive link 4640 rotatably coupled to the proximal shaft housing 4110 about a pivot 4650, and an actuation rod 4660 operably coupled to the drive link 4640. The actuation rod 4660 extends through an opening defined in the longitudinal frame portion 4560 and is translatable along the longitudinal axis of the shaft frame 4500. The actuation rod 4660 includes a distal end operably coupled to the jaw assembly 8100 and a proximal end 4665 positioned within a drive slot 4645 defined in the drive link 4640, such that the actuation rod 4660 is translated longitudinally when the drive link 4640 is rotated about the pivot 4650. In particular, the proximal end 4665 is rotatably supported within the drive slot 4645 such that the actuation rod 4660 can rotate with the end effector 8000 .

[0119] In addition to the above, the actuation trigger 4610 further comprises a drive arm 4615 configured to proximally engage and rotate the drive link 4640 and proximally translate the actuation rod 4660 when the actuation trigger 4610 is actuated, i.e., moved proximal to the proximal shaft housing 4110. In such an example, proximal rotation of the drive link 4640 resiliently compresses a biasing member, such as, for example, a coil spring 4670, positioned intermediate the drive link 4640 and the frame shaft 4510. When the actuation trigger 4610 is released, the compression coil spring 4670 again expands, pushing the drive link 4640 and the actuation rod 4660 distally to open the jaw assembly 8100 of the end effector 8000. Furthermore, distal rotation of the drive link 4640 drives and automatically rotates the actuation trigger 4610 back to its unactuated position. That is, a clinician can manually return the actuation trigger 4610 to its unactuated position. In such an example, the actuation trigger 4610 can be slowly released. In either case, the shaft assembly 4000 further comprises a lock configured to releasably hold the actuation trigger 4610 in its actuated position, thereby allowing the clinician to use their hand to perform another task without the jaw assembly 8100 unintentionally opening.

[0120] In various alternative embodiments, further to the above, the actuation rod 4660 can be pushed distally to close the jaw assembly 8100. In at least one such example, the actuation rod 4660 is attached directly to the actuation trigger 4610, such that when the actuation trigger 4610 is actuated, the actuation trigger 4610 drives the actuation rod 4660 distally. Similar to the above, the actuation trigger 4610 can compress a spring when the actuation trigger 4610 is closed, which pushes the actuation rod 4660 proximally when the actuation trigger 4610 is released.

[0121] In addition to the above, the shaft assembly 4000 has three functions: opening and closing the jaw assembly of the end effector, rotating the end effector about a longitudinal axis, and articulating the end effector about an articulation axis. The end effector rotation and articulation functions of the shaft assembly 4000 are driven by the motor assembly 1600 and control system 1800 of the drive module 1100, while the jaw actuation function is manually driven by a jaw closure actuation system 4600. While the jaw closure actuation system 4600 could be a motor-driven system, the jaw closure actuation system 4600 is instead maintained as a manually driven system to allow the clinician a better feel for the tissue being clamped within the end effector. While motorizing the end effector rotation and actuation system provides certain advantages for controlling the position of the end effector, motorizing the jaw closure actuation system 4600 may cause the clinician to lose the tactile sensation of the force being applied to the tissue and may be unable to assess whether the force is insufficient or excessive. Thus, even though the end effector rotation and articulation system is motor driven, the jaw closure actuation system 4600 is manually driven.

[0122] FIG. 50 is a logic diagram of a control system 1800 of the surgical system shown in FIG. 1 , in accordance with at least one embodiment. The control system 1800 comprises control circuitry. The control circuitry includes a microcontroller 1840 with a processor 1820 and memory 1830. One or more sensors, such as, for example, sensors 1880, 1890, 6180′, 6280′, 6380′, 7190″ and / or 6290′″, provide real-time feedback to the processor 1820. The control system 1800 further includes a motor driver 1850 configured to control the electric motor 1610 and a tracking system 1860 configured to determine the position of one or more longitudinally moving components in the surgical instrument, such as, for example, clutches 6110, 6120, and 6130, and / or the longitudinally moving drive nut 7150 of the jaw assembly driver. The tracking system 1860 is also configured to determine the position of one or more rotating components within the surgical instrument, such as, for example, the drive shaft 2530, the outer shaft 6230, and / or the articulation drive 6330. The tracking system 1860 provides position information to the processor 1820, which may be programmed or configured to determine, among other things, the positions of the clutches 6110, 6120, and 6130 and the drive nut 7150, and the orientation of the jaws 7110 and 7120. The motor driver 1850 may be an A3941 available from Allegro Microsystems, Inc. However, other motor drivers may be readily substituted for use with the tracking system 1860. A detailed description of the absolute positioning system is provided in U.S. Patent Application Publication No. 2017 / 0296213, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT," the entire disclosure of which is incorporated herein by reference.

[0123] The microcontroller 1840 may be any single-core or multi-core processor, such as, for example, those known by the trade name ARM Cortex manufactured by Texas Instruments. In at least one example, the microcontroller 1840 may be an LM4F230H5QR ARM microcontroller available from Texas Instruments, including, for example, 256 KB of on-chip memory of single-cycle flash memory or other non-volatile memory up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, 32 KB of single-cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with StellarisWare® software, 2 KB of electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules and / or frequency modulation (FM) modules, one or more quadrature encoder input (QEI) analog, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, details of which are available from the product datasheet. It may be a Cortex-M4F processor core.

[0124] In various examples, the microcontroller 1840 comprises a safety controller, including two controller families such as the TMS570 and RM4x, also known under the trade name Hercules ARM Cortex R4, manufactured by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety limiting applications, among others, to provide advanced integrated safety features while offering scalable performance, connectivity, and memory options.

[0125] The microcontroller 1840 is programmed to perform various functions, such as precisely controlling the speed and / or position of the drive nut 7150 of the jaw closure assembly. The microcontroller 1840 is also programmed to precisely control the rotational speed and position of the end effector 7000, as well as the articulation speed and position of the end effector 7000. In various examples, the microcontroller 1840 calculates a response in the microcontroller 1840 software. The calculated response is compared to the measured response of the actual system to obtain an "observed" response, which is used for actual feedback decisions. The observed response is a suitably tuned value that balances the smooth, continuous nature of the simulated response with the measured response, which can detect external influences on the system.

[0126] The motor 1610 is controlled by a motor driver 1850. In various embodiments, the motor 1610 is a brushed DC drive motor having a maximum rotational speed of, for example, approximately 25,000 RPM. In other configurations, the motor 1610 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver 1850 may comprise, for example, an H-bridge driver including field-effect transistors (FETs). The motor driver 1850 may be an A3941 available from Allegro Microsystems, Inc. The A3941 driver 1850 is a full-bridge controller for use with external N-channel power metal oxide semiconductor field effect transistors (MOSFETs) specifically designed for inductive loads such as brushed DC motors. In various examples, the driver 1850 includes an intrinsic charge pump regulator that provides full (>10V) gate drive for battery voltages up to 7V, allowing the A3941 to operate with reduced gate drive down to 5.5V. A bootstrap capacitor may be used to provide the required above-mentioned battery supply voltage for the N-channel MOSFETs. An internal charge pump for the high-side drive allows DC (100% duty cycle) operation. The full bridge can be driven in fast or slow decay mode using diode or synchronous rectification. In slow decay mode, current recirculation is possible through either the high-side or low-side FET. The power FETs are protected from shoot-through by resistor-adjustable dead time. Integrated diagnostics indicate undervoltage, overtemperature, and power bridge faults and can be configured to protect the power MOSFETs under most short-circuit conditions. Other motor drivers can be easily substituted.

[0127] The tracking system 1860 comprises controlled motor drive circuitry including one or more position sensors, such as, for example, sensors 1880, 1890, 6180', 6280', 6380', 7190'', and / or 6290'''. Position sensors for absolute positioning systems provide unique position signals corresponding to the position of the displacement member. As used herein, the term "displacement member" is used generally to refer to any movable member of a surgical system. In various examples, the displacement member may be coupled to any position sensor suitable for measuring linear displacement. The linear displacement sensor may include a contact or non-contact displacement sensor. The linear displacement sensors may comprise linear variable differential transformers (LVDTs), differential variable reluctance transducers (DVRTs), slide potentiometers, magnetic sensing systems including a movable magnet and a series of linearly arranged Hall effect sensors, magnetic sensing systems including a fixed magnet and a series of movable linearly arranged Hall effect sensors, optical detection systems including a movable light source and a series of linearly arranged photodiodes or photodetectors, or optical detection systems including a fixed light source and a series of movable linearly arranged photodiodes or photodetectors, or any combination thereof.

[0128] Position sensors 1880, 1890, 6180', 6280', 6380', 7190'', and / or 6290''' may comprise any number of magnetic sensing elements, such as magnetic sensors classified based on whether they measure the total magnetic field or vector components of a magnetic field. The technologies used to produce both types of magnetic sensors involve many aspects of physics and electronics. Technologies used for magnetic field detection include search coils, fluxgates, optical pumping, nuclear perturbations, SQUIDs, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric composites, magnetodiodes, magnetotransistors, fiber optics, magneto-optical, and microelectromechanical systems based magnetic sensors, among others.

[0129] In various examples, one or more of the position sensors of the tracking system 1860 comprise a magnetic rotary absolute positioning system. Such a position sensor may be implemented as an AS5055EQFT single-chip magnetic rotary position sensor, available from Austria Microsystems, AG, and can interface with the controller 1840 to provide an absolute positioning system. In a specific example, the position sensor comprises low-voltage and low-power components and includes four Hall-effect elements in an area of ​​the position sensor located adjacent to the magnet. Additionally, a high-resolution ADC and a smart power management controller are provided on-chip. A CORDIC (short for Coordinate Rotation Digital Computer), also known as the digit-by-digit method and Volder's algorithm, is provided to implement simple and efficient algorithms for calculating hyperbolic and trigonometric functions, requiring only addition, subtraction, bit shifting, and table lookup operations. The angular position, alarm bits, and magnetic field information are transmitted to the controller 1840 via a standard serial communications interface, such as an SPI interface. The position sensor may provide, for example, 12-bit or 14-bit resolution. The position sensor may be, for example, an AS5055 chip provided in a small QFN 16-pin 4x4x0.85mm package.

[0130] The tracking system 1860 may include and / or be programmed to implement a feedback controller, such as a PID, state feedback, and adaptive controller. A power supply converts the signal from the feedback controller into a physical input to the system, in this case a voltage. Other examples include pulse width modulation (PWM) and / or frequency modulation (FM) of voltage, current, and force. In addition to position, other sensor(s) may be provided to measure physical parameters of the physical system. In various examples, the other sensor(s) may include sensor configurations such as those described in U.S. Pat. No. 9,345,481, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," the entire contents of which are incorporated herein by reference; U.S. Patent Application Publication No. 2014 / 0263552, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," the entire contents of which are incorporated herein by reference; and U.S. Patent Application No. 15 / 628,175, entitled "TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT," the entire contents of which are incorporated herein by reference. In a digital signal processing system, the absolute positioning system is coupled to a digital data acquisition system, where the output of the absolute positioning system has a finite resolution and sampling frequency. The absolute positioning system may include comparison and combination circuitry to combine the calculated response with the measured response using algorithms such as weighted averages and philosophical control loops that drive the calculated response towards the measured response. The calculated response of a physical system takes into account properties such as mass, inertia, viscous friction, induced resistance, etc., in order to predict what the state and output of the physical system will be given knowledge of the inputs.

[0131] The absolute positioning system provides the absolute position of the displacement member upon powering up of the instrument without forcing the displacement member to retract or advance to a reset (zero or home) position, as may be required with conventional rotary encoders that simply count the number of steps taken by the motor 1610 forward or backward to estimate the position of the device actuator, drive bar, knife, etc.

[0132] The sensor 1880, comprising a strain gauge or micro-strain gauge, is configured to measure one or more parameters of the end effector, such as, for example, the strain experienced by the jaws 7110 and 7120 during clamping. The measured strain is converted to a digital signal and provided to the processor 1820. In addition to or instead of the sensor 1880, a sensor 1890, comprising, for example, a load sensor, can measure the closure force applied to the jaws 7110 and 7120 by the closure drive system. In various examples, a current sensor 1870 can be used to measure the current draw by the motor 1610. The force required to clamp the jaw assembly 7100 can correspond to, for example, the current drawn by the electric motor 1610. The measured force is converted to a digital signal and provided to the processor 1820. A magnetic field sensor can be used to measure the thickness of the captured tissue. The magnetic field sensor's measurements can also be converted to a digital signal and provided to the processor 1820.

[0133] Measurements of tissue compression, tissue thickness, and / or force required to close the end effector on the tissue, measured by the sensors, can be used by controller 1840 to characterize the position and / or velocity of the tracked movable member. In at least one example, memory 1830 can store techniques, equations, and / or lookup tables that can be used by controller 1840 in the evaluation. In various examples, controller 1840 can provide a surgical instrument user with a selection of how to operate the surgical instrument. To this end, display 1440 can display various operating conditions of the instrument and include touchscreen functionality for data entry. Additionally, information displayed on display 1440 can be overlaid with images acquired via one or more endoscope imaging modules and / or one or more additional surgical instruments used during the surgical procedure.

[0134] As described above, the handle 1000 and / or the drive module 1100 of the shaft assemblies 2000, 3000, 4000, and / or 5000 may include, for example, a control system attachable thereto. Each of the control systems may include a circuit board having one or more processors and / or memory devices. Among other things, the control systems may be configured to store, for example, sensor data. They may also be configured to store data identifying the shaft assembly to the handle 1000. Furthermore, they may also be configured to store data including whether the shaft assembly has been used previously and / or how many times the shaft assembly has been used. This information may be obtained by the handle 1000, for example, to assess whether the shaft assembly is suitable for use and / or whether it has been used less than a predetermined number of times.

[0135] Further to the above, the first module connector 1120 of the drive module 1100 includes a side battery port defined on the side of the drive module 1100. Similarly, the second module connector 1120' includes a proximal battery port defined on the proximal end of the drive module 1100. This means that the drive module can include a battery port in any suitable location. In either case, the power supply module 1200 can be operably attached to the drive module 1100 at the side battery port 1120, as shown in FIGS. 54-58, or at the proximal battery port 1120', as shown in FIGS. 67 and 68. This is possible because the connector 1220 of the module 1200 is compatible with the side battery port 1120 and the proximal battery port 1120'. Notably, the connector 1220 includes a substantially circular or substantially cylindrical configuration that matches, or at least substantially matches, the substantially circular or substantially cylindrical configuration of the battery ports 1120 and 1120'. In various examples, the connector 1220 has a frusto-conical, or at least substantially frusto-conical, shape with a base that is larger than the top and angled or tapered sides extending therebetween. As noted above, the connector 1220 of the power module 1200 does not have keys or protrusions extending therefrom that would interfere with assembly of the power module 1200 into the battery ports 1120 and 1120′.

[0136] 55 and 56 , the connector 1220 includes two latches 1240 extending therefrom. The latches 1240 are positioned on either side of the connector 1220 with opposing latch shoulders that releasably hold the power module 1200 to the handle module 1100. The side battery port 1120 includes a latch opening 1125 defined in the housing 1100 configured to receive the latch 1240 of the power module 1200; similarly, the proximal battery port 1120′ includes a latch opening 1125′ defined in the housing 1100 that is also configured to receive the latch 1240 of the power module 1200. The latch openings 1125 in the side battery port 1120 and the latch openings 1125' in the proximal battery port 1120' limit the orientation in which the power module 1200 can be assembled to each battery port 1120 and 1120', i.e., two orientations for each battery port, but the power module 1200 can still be operably attached to both battery ports 1120 and 1120'.

[0137] Further to the above, the latch 1240 of the power module 1200 is configured to engage with the drive module 1100 in a snap-fit ​​manner. In various examples, the latch 1240 resiliently flexes radially outward when the power module 1200 is assembled to the drive module 1100, and then resiliently moves or snaps radially inward when the power module 1200 is fully seated within one of the ports 1120 and 1120′, locking the power module 1200 to the drive module 1100. In various examples, the latch 1240 comprises flexible arms that bias radially inward and outward as described above, and in some examples, the latch 1240 comprises one or more biasing members, such as springs, configured to resiliently urge the latch 1240 inward or into a locked position. In various embodiments, the power module 1200 can include members that are press-fit into openings defined in the ports 1120 and 1120 ′ to retain the power module 1200 to the drive module 1100 .

[0138] Further to the above, the electrical contacts of the power supply module 1200 are defined on an upper portion or surface of the connector 1220. As discussed above, the electrical contacts of the power supply module 1200 engage corresponding electrical contacts defined in the ports 1120 and 1120′ when the power supply module 1200 is attached to the drive module 1100, placing the power supply module 1200 in electrical communication with the drive module 1100. In various examples, the electrical contacts of the power supply module 1200 are compressed against the electrical contacts of the drive module 1100 when the power supply module 1200 is attached to the drive module 1100. In at least one such example, the power supply module contacts and / or the drive module contacts comprise a resilient member configured to resiliently deflect when the power supply module 1200 is attached to the drive module 1100. Such a resilient member, in conjunction with the latch 1240, can ensure that a proper electrical interface exists between the power supply module 1200 and the drive module 1100. In an alternative embodiment, power module 1200 may include annular electrical contacts extending around its periphery that engage electrical contacts on the sides of ports 1120 and 1120′. Such a configuration may allow relative rotation between power module 1200 and drive module 1100.

[0139] Further to the above, power supply module 1300 is operably attachable to drive module 1100 at proximal battery port 1120′ as shown in FIGS. 59-66 , but not at side battery port 1120 as shown in FIGS. 69 and 70 . This is because connector 1320 of power supply module 1300 is compatible with proximal battery port 1120′ but not with side battery port 1120. Connector 1320 has a substantially circular or substantially cylindrical configuration that matches, or at least substantially matches, the substantially circular or substantially cylindrical configuration of battery ports 1120 and 1120′, and connector 1320 of power supply module 1300 has keys or protrusions 1315 extending therefrom that prevent assembly of power supply module 1300 with side battery port 1120 but not with proximal battery port 1120′. When a clinician attempts to assemble the power module 1300 to the side battery port 1120′, the protrusion 1315 contacts the housing 1110, preventing the latch 1340 of the power module 1300 from locking the power module 1300 to the drive module 1100 and preventing the power module 1300 from being electrically coupled to the drive module 1100. That is, referring primarily to FIGS. 63 and 64 , the proximal battery port 1120′ includes a clearance opening 1115′ defined therein that is configured to receive the protrusion 1315 of the power module 1300 and allow the power module 1300 to be assembled to the proximal battery port 1120′. Similar to above, the latch opening 1125′ and clearance opening 1115′ of the proximal battery port 1120′ limit the two orientations in which the power module 1300 can be assembled to the proximal battery port 1120′.

[0140] In addition to the above, other circumstances may prevent a power module from being attached to one of the battery ports 1120 and 1120′. For example, one of the battery ports may have an asymmetrical shape configured to receive the complementary shape of only one of the power modules. In at least one such example, the side battery port 1120 may comprise a semicircular cavity, the proximal battery port 1120′ may comprise a circular cavity, the connector 1220 of the power module 1200 comprises a semicircular shape that can be received in both the battery ports 1120 and 1120′, while the connector 1320 of the power module 1300 comprises a circular shape that can be received in the proximal battery port 1120′ but not the side battery port 1120. In some examples, the configuration of the shaft assembly attached to the drive module 1100 may prevent assembly of one of the power modules to the drive module 1100. For example, with reference to FIG. 59 , the shaft assembly 4000 can prevent the power supply module 1300 from being assembled to the side battery port 1120 when the actuation trigger 4610 interferes with that assembly. Notably, such a configuration also prevents the power supply module 1200 from being assembled to the side battery port 1120. As a result, a clinician must use the proximal battery port 1120′ to connect the power supply module to the drive module 1100 when using the shaft assembly 4000. With reference to FIGS. 71 and 72 , certain shaft assembly configurations allow both power supply modules 1200 and 1300 to be assembled to the drive module 1100 simultaneously. For example, with reference to FIG. 51 , the shaft assembly 3000 of FIG. 1 allows both power supply modules 1200 and 1300 to be used to power the drive module 1100 simultaneously.

[0141] Power supply modules 1200 and 1300 are configured to supply power to drive module 1100 at the same or at least substantially the same voltage. For example, each power supply module 1200 and 1300 is configured to supply power to drive module 1100 at, for example, 3 VDC. Control system 1800 of drive module 1100 includes, for example, one or more power inverters configured to convert DC current to AC current to the extent AC current is required. Thus, power supply modules 1200 and 1300 may be configured to supply power to drive module 1100 at any suitable voltage. In at least one example, power supply modules 1200 and / or 1300 are configured to supply AC power to the drive module. In at least one such example, power supply modules 1200 and / or 1300 each include one or more power inverters. In alternative embodiments, power supply modules 1200 and 1300 are configured to supply power to drive module 1100 at different voltages. In such an embodiment, the configuration of ports 1120 and 1120' discussed above may prevent a power supply module having a higher voltage from being attached to a lower voltage port. Similarly, the configuration of ports 1120 and 1120' may prevent a power supply module having a lower voltage from being attached to a higher voltage port, if desired.

[0142] In various examples, power supply modules 1200 and 1300 are configured to provide the same or at least substantially the same current to the drive module. In at least one example, power supply modules 1200 and 1300 supply the same or at least substantially the same current to drive module 1100. In alternative embodiments, power supply modules 1200 and 1300 are configured to provide different currents to drive module 1100. In at least one example, power supply module 1200 provides a current to drive module 1100 that is twice the magnitude of the current provided by power supply module 1300, for example. In at least one such example, the battery cells of power supply module 1200 are arranged in parallel to provide the same voltage as power supply module 1300 but at twice the current. Similar to the above, the configuration of ports 1120 and 1120′ discussed above may prevent a power supply module with a higher current from being attached to a lower current port. Similarly, the configuration of ports 1120 and 1120′ may prevent a power supply module with a lower current from being attached to a higher current port, if desired.

[0143] Further to the above, control system 1800 is configured to adaptively manage the power provided by power supply modules 1200 and 1300. In various examples, control system 1800 includes one or more transformer circuits configured to step up and / or step down the voltage provided to it by the power supply modules. For example, if a higher voltage power supply module is attached to a low voltage port, control system 1800 can activate or switch on a transformer circuit to step down the voltage from the higher voltage power supply module. Similarly, if a lower voltage power supply module is attached to a high voltage port, control system 1800 can activate or switch on a transformer circuit to step up the voltage from the lower voltage power supply module. In various embodiments, control system 1800 is configured to switch off a power supply module if a power supply module with an inappropriate voltage is attached to a port in drive module 1100. In at least one example, the control system 1800 includes one or more voltmeter circuits configured to evaluate the voltage of a power supply module attached to the drive module, and if the voltage of the power supply module is improper or outside of a proper voltage range, the control system 1800 can switch off the power supply module so that it does not supply power to the drive module 1100. In at least one such example, the drive module 1100 includes a voltmeter circuit for each port 1120 and 1120′. In at least one example, the control system 1800 includes one or more ammeter circuits configured to evaluate the current of a power supply module attached to the drive module, and if the current of a power supply module is improper or outside of a proper current range, the control system 1800 can switch off the power supply module so that it does not supply power to the drive module 1100. In at least one such example, the drive module 1100 includes an ammeter circuit for each port 1120 and 1120′.In at least one example, each power supply module 1200 and 1300 includes a switch circuit that, when opened by control system 1800, prevents power from being supplied to drive module 1100. If the power supply module has the correct voltage or a voltage within the appropriate voltage range of the port to which it is attached, the switch circuit remains closed and / or is closed by control system 1800. In at least one such example, drive module 1100 has a switch circuit for each port 1120 and 1120′.

[0144] In various examples, the power supply module can include a switch selectively actuable by a clinician to prevent the power supply module from supplying power to the drive module 1100. In at least one example, the switch includes, for example, a mechanical switch in the power supply circuit of the power supply module. However, a switched-off power supply module can still provide other benefits. For example, the switched-off power supply module 1200 can still provide a pistol grip, and the switched-off power supply module 1300 can still provide a wand grip. Furthermore, in some examples, the switched-off power supply module can provide a power reserve that can be selectively activated by the clinician.

[0145] Additionally or alternatively, each of power supply modules 1200 and 1300 includes an identification memory device. The identification memory device may include, for example, a solid-state chip having data stored thereon that may be accessed by and / or transmitted to control system 1800 when the power supply module is assembled to drive module 1100. In at least one example, the data stored on the identification memory device may include, for example, data regarding the voltage that the power supply module is configured to supply to drive module 1100.

[0146] Further to the above, each of shaft assemblies 2000, 3000, 4000, and / or 5000 includes an identification memory device, such as, for example, memory device 2830. The shaft assembly's identification memory device may include, for example, a solid-state chip having data stored thereon, which may be accessed by and / or transmitted to control system 1800 when the shaft assembly is assembled to drive module 1100. In at least one example, the data stored on the identification memory device may include data regarding the power required to operate the shaft assembly's drive system. Shaft assembly 2000 includes three systems driven by drive module 1100: an end effector articulation drive system, an end effector rotational drive system, and a jaw drive system, each of which has its own power requirements. The jaw drive system may require more power than, for example, the end effector articulation and rotational drive systems. To this end, the control system 1800 is configured to verify that the power provided by the power supply module or modules attached to the drive module 1100 is sufficient to power all of the drive systems (including the jaw drive systems) of the shaft assembly 2000 assembled to the drive module 1100. Accordingly, the control system 1800 is configured to ensure that the power supply module configuration attached to the drive module 1100 is properly paired with the shaft assembly attached to the drive module 1100. If the power provided by the power supply module configuration is insufficient or falls below a required power threshold, the control system 1800 can notify the clinician that a different and / or additional power supply module is required. In at least one example, the drive module 1100 includes a low power indicator, for example, on the housing 1110 and / or the display screen 1440. Notably, the jaw drive system of the shaft assembly 4000 is not driven by the drive module 1100. Rather, it is manually powered by the clinician.Therefore, the power required to operate shaft assembly 4000 can be less than the power required to operate shaft assembly 2000, for example, and control system 1800 can lower the power threshold required for shaft assembly 4000 when evaluating the power supply module configuration.

[0147] Further to the above, an end effector configured to grasp and / or cut tissue may require less power than an end effector configured to clip tissue of a patient. As a result, an end effector and / or shaft assembly comprising a clip applier may have greater power requirements than an end effector and / or shaft assembly including grasping and / or cutting jaws. In such an example, the control system 1800 of the drive module 1100 is configured to verify that the power supply module or power supply modules attached to the drive module 1100 are capable of providing sufficient power to the drive module 1100. The control system 1800 may be configured to interrogate an identification chip on a power supply module attached to the drive module 1100 and / or evaluate the power source within the power supply module to evaluate whether the power supply module has sufficient available voltage and / or current to properly power the drive module 1100 to operate the clip applier.

[0148] Further to the above, an end effector configured to grasp and / or cut tissue may require less power than an end effector configured to suture, for example, patient tissue. As a result, an end effector and / or shaft assembly comprising a suturing device may have greater power requirements than an end effector and / or shaft assembly comprising grasping and / or cutting jaws. In such an example, the control system 1800 of the drive module 1100 is configured to verify that the power supply module or power supply modules attached to the drive module 1100 are capable of providing sufficient power to the drive module 1100 based on the shaft assembly attached to the drive module 1100. The control system 1800 may be configured to interrogate an identification chip on a power supply module attached to the drive module 1100 and / or evaluate the power source within the power supply module to evaluate whether the power supply module has sufficient available voltage and / or current to properly power the drive module 1100 to operate the suturing device.

[0149] Additionally or alternatively, an end effector, such as end effector 7000, includes an identification memory device. The end effector's identification memory device may include, for example, a solid-state chip having data stored thereon that can be accessed by and / or transmitted to control system 1800 when the end effector is assembled to drive module 1100 via the shaft assembly. In at least one example, the data stored on the identification memory device may include data regarding the power required to operate the end effector's drive system. The end effector may communicate with drive module 1100 via electrical paths or circuits that extend through the shaft assembly. Similar to the above, the end effector may identify itself to drive module 1100, and this information allows drive module 1100 to adapt its operation to operate the end effector appropriately.

[0150] As described above, the power supply modules 1200 and 1300 each include one or more battery cells. As such, the power supply modules 1200 and 1300 can include any suitable means for storing and supplying power. In at least one example, the power supply modules 1200 and 1300 include capacitors and / or supercapacitors configured to store energy and supply the energy to the drive module 1100. The capacitors and / or supercapacitors can be part of the same electrical circuit as the battery cells or a different electrical circuit. The supercapacitors can include electrostatic double-layer capacitance and / or electrochemical pseudocapacitance, both of which can contribute to the total capacitance of the supercapacitor. In various examples, electrostatic double-layer capacitors use carbon electrodes or dielectrics with electrostatic double-layer capacitance much higher than electrochemical pseudocapacitance to achieve charge separation in a Helmholtz double layer at the interface between the surface of the conductive electrode and the electrolyte. The charge separation is often on the order of a few angstroms (0.3-0.8 nm), much smaller than conventional capacitors. Electrochemical pseudocapacitors use metal oxide or conducting polymer electrodes and have electrochemical pseudocapacitance in addition to double-layer capacitance. Pseudocapacitance is achieved by faradaic electron charge transfer accompanied by redox reactions, intercalation, and / or electrodeposition. Hybrid capacitors, such as lithium-ion capacitors, also have electrodes with different properties, one exhibiting primarily electrostatic capacitance and the other primarily electrochemical capacitance.

[0151] The power supply modules 1200 and 1300 may be rechargeable or non-rechargeable. If the power supply modules 1200 and 1300 are not rechargeable, they are discarded after a single use. In such instances, it is desirable for the power supply modules 1200 and 1300 to be fully drained, or at least substantially drained, when they are discarded. To this end, each power supply module includes a drain that is engaged or activated when the power supply module is assembled to the drive module 1100. In various instances, the drain includes a resistive circuit internal to the power supply module that includes the battery cells. When activated, the drain slowly discharges the power supply module's battery cells, but at a rate that still allows the power supply module to provide sufficient power to the drive module 1100 during the surgical procedure. However, after the surgical procedure is completed, the drain continues to discharge the battery cells even if the power supply module is no longer assembled to the drive module 1100. Thus, the drain discharges the battery cells regardless of whether the power supply module is powering or attached to the drive module 1100. U.S. Patent No. 8,632,525, filed January 21, 2014, entitled "POWER CONTROL ARRANGEMENTS FOR SURGICAL INSTRUMENTS AND BATTERIES," and U.S. Patent No. 9,289,212, filed March 22, 2016, entitled "SURGICAL INSTRUMENTS AND BATTERIES FOR SURGICAL INSTRUMENTS," are incorporated herein by reference.

[0152] Multiple surgical instruments, including various handheld instruments, are used by clinicians during a particular surgical procedure to perform different functions. Each surgical instrument may include a different handle and / or grasping configuration, as well as different user control mechanisms. Switching between the various handheld instruments can cause delays and / or discomfort for clinicians as they control the surgical instruments and actuate the user control mechanisms. Because power sources can vary and / or may not be compatible with all powered surgical instruments, the use of many powered surgical instruments may require users to ensure that multiple power sources are charged and / or functioning before the start of any surgical procedure.

[0153] A modular surgical instrument with a universal handle and power source can provide a clinician with a sense of familiarity using a universal handle configuration. The modular surgical instrument is configured for use with multiple surgical tool attachments. Instead of having to charge multiple different power sources, the modular surgical instrument is configured for use with a replaceable power source that can be discarded after each surgical procedure. Furthermore, the use of one universal handle with multiple surgical tool attachments can reduce clutter and / or volume of surgical instruments within a surgical field.

[0154] Figure 73 shows a portion of the modular surgical instrument 80000, and Figure 74 shows the electrical architecture of the modular surgical instrument 80000. The configuration of the modular surgical instrument 80000 is similar in many respects to the surgical instrument 1000 of Figure 1 discussed above. The modular surgical instrument 80000 comprises multiple modular components including, for example, a drive module 80010, a shaft 80020, an end effector 80030, and a power source 80040. In various examples, the drive module 80010 comprises a handle. The drive module 80010 comprises one or more control switches 80012 and a motor 80015.

[0155] The shaft 80020 includes a control circuit 80022 configured to facilitate communication between the modular components 80010, 80020, 80030, 80040 of the surgical instrument 80000. The operation and functionality of the modular components 80010, 80020, 80030, 80040 of the surgical instrument 80000 are described in more detail above in connection with other surgical instruments.

[0156] In various examples, the one or more control switches 80012 correspond to the rotational actuator 1420 and the articulation actuator 1430 of the input system 1400, as described in more detail in connection with FIGS. 7 and 8. As shown in FIGS. 7 and 8, the articulation actuator 1430 comprises a first push button 1432 and a second push button 1434. The first push button 1432 comprises a first switch that is closed when the first push button 1434 is pressed. In many embodiments, similar to the articulation actuator 1430 and the rotational actuator 1420 shown in FIGS. 7 and 8, the one or more control switches 80012 may comprise push buttons. When a user input presses a push button, the switch is closed and sends a signal indicative of the user command to the control circuit 80022. In various examples, the first push button can initiate articulation or rotation in a first direction, and the second push button can initiate articulation or rotation in a second direction. The operation and function of these control switches 80012 are described in more detail above.

[0157] In various examples, the shaft 80020 is configured to be disposable after being used to treat a patient. In such examples, the shaft 80020 can be used more than once on the same patient. As discussed in more detail below, the shaft 80020 includes a processor 80024 and a memory that stores instructions for one or more control programs. The disposable shaft 80020 includes any signal processing circuitry necessary to interface with the end effector 80030, the power source 80040, and / or the drive module 80010 when the modular surgical instrument 80000 is fully configured or assembled. The end effector 80030 includes a sensor array 80035 configured to monitor parameters of the end effector 80030. Such a sensor array 80035 can detect, for example, the identity of the end effector 80030, the operating state of the end effector 80030, and / or information about the environment of the surgical site, such as tissue properties. In various examples, the power supply 80040 comprises a replaceable battery pack configured to attach directly to the drive module 80010 to power the surgical instrument 80000. The power supply 80040 comprises a battery 80042 and a display 80044. In various examples, the display 80044 comprises a touch-sensitive display, for example, through which user input is transmitted to the processor 80024.

[0158] In various examples, the drive module 80010 includes a power interface for attaching the modular power supply 80040 thereto. The interchangeable connection between the power supply 80040 and the drive module 80010 allows a user to easily replace the power supply 80040 without having to disassemble the housing of the drive module 80010. The battery 80042 in the modular power supply 80040 comprises a primary cell but may also include a secondary cell. The primary cell battery 80042 is configured to be fully charged at one time. In other words, the primary cell battery 80042 is configured to be discarded after each surgical procedure. The use of a disposable power source may, among other things, provide the clinician with assurance that the battery 80042 is fully charged at the start of each surgical procedure.

[0159] The power supply interface provides an interconnection between the battery 80042 and the display 80044 connections upon attachment of the power supply 80040 to the drive module 80010. In other words, there is no continuous circuit within the power supply 80040 until the power supply 80040 is replaceably attached to the power supply interface on the drive module 80010. Thus, the power supply 80040 can be dispersed and sterilized in an uncoupled state. The ability to remain uncoupled allows each power supply 80040 to be easily sterilized. For example, the modular power supply 80040 is compatible with both ethylene oxide and gamma sterilization because there is no continuous circuit within the unattached power supply 80040.

[0160] Like the power supply 80040, the drive module 80010 does not have any continuous circuitry while unattached to the shaft 80020 and power supply 80040. For at least this reason, the drive module 80010 can be sterilized using any desired sterilization protocol after each use. In its unattached configuration, the drive module 80010 is configured to withstand complete immersion during the cleaning process.

[0161] Further to the above, the control circuit 80022 of the shaft 80020 includes a processor 80024 configured to receive user input from one or more control switches 80012 on the drive module 80010. The shaft 80020 further includes a motor controller 80028 configured to control the motor 80015 in the drive module 80010 when the shaft 80020 is assembled to the drive module 80010. In various examples, the control circuit 80022 further includes a safety processor 80024 including two controller families, such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4 by Texas Instruments. The safety processor 80026 may be specifically configured for IEC 61508 and ISO 26262 safety limit applications, among others, to provide advanced integrated safety features while offering scalable performance, connectivity, and memory options. The safety processor 80026 is configured to be in signal communication with the processor 80024 and the motor controller 80028. The motor controller 80028 is configured to be in signal communication with the end effector 80030 in the handle 80010 and the sensor array 80035 of the motor 80015. The motor controller 80028 is configured to transmit an electrical signal, such as, for example, a voltage signal indicative of the voltage (or power) supplied to the motor 80015. The electrical signal can be determined based on, for example, user input from one or more control switches 80012, input received from the sensor array 80035, user input from the display 80044, and / or feedback from the motor 80015. In various examples, the motor controller 80028 can output a PWM control signal to the motor 80015 to control the motor 80015.

[0162] The shaft 80020 further comprises a memory configured to store a control program that, when executed, directs the processor to, among other things, command the motor controller 80028 to activate the motor 80015 at a predetermined level. The memory within the control circuit 80022 of each shaft 80020 is configured to store one or more control programs to enable the modular surgical instrument 80000 to perform desired functions when fully configured. In various examples, the shaft 80020 may comprise a default control program if the attached shaft 80020 does not comprise a control program and / or if the stored control program cannot be read or detected. Such a default control program allows the motor 80015 to run at a minimum level, allowing the clinician to perform basic functions of the modular surgical instrument 80000. In various examples, only basic functions of the modular surgical instrument 80000 are available in the default control program, and are performed in a manner that minimizes harm to tissue in and / or surrounding the surgical site. Storing a control program specific to its intended function within each interchangeable shaft 80020 minimizes the amount of information that needs to be stored, thereby alleviating the burden of storing all control programs, many of which may go unused, on the drive module 80010. In various examples, the modular components 80010, 80020, 80030, 80040 of the surgical instrument 80000 may be designed, manufactured, programmed, and / or updated at different times and / or according to different software and / or firmware revisions and updates. Furthermore, individual control programs can be updated more quickly than a collection of multiple control programs. The faster the update time, the more likely a clinician and / or assistant will update the control program to utilize the most current program for each surgical procedure. In various examples, the drive module 80010 may not include any control programs. In other examples, the drive module 80010 may include a default control program as discussed above.In other words, if the clinician intends to perform a first function, the clinician can attach a first shaft with a first control program stored therein to the modular surgical instrument. If the clinician intends to perform a second function different from the first function, the clinician can remove the first shaft from the universal drive module and attach a second shaft with a second control program stored therein to the modular surgical instrument. In various examples, if the clinician attaches a shaft without a detectable and / or functionally stored control program, the drive module 80010 can include a memory that stores a default control program for operating the modular surgical instrument 80000 at a minimum level and / or any suitable level of functionality. The operation and functionality of the stored control program are described in detail in U.S. Patent Application Serial No. 14 / 226,133, now U.S. Patent Application Publication No. 2015 / 0272557, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM," the entire contents of which are incorporated herein by reference.

[0163] FIG. 75 depicts a drive module 80110 including multiple drives configured to interact with corresponding drives in an attached shaft to produce a desired function, such as, for example, rotation and / or articulation of an end effector. For example, the drive module 80110 includes a rotary drive 80120 configured to rotate the end effector when actuated. The drive module 80110 of FIG. 75 is configured to operate based on the type of handle attached to the modular shaft. One or more of the multiple drives are disengaged when a lower-function handle, such as a scissor-grip handle, is attached to the modular shaft. For example, during attachment of the lower-function handle to the modular shaft, an extending lug on the lower-function handle can distally advance the rotary drive 80120 out of engagement with the lower-function handle. Such distal advancement disengages the rotary drive 80120 from the handle, effectively locking out the function of the rotary drive 80120. When the scissor-grip handle is removed from the modular shaft, a resilient member 80125, e.g., a spring, biases the rotary drive 80120 proximally to its original position. In various examples, all of the drives are disengaged upon attachment of the reduced-function handle to the modular shaft. In other examples, a first drive, e.g., the rotary drive 80120, may be disengaged upon attachment of the reduced-function handle to the modular shaft, while the second drive 80130 remains engaged for use with the reduced-function handle.

[0164] In various examples, the rotary drive 80120 is in communication with a manual rotary actuator, such as the rotary actuator 1420 described in more detail above in connection with FIGS. 8, 10, and 11. As the clinician rotates the rotary actuator, the position of the rotary actuator can be monitored. For example, the surgical instrument can include an encoder system configured to monitor the position of the rotary actuator. In addition to, or instead of, the encoder system, the drive module 80110 can include a sensor system configured to detect the degree of rotation of the rotary actuator. In either case, the detected position of the rotary actuator is communicated within the shaft 80020 to a processor and motor controller, e.g., processor 80024 and motor controller 80028. In various examples, the drive module 80110 includes a handle.

[0165] The processor 80024 and motor controller 80028 are configured to drive a system of the shaft 80020 other than a system manually driven by the rotary drive 80120 in response to movement of the rotary drive 80120. In at least one example, the surgical instrument has a first rotary joint and a second rotary joint, where rotation of the surgical instrument about the first rotary joint is manually driven and rotation of the surgical instrument about the second rotary joint is driven by an electric motor. In such an example, the processor 80024 can monitor rotation of the surgical instrument about the first rotary joint using an encoder and rotate the surgical instrument about the second rotary joint using the motor controller 80028, for example, to keep rotatable components of the surgical instrument aligned.

[0166] 76 depicts the handle 80210 prior to engagement with the interchangeable shaft 80220. The handle 80210 can be used with several interchangeable shafts and can be referred to as a universal handle. The shaft 80220 includes a drive rod 80250 configured to mechanically engage with a distal nut 80255 of the handle 80210. The proximal end 80251 of the drive rod 80250 includes a particular shape configured to fit within a recess 80256 defined in the distal end of the distal nut 80255. The recess 80256 in the distal nut 80255 includes a shape complementary to the shape of the proximal end 80251 of the drive rod 80250. In other words, when the clinician and / or assistant orients the shaft 80220 to allow the drive rod 80250 to fit within the recess on the distal nut 80255 of the handle 80210, the interchangeable shaft 80220 is properly aligned with the universal handle 80210 so that there is little relative lateral movement between the distal nut 80255 and the drive rod 80250.

[0167] In various examples, the distal end 80211 of the drive nut 80255 and the proximal end 80223 of the drive rod 80250 comprise a plurality of magnetic elements 80260, 80265, 80270 configured to facilitate alignment of the handle 80210 and the shaft 80220, in addition to or in place of the mechanical alignment system described above. The system of magnetic elements 80260, 80265, 80270 enables self-alignment of the shaft 80220 and the handle 80210. In various examples, the plurality of magnetic elements 80260, 80265, 80270 are permanent magnets. As seen in FIG. 75 , the proximal end 80223 of the shaft 80220 comprises a plurality of asymmetrically oriented magnetic elements 80260, 80265, although the magnetic elements 80260, 80265 may be arranged in any suitable manner. The magnetic elements 80260, 80265 are positioned with opposite poles facing outward from the proximal end 80223 of the shaft 80220. More specifically, the magnetic elements 80260 positioned on a first portion of the shaft 80220 are positioned with their positive poles facing outward from the proximal end 80223, while the magnetic elements 80265 positioned on a second, or opposite, portion of the shaft 80220 are positioned with their negative poles facing outward from the proximal end 80223. The distal end 80211 of the drive nut 80255 comprises a plurality of magnetic elements 80270 positioned with their negative poles facing outward from the distal end 80211 of the handle 80210. As described in more detail below, this asymmetric pattern of magnetic elements 80260, 80265 on the shaft 80220 allows the shaft 80220 and handle 80210 to be aligned at one or more predetermined positions. The use of magnetic elements 80260, 80265, 80270 eliminates the need for a spring mechanism to shift the handle 80210 and shaft 80220 into position.

[0168] Further to the above, when a clinician attempts to align the handle 80210 with the shaft 80220 such that the magnetic element 80270 positioned on the handle 80210 is proximate the magnetic element 80260 positioned on a first portion of the shaft 80220, the magnetic elements 80260, 80270 generate an attractive magnetic force, thereby aligning the modular components 80210, 80220. However, when a clinician attempts to align the handle 80210 with the shaft 80220 such that the magnetic element 80270 positioned on the handle 80210 is proximate the magnetic element 80265 positioned on a second portion of the shaft 80220, a repulsive magnetic force causes the modular components 80210, 80220 to move apart, thereby preventing an improper connection between the handle 80210 and the shaft 80220.

[0169] In certain examples, further to the above, only one stable position exists between the modular components. In various examples, the multiple magnetic elements are positioned so that their poles alternate in a repeating pattern along the circumference of the distal end of the handle 80210 and the proximal end of the shaft 80220. Such a pattern can be created to provide multiple stable alignment positions. The repeating pattern of the magnetic elements allows the attractive magnetic forces to draw the modular components 80210, 80220 together in multiple positions, thereby enabling a range of stable alignments between the shaft and the handle. In various examples, the multiple magnetic elements are oriented in a manner that creates a bistable magnetic network. Such a bistable network ensures that the modular components 80210, 80220 remain stably aligned even when they are initially misaligned. In other words, when the handle 80210 and the shaft 80220 are misaligned, the magnetic fields generated by the multiple magnetic elements interact with each other to initiate a rotation from the misaligned position to the next closest stable alignment. Thus, the repulsive magnetic force experienced by the misaligned modular components 80210, 80220 assists in moving the modular components 80210, 80220 into alignment. When the modular components 80210, 80220 are pushed apart by the repulsive magnetic force, they rotate in the attractive magnetic field, thereby aligning the handle 80210 and the shaft 80220. In various examples, the repulsive magnetic force initiates rotation of the handle relative to the shaft, and vice versa. The pattern of orientation of the magnetic elements can cause the modular components 80210, 80220 to rotate in a particular direction relative to one another and prevent rotation in the opposite direction. For example, in various examples, the magnetic elements are oriented in a pattern that, when subjected to the repulsive magnetic force, allows the shaft 80220 and the handle 80210 to achieve alignment by rotating relative to one another only in a clockwise direction. In other examples, the magnetic elements are oriented in a pattern that allows the shaft 80220 and handle 80210 to align by rotating relative to one another in a counterclockwise direction only when subjected to a repulsive magnetic force.In various examples, the magnetic elements can affect the speed at which the modular components are aligned. For example, the magnetic elements can be positioned based on the strength of the magnetic field, which can cause acceleration or deceleration into or out of alignment. While the plurality of magnetic elements 80260, 80265, 80270 are described above as being permanent magnets, in certain examples, the plurality of magnetic elements 80260, 80265, 80270 are electromagnets. In such examples, magnetic repulsion and attraction forces can be generated by selectively energizing the plurality of magnetic elements 80260, 80265, 80270.

[0170] In various examples, the handle 80210 and the shaft 80220 include a main magnetic element that provides an initial attractive magnetic force, and the main magnetic element is configured to draw the modular components 80210, 80220 closer together. After the modular components 80210, 80220 are drawn together by the main magnetic element, the plurality of magnetic elements 80260, 80265, 80270 are configured to fine-tune the orientation of the handle 80210 and the shaft 80220.

[0171] FIG. 77 depicts the universal handle 80310 aligned with and prior to attachment to the shaft 80320. The proximal end 80323 of the shaft 80320 comprises a pin 80322 configured to engage an L-shaped, or bayonet-shaped, slot 80312 cut into the distal end 80311 of the handle 80310. In various examples, multiple L-shaped slots 80312 may be cut around the distal end 80311 to provide additional mounting support for additional pins 80322. The proximal end 80323 of the shaft 80320 further comprises a frame and a shaft magnetic element 80324 positioned within the frame with its positive pole facing outward. The distal end 80311 of the handle 80310 further comprises a first magnetic element 80314 and a second magnetic element 80316. The first magnetic element 80314 is oriented with its positive pole facing outward, and the second magnetic element 80316 is oriented with its negative pole facing outward. When the clinician begins to align the pin 80322 of the shaft 80320 with its corresponding L-shaped slot 80312 in the handle 80310, the first magnetic element 80314 and the shaft magnetic element 80324 interact to create a repulsive magnetic force. The clinician must counteract this force to engage the pin 80322 with the L-shaped slot 80312. Once the pin 80322 is within the L-shaped slot 80312 and / or the shaft magnetic element 80324 has moved more than a threshold distance relative to the first and second magnetic elements 80314 and 80324, the clinician can begin to manually rotate the modular components 80310, 80320 relative to each other. 78 , when a clinician positions the pin 80322 within the L-shaped slot 80312, overriding the repulsive magnetic force, the magnetic elements 80324, 80316 can react and generate an attractive magnetic force once the shaft magnetic element 80324 exceeds a threshold value. The attractive magnetic force results in rotation of the shaft 80320 relative to the handle 80310 and full engagement of the pin 80322 into the L-shaped slot 80312. In such an example, the interaction between the magnetic fields of the shaft magnetic element 80324 and the second magnetic element 80316 on the handle 80310 is strong enough to attract and / or hold the modular components 80310, 80320 together.In various examples, such interaction results in an attractive magnetic force between the shaft magnetic element 80324 and the second magnetic element 80316, resulting in alignment of the modular components 80310, 80320 and full engagement of the pin 80322 within the L-shaped slot 80312. While orientation of the magnetic elements is specifically described, it is envisioned that the magnetic elements may be oriented in any suitable manner. While the plurality of magnetic elements 80314, 80316, 80324 are described above as being permanent magnets, in certain examples, the plurality of magnetic elements 80314, 80316, 80324 are electromagnets. In such examples, the magnetic repulsion and attraction forces may be generated by selectively energizing the plurality of magnetic elements 80314, 80316, 80324.

[0172] The magnetic elements may include electromagnets, permanent magnets, or a combination thereof. In such instances, the system of permanent magnetic elements may align the shaft and handle in multiple positions. In such instances, an electromagnet may be added to the system of permanent magnetic elements. When activated, the electromagnet is configured to exert a magnetic field stronger than the magnetic field within the system of permanent magnetic elements. In other words, an electromagnet may be incorporated to interrupt, prevent, and / or alter cooperation between the system of permanent magnets. Such interruption provides the ability to exert selective control over the alignment of modular components of a surgical instrument. For example, when a system of magnetic elements, such as magnetic elements 80260, 80265, and 82070 of FIG. 76 , is pulled together with the shaft 80220 and handle 80210 in a suitably aligned position, the clinician can selectively activate the electromagnet to generate a magnetic field strong enough to counteract the attractive force of the permanent magnets and repel the shaft away from the handle. In various examples, activation of the electromagnet repels the handle away from the shaft, releasing or unlocking the shaft from the handle. In various examples, activation of the electromagnet is configured to not only oppose the attractive force created by the permanent magnets, but also separate the modular components 80210, 80220.

[0173] A modular surgical instrument, such as surgical instrument 80000 shown in FIG. 73, includes multiple components configured to communicate with each other to perform the intended function of the surgical instrument. Communication paths between components of a modular surgical instrument are described in detail above. While such communication paths can be wireless in nature, wired connections are also suitable. In various examples, the end effector and / or shaft of the surgical instrument are configured to be inserted into a patient through a trocar or cannula and can have any suitable diameter, such as, for example, approximately 5 mm, 8 mm, and / or 12 mm. In addition to size constraints, various modular surgical instruments, such as clip appliers, include end effectors and / or shafts configured to rotate and / or articulate. Therefore, any wired communication paths need to be compact and flexible to maintain functionality as the end effector and / or shaft are rotated and / or articulated. Various microelectromechanical functional elements can be utilized to reduce the size of the operating elements within the shaft and / or end effector of the surgical instrument. For example, incorporating microelectronics such as piezoelectric inchworm actuators or wave motors into surgical instruments can help reduce the space required for operating elements, for example, wave motors are configured to provide linear motion without gears or cams.

[0174] In various examples, flexibility is incorporated into the wired communication path by mounting various electrical traces on a flexible substrate. In various examples, the electrical traces are supported on the flexible substrate in any suitable manner. FIG. 79 depicts a flex circuit 80400 for use in a modular surgical instrument, such as surgical instrument 1000. The flex circuit 80400 is configured to extend within a housing of a shaft, such as shaft 80020 of FIG. 73. A distal end 80401 of the flex circuit 80400 is configured to be electrically coupled to conductive electrical traces in the end effector. In at least one example, the electrical traces are composed of, for example, copper and / or silver. The distal end 80401 is wrapped around a first ring 80402, and electrical traces 80405 extend around the first ring 80402. A proximal end 80403 of the flex circuit 80400 is configured to be electrically coupled to electrical traces in the handle. The proximal end 80403 is wrapped around a second ring 80404 and an electrical trace 80405 extends around the second ring 80404 .

[0175] While flexibility is provided by supporting the various electrical traces on a flexible substrate, additional features can be added to, among other things, extend the life of the flex circuit 80400 and / or protect the integrity of the flex circuit 80400. As depicted in FIGS. 79 and 79A , the primary strain relief region 80410 is configured to be positioned proximal to the articulation joint. The primary strain relief region 80410 of the flex circuit 80400 experiences the most displacement and / or torsion in response to articulation of the surgical instrument. For example, one or more biasing and / or resilient members 80412 are present for resilience and / or flexibility to relieve strain on the flex circuit 80400 during articulation of the surgical instrument and / or to assist the portion of the flex circuit 80400 within the primary strain relief region 80410 in returning the surgical instrument to its original orientation after de-articulation. The one or more biasing members 80412 are configured to transition between a bent state and an unbent state as the surgical instrument is articulated and / or rotated. In various examples, the biasing members 80412 comprise springs. The biasing members 80412 are integrated into the substrate of the flex circuit 80400, for example, to accommodate movement of the surrounding portions. The portion of the flex circuit 80400 within the primary strain relief region 80410 comprises a pattern including a first leg 80414, a base 80416, and a second leg 80418. The base 80416 extends between the first leg 80414 and the second leg 80418. The biasing members 80412 extend between and connect the first leg 80414 and the second leg 80418. The biasing member 80412, among other things, allows the first leg 80414 to be biased relative to the second leg 80418 and then resiliently return to its unbent state. The biasing member 80412 is configured to bend to the bent state when the end effector is articulated, and the biasing member 80412 is configured to resiliently return to the unbent state when the end effector is no longer articulated.

[0176] As seen in Figures 79 and 79B, the flex circuit 80400 is fabricated with a secondary strain relief region 80420 in which its conductive elements 80405 are separated and not interconnected. This orientation of the conductive elements 80405 allows the flex circuit 80400 to be folded. The non-fatigue and flexible portions of the flex circuit 80400 are positioned perpendicular to the flex circuit 80400 within the primary strain relief region 80410. The secondary strain relief region 80420 includes one or more biasing members 80422 similar to the biasing member 80412 described in more detail above. The presence of biasing members 80412 in the primary strain relief region 80410 and biasing members 80422 in the secondary strain relief portion 80320 allows the flex circuit 80400 to have extensibility portions in at least two distinct planes relative to the longitudinal axis of a shaft, such as shaft 80020 of FIG. 73 . The presence of the primary strain relief portion 80410 in the first plane and the secondary strain relief portion 80320 in the second plane allows communication between the end effector, the shaft assembly, and the handle of a surgical instrument configured to articulate the end effector, rotate the end effector, and rotate the shaft assembly. In another example, the flex circuit 80400 may be manufactured flat and then twisted in portions such as the primary strain relief region 80410 that correlate to the articulation or actuation portions of the surgical instrument. Such a design can generally reduce the need for stress relief in the flex circuit 80400.

[0177] Figure 79C depicts a portion of the flex circuit 80400 of Figure 79, characterized by a printed circuit board (PCB) integrally formed with the flexible substrate 80430 of the flex circuit 80400. As shown in Figure 79C, flexible plastic is overmolded onto the conductive elements 80405, and various control circuit components 80432, 80434, 80436 are integrally formed with the flexible substrate 80430 of the flex circuit 80400.

[0178] FIG. 80 depicts an end effector flex circuit 80500 configured to extend within an end effector. The end effector flex circuit 80500 is configured to be used with a shaft flex circuit, such as the flex circuit 80400 shown in FIGS. 79-79C. The end effector flex circuit 80500 includes electrical traces 80505 supported on a flexible substrate. A distal end 80503 of the end effector flex circuit 80500 is wound into a ring 80504. The electrical traces 80505 extend around the ring 80504. As shown in FIGS. 81A and 81B, the ring 80504 is configured to be electrically coupled to the shaft flex circuit, for example, via a first ring 80402 on the distal end 80401 of the flex circuit 80400. One or both of the flex circuits 80400 and 80500 include a biasing member to maintain electrical contact between traces at the interface between the flex circuits 80400, 80500. In various examples, the end effector flex circuit 80500 includes one or more sensors, such as, for example, a clip feed sensor 80510 and / or a clip cam configuration sensor 80520. Such sensors can detect parameters of the end effector and communicate the detected parameters to control circuitry components 80432, 80434, 80436 on the shaft flex circuit 80400. In various examples, the control circuitry is located within the handle of the surgical instrument.

[0179] 82 , the surgical instrument 215000 includes a handle 215100, a shaft assembly 215500 attached to the handle 215100, an end effector 215600, and an articulation joint 215550 rotatably connecting the end effector 215600 to the shaft assembly 215500. The handle 215100 includes a drive system 215200, a power source 215300, and an actuator 215400. The actuator 215400 is part of a closure drive configured to close the end effector 215600. Referring to FIG. 83 , the drive system 215200 includes a first drive motor 215210, a first shifter motor 215220, a second drive motor 215250, and a second shifter motor 215260. The first drive motor 215210 includes a rotatable input shaft and an input gear 215215 fixedly mounted on the rotatable input shaft. The first shifter motor 215220 includes a shifter shaft and a pinion gear 215225 rotatably mounted on the shifter shaft. The pinion gear 215225 is in operative mesh with the input gear 215215 of the first drive motor 215210 and is translatable between first and second positions by the first shifter motor 215220. When the pinion gear 215225 is in its first position, the pinion gear 215225 is in operative mesh with the input gear 215215 and an output gear 215235 fixedly mounted on the rotatable output shaft 215230. In such an example, when the first drive motor 215210 operates, rotation of the first drive motor 215210 is transmitted to the rotatable output shaft 215230. When the pinion gear 215225 is in its second position, the pinion gear 215225 operatively meshes with the input gear 215215 and an output gear 215245 fixedly mounted to the rotatable output shaft 215240. In such an example, when the first drive motor 215210 operates, rotation of the first drive motor 215210 is transmitted to the rotatable output shaft 215240.In particular, the pinion gear 215225 is not simultaneously engaged with the output gears 215235 and 215245, and as a result, the first drive motor 215210 can be used to drive two separate functions of the surgical instrument 215000. In use, a user of the surgical instrument 215000 and / or a control system of the surgical instrument 215000 can select between the two functions by shifting the first shifter motor 215220.

[0180] Further to the above, the second drive motor 215250 includes a rotatable input shaft and an input gear 215255 fixedly mounted to the rotatable input shaft. The second shifter motor 215260 includes a shifter shaft and a pinion gear 215265 rotatably mounted to the shifter shaft. The pinion gear 215265 is operatively meshed with the input gear 215255 of the second drive motor 215250 and is translatable between first and second positions by the second shifter motor 215260. When the pinion gear 215265 is in its first position, the pinion gear 215265 operatively meshes with the input gear 215255 and an output gear 215275 fixedly mounted to the rotatable output shaft 215270. In such an example, when the second drive motor 215250 operates, rotation of the second drive motor 215250 is transmitted to the rotatable output shaft 215270. When the pinion gear 215265 is in its second position, the pinion gear 215265 operatively meshes with the input gear 215255 and an output gear 215285 fixedly mounted to the rotatable output shaft 215280. In such an example, when the second drive motor 215250 operates, rotation of the second drive motor 215250 is transmitted to the rotatable output shaft 215280. Notably, the pinion gear 215265 is not simultaneously engaged with the output gears 215275 and 215285; as a result, the second drive motor 215250 can be used to drive two separate functions of the surgical instrument 215000. In use, a user of the surgical instrument 215000 and / or the control system of the surgical instrument 215000 can select between two functions by shifting the second shifter motor 215260.

[0181] Further to the above, and referring again to FIG. 83 , the output shafts 215230, 215240, and 215280 comprise rigid shafts and are concentrically nested. In various examples, a bearing is present between the output shaft 215230 and the output shaft 215240, and another bearing is present between the output shaft 215240 and the output shaft 215280. In other examples, the output shafts 215230, 215240, and 215280 are directly supported relative to one another. Such a configuration can provide a compact design. In various alternative embodiments, none of the output shafts 215230, 215240, and 215280 are nested.

[0182] 84 , an alternative drive system 216200 is configured to drive a total of six functions of a surgical instrument. Similar to above, the drive system 216200 includes a first drive motor 216210, a first shifter motor 216220, a second drive motor 216250, and a second shifter motor 216260. The first drive motor 216210 includes a rotatable input shaft and an input gear 216215 fixedly mounted to the rotatable input shaft. The first shifter motor 216220 includes a shifter shaft and a pinion gear 216225 rotatably mounted to the shifter shaft. The pinion gear 216225 is operatively meshed with the input gear 216215 of the first drive motor 216210 and is translatable between first, second, and third positions by the first shifter motor 216220. When the pinion gear 216225 is in its first position, the pinion gear 216225 operably meshes with the input gear 216215 and an output gear 216235 fixedly mounted on the rotatable output shaft 216230. In such an example, when the first drive motor 216210 operates, rotation of the first drive motor 216210 is transmitted to the rotatable output shaft 216230. When the pinion gear 216225 is in its second position, the pinion gear 216225 operably meshes with the input gear 216215 and an output gear 216245 fixedly mounted on the rotatable output shaft 216240. In such an example, when the first drive motor 216210 operates, rotation of the first drive motor 216210 is transmitted to the rotatable output shaft 216240. When the pinion gear 216225 is in its third position, the pinion gear 216225 operatively meshes with the input gear 216215 and an output gear 216295 fixedly mounted to the rotatable output shaft 216290. In such an example, when the first drive motor 216210 operates, rotation of the first drive motor 216210 is transmitted to the rotatable output shaft 216290.In particular, the pinion gear 216225 is not simultaneously engaged with more than one output gear 216235, 216245, and 216295, and as a result, the first drive motor 216210 can be used to drive three separate functions of the surgical instrument. In use, a user of the surgical instrument and / or the surgical instrument's control system can select between the three functions by shifting the first shifter motor 216220.

[0183] Further to the above, the output shaft 216230 is operably engaged with the shaft 216500 of the surgical instrument such that rotation of the output shaft 216230 is transmitted to the shaft 216500. More specifically, the distal end of the output shaft 216230 comprises a gear that meshes with a ring of gear teeth 216515 defined within the shaft housing 216510. The output shaft 216230 is rotated in a first direction to rotate the shaft 216500 in one direction and rotated in an opposite direction to rotate the shaft 216500 in another direction. The output shaft 216240 comprises a flexible cable that may be operably coupled to a firing drive system, such as a jaw clamp drive, e.g., a staple firing drive and / or a tissue cutting drive, and / or an end effector rotation drive, for example. The output shaft 216290 is operably engaged with the first articulation drive 216700. The first articulation drive 216700 includes two translatable articulation drivers 216790, each coupled to a translatable drive nut 216795 that is threadably engaged with the output shaft 216290. Each drive nut 216795 includes a pin or protrusion that extends into a groove defined in the output shaft 216290 and is constrained from rotating such that rotation of the output shaft 216290 translates the drive nut 216795. In use, the output shaft 216290 is rotated in a first direction to rotate the end effector of the surgical instrument about the first articulation joint in one direction, and rotated in the opposite direction to rotate the end effector about the first articulation joint in another direction. The threads defined in the output shaft 216290 are configured to push one of the drive nut 216795 and articulation driver 216790 distally while pulling the other drive nut 216795 and articulation driver 216790 proximally, such that one drive nut and articulation driver 216795 may be sufficient to articulate the end effector about the first articulation joint.

[0184] Further to the above, the second drive motor 216250 includes a rotatable input shaft and an input gear 216255 fixedly mounted to the rotatable input shaft. The second shifter motor 216260 includes a shifter shaft and a pinion gear 216265 rotatably mounted to the shifter shaft. The pinion gear 216265 is operatively meshed with the input gear 216255 of the second drive motor 216260 and is translatable between first, second, and third positions by the second shifter motor 216260. When the pinion gear 216265 is in its first position, the pinion gear 216265 operatively meshes with the input gear 216255 and an output gear 215675 fixedly mounted to the rotatable output shaft 216270. In such examples, rotation of the second drive motor 216250 is transmitted to the rotatable output shaft 216270. When the pinion gear 216265 is in its second position, the pinion gear 216265 operably meshes with the input gear 216255 and an output gear 216285 fixedly mounted on the rotatable output shaft 216280. In such examples, rotation of the second drive motor 216250 is transmitted to the rotatable output shaft 216280. When the pinion gear 216265 is in its third position, the pinion gear 216265 operably meshes with the input gear 216255 and an output gear 216295 fixedly mounted on the rotatable output shaft 216290. In such examples, rotation of the second drive motor 216250 is transmitted to the rotatable output shaft 216290. In particular, the pinion gear 216265 is engaged with no more than one output gear 216275, 216285, and 216295 at a time, and as a result, the second drive motor 216250 can be used to drive three separate functions of the surgical instrument. In use, a user of the surgical instrument and / or the surgical instrument's control system can select between the three functions by shifting the second shifter motor 216260.

[0185] Further to the above, the output shaft 216270 and / or the output shaft 216280 can be operably coupled to a firing drive system such as a jaw clamp drive, e.g., a staple firing drive and / or a tissue cutting drive, and / or an end effector rotation drive, for example. The output shaft 216290 is operably engaged with a second articulation drive 216800. The second articulation drive 216800 includes two translatable articulation drivers 216890, each of which is coupled to a translatable drive nut 216895 that is threadably engaged with the output shaft 216290. Each drive nut 216895 includes a pin or protrusion that extends into a thread or groove defined in the output shaft 216290 and, by rotation, is constrained from displacing the drive nut 216895 when the output shaft 216290 rotates. In use, the output shaft 216290 is rotated in a second direction to rotate the end effector of the surgical instrument about the second articulation joint in one direction, and rotated in the opposite direction to rotate the end effector about the first articulation joint in another direction. The threads defined in the output shaft 216290 are configured to push one of the drive nut 216895 and articulation driver 216890 distally while pulling the other drive nut 216895 and articulation driver 216890 proximally. In this way, one drive nut and articulation driver 216895 may be sufficient to articulate the end effector about the second articulation joint.

[0186] As outlined above, the first drive motor 216210 and the first shifter motor 216220 are configured to drive only one of their three functions at a time. Similarly, the second drive motor 216250 and the second shifter motor 216260 are configured to drive only one of their three functions at a time. The drive system 216200 is thereby configured to operate the first drive motor 216210 and the second drive motor 216250 simultaneously such that the surgical instrument can perform two functions simultaneously. For example, the first drive motor 216210 can articulate the end effector about a first articulation joint via the drive shaft 216290, while the second drive motor 216250 can articulate the end effector about a second articulation joint via the drive shaft 216290. Similarly, the first drive motor 216210 can rotate the shaft 216500 about the longitudinal axis, while the second drive motor 216250 rotates the end effector about the longitudinal axis. However, in some examples, the control system of the drive system 216200 can be configured to prevent the functions of the two end effectors from being performed simultaneously. In at least one such example, the control system is configured to prevent the end effectors from being opened while a staple firing stroke is being performed.

[0187] Further to the above, the first shifter motor 216220 can be configured to lock out the two uncoupled drive shafts when operably coupling the drive shafts with the first drive motor 216210. In at least one such example, the translatable shaft of the first shifter motor 216220 can include a lock defined thereon, the lock configured to engage with and lock the two uncoupled drive shafts in place. In at least one example, the first shifter motor 216220 locks the drive shafts 216230 and 216240 when operably engaging the drive shaft 216290 with the first drive motor 216210. Similarly, the second shifter motor 216260 can be configured to lock out the two uncoupled drive shafts when operably coupling the drive shaft with the second drive motor 216250. In at least one such example, the translatable shaft of the second shifter motor 216260 includes a lock defined thereon that is configured to engage and lock the two uncoupled drive shafts in place. In at least one example, the second shifter motor 216260 locks the drive shafts 216270 and 216280 when operably engaging the drive shaft 216290 with the second drive motor 216250. In such an example, the end effector functionality is not activated, securely disabled, or locked out. This contemplates embodiments in which the end effector functionality does not need to be locked out when not in use with or coupled to a drive motor. In any event, the first shifter motor 216220 and / or the second shifter motor 216260 can include, for example, solenoids to generate longitudinal displacement of their shafts.

[0188] As outlined above, drive system 215200 is configured to drive four instrument functions and drive system 216200 is configured to drive six instrument functions. Thus, drive systems for the instruments disclosed herein can be configured to drive any suitable number of functions, such as, for example, more than six end effector functions.

[0189] In addition to the above, the motor control system of the surgical instrument can adapt the operation of one or more motors of the surgical instrument. Referring to FIG. 85 , the surgical instrument 215000 includes a strain gauge circuit 215900 in communication with the motor control system of the surgical instrument 215000. The strain gauge circuit 215900 includes a strain gauge 215910 mounted on a shroud or housing 215510 of the shaft 215500. The strain gauge 215910 includes a base 215920, a first electrical contact 215930 on the base 215920, a circuitized electrical circuit 215940 in electrical communication with the first electrical contact 215930, and a second electrical contact 215950 in electrical communication with the electrical circuit 215940. The electrical contacts 215930 and 215950 are configured to be soldered and / or otherwise electrically coupled to conductive wires and / or traces, for example, to place the strain gauge 215910 in communication with a motor control system. The electrical circuit 215940 is comprised of thin conductive wires whose resistance changes when the strain gauge 215910 is stretched and / or compressed, as described in more detail below.

[0190] Referring again to FIG. 85 , the base 215920 of the strain gauge 215910 is mounted to the shroud 215510 such that the strain gauge 215910 expands when the shroud 215510 is placed under tension and contracts when the shroud 215510 is compressed. Referring to FIG. 85A , the resistance of the electrical circuit 215940 changes, i.e., increases, when the strain gauge 215910 is placed in tension along the longitudinal axis L, which is detectable by the motor control system. Similarly, referring to FIG. 85B , the resistance of the electrical circuit 215940 changes, i.e., decreases, when the strain gauge 215910 is compressed along the longitudinal axis L, which is also detectable by the motor control system. The change in resistance of the electrical circuit 215940 is proportional, or at least substantially proportional, to the strain experienced by the shroud 215510 at the location of the strain gauge 215910. In various examples, increased strain in the shaft shroud 215510 may indicate that the patient tissue is being overstressed in some way. Using this information, the motor control system of the surgical instrument 215000 can alter the performance of the electric motors of the surgical instrument 215000. For example, when the strain detected by the strain gauge circuitry exceeds a predetermined value, or threshold, stored in the memory and / or processor of the motor control system, the motor control system can slow down the motor(s) operating at that time. In at least one such example, the motor control system can slow down an electric motor driving a staple firing stroke when the strain threshold is exceeded. In other examples, the motor control system can slow down an electric motor driving a clip forming stroke or an electric motor driving a suture stroke, for example, when the strain threshold is exceeded. In various examples, the motor control system can slow down an electric motor that closes or clamps the end effector and / or articulates the end effector, for example.

[0191] In addition to the above, the motor control system of the surgical instrument 215000 can adaptively control the speed of one or more electric motors. The motor control system includes one or more pulse-width modulation (PWM) circuits and / or any other suitable power control circuitry for controlling the speed of the electric motor. The PWM circuit is configured to apply voltage pulses to the electric motor to drive the electric motor at a desired speed, with longer voltage pulses driving the electric motor at a faster speed and shorter voltage pulses driving the electric motor at a slower speed. In various examples, the motor control system includes one or more frequency modulation (FM) circuits and / or voltage conversion circuits for controlling the speed of the electric motor. The FM circuit can apply voltage pulses to the motor at a higher frequency to drive the electric motor at a faster speed and / or lower frequency and at a lower speed to drive the electric motor at a slower speed. The PWM and FM circuits are configured to intermittently apply a voltage potential to the electric motor at a constant or near-constant magnitude. However, various embodiments are contemplated in which the magnitude of the voltage potential can also be varied to adjust the power delivered by the electric motor. A variable resistance circuit can be used, for example, to vary the magnitude of the voltage applied to an electric motor.

[0192] In addition to, or instead of, adapting the voltage supplied to the electric motor of the surgical instrument 215000 to control the speed of the motor, the current delivered to the electric motor can be adapted to control the drive force delivered by the electric motor. To this end, the surgical instrument can include one or more motor current control circuits.

[0193] The strain gauge 215910 is an axial strain gauge well suited for measuring strain along the longitudinal axis L. However, a single strain gauge 215910 may not provide a complete understanding of the strain occurring within the shroud 215510. Additional strain gauges positioned adjacent to the strain gauge 215910 oriented in a different direction can provide additional data regarding the strain occurring at that location. For example, another strain gauge may be positioned orthogonal to the strain gauge 215910, e.g., along the transverse axis T and / or at a 45 degree angle relative to the longitudinal axis L. Various embodiments are envisioned in which two or more strain gauges are provided on a single strain gauge base. Such a configuration can provide greater resolution of strain at a particular location. As discussed above, any suitable strain gauge can be used. For example, capacitive strain gauges, semiconductor strain gauges, nanoparticle strain gauges, and / or fiber optic strain gauges can be used.

[0194] As mentioned above, when one or more resistive strain gauges are bonded to a surface to measure strain, the strain gauges can be configured in a Wheatstone bridge circuit, as shown in FIG. 85C. A Wheatstone bridge is a divider bridge circuit used to measure static or dynamic electrical resistance. The output voltage of a Wheatstone bridge is often expressed in millivolts output per volts input. Referring to FIG. 85C, if R1, R2, R3, and R4 are equal, a voltage V between points A and C will be IN is applied, the output between points B and D will show no potential difference. However, if R4 is changed to some value that is not equal to R1, R2, and R3, the bridge will become unbalanced and a voltage will be present at the output terminals. In a G-bridge configuration, the variable strain sensor has resistance Rg and the other arm is a fixed-value resistor.

[0195] However, strain gauge sensors can occupy one, two, or four arms of the Wheatstone bridge. OUTThe total distortion or output voltage of R1 is equal to the difference in voltage drops across R1 and R4, or Rg. The bridge is considered balanced when R1 / R2=Rg / R3, and therefore V OUT is equal to zero. Any small change in the resistance of the sensing grid will cause the bridge to become unbalanced, which is suitable for detecting strain. If the bridge is set up so that Rg is the only active strain gauge, then small changes in Rg will result in an output voltage from the bridge.

[0196] The number of active strain gauges to be connected to the bridge depends on the application. For example, it may be useful to connect strain gauges on either side of a surgical instrument housing or shroud, one in compression and the other in tension. This configuration effectively doubles the bridge output for the same strain. In installations where all four arms of the Wheatstone bridge are connected to strain gauges, temperature compensation is automatic because the resistance change due to temperature change will be the same for all four arms of the Wheatstone bridge.

[0197] In a four-element Wheatstone bridge, in addition to the above, two gauges are typically wired in compression and two in tension, although any suitable configuration can be used. For example, if R1 and R3 are in tension (positive) and R2 and R4 are in compression (negative), the output is proportional to the sum of all strains measured separately. For gauges located on adjacent legs of the Wheatstone bridge, the bridge is unbalanced proportional to the difference in strain. For gauges on opposite legs of the Wheatstone bridge, the bridge is balanced proportional to the sum of strains. Whether bending, axial, shear, or torsional strain is being measured, the configuration of the strain gauges determines the relationship between the strain output and the type of strain measured. As shown in Figure 85C, if a positive tensile strain occurs on gauges R2 and R3 and a negative strain is experienced by gauges R1 and R4, the total output V OUT is four times the resistance of a single gauge.

[0198] Other strain gauge circuits can be used in addition to or instead of the Wheatstone bridge described above. For example, constant current and / or constant voltage configurations can be used.

[0199] As outlined above, data provided to the motor control system by one or more strain gauges can be used to modify the operation of one or more electric motors of a surgical instrument. In addition to or instead of slowing down the electric motor, the motor control system can stop the electric motor. In at least one example, the motor control system slows down the electric motor when the measured strain exceeds a first threshold, but stops the electric motor when the measured strain exceeds a second or higher threshold. In certain examples, the motor control system further slows down the electric motor when the measured strain exceeds the first threshold and then the measured strain exceeds a second or higher threshold. In various examples, the motor control system can be configured to increase the speed of the electric motor and / or return it to its original speed when the measured strain falls below one or more thresholds that it exceeded. In either case, the motor control system is configured to receive additional data from a surgical hub external to the instrument regarding determining an appropriate response to the high strain condition. Additionally, the motor control system is configured to transmit the strain data to the surgical hub, which can store and / or analyze the data and generate a return signal regarding an appropriate response to the elevated strain condition. To this end, the surgical instrument 215000 includes a wireless signal transmitter and receiver. However, hardwired embodiments are also contemplated.

[0200] In addition to the above, it should be understood that obtaining accurate strain readings is important. Thus, the environment surrounding the surgical instrument 215000 can affect the accuracy of the strain gauge readings. Among other things, changes in the temperature of the strain gauges 215910 and / or the substrate underlying the strain gauges 215190 can affect the strain gauge readings. To this end, the surgical instrument 215000 can include a temperature control system for controlling the temperature of the strain gauges 215910. During use, the temperature control system is configured to heat and / or cool the strain gauges 215910 to control the temperature of the strain gauges 215910 to a desired or predetermined temperature. In at least one embodiment, the temperature control system comprises a resistive heating electrical circuit that heats the strain gauges 215190 and / or the substrate underlying the strain gauges 215190. The temperature control system can include a working fluid refrigeration circuit, such as a carbon dioxide refrigeration circuit, for cooling the strain gauges 215190 and / or the substrate underlying the strain gauges 215190. To assess the temperature or temperature change of the strain gauge, the strain gauge may include a temperature sensor on the substrate of the strain gauge in signal communication with the motor control system. Alternatively, the temperature sensor may be adjacent to the strain gauge. In either case, the motor control system may use data from the temperature sensor to operate the heating and / or cooling system described above. In addition to, or instead of, actively heating and / or cooling the strain gauge, the motor control system may adjust or compensate for temperature increases by adjusting data from the strain gauge in light of data received from the temperature sensor. In at least one example, a curve relating voltage of the strain gauge to strain experienced by the underlying substrate may be adjusted for changes in temperature of the strain gauge.

[0201] In addition to the above, in many instances, measured strain is a good proxy for determining the forces being experienced by the surgical instrument. Thus, such strain measurements do not directly measure such forces. In various embodiments, the surgical instrument 215000 includes one or more force sensors positioned adjacent to the strain gauges 215910 to directly measure the forces. In at least one instance, the force sensors include spring elements that are stretched and / or compressed along an axis that is parallel, or at least substantially parallel, to the longitudinal axis of the strain gauges 215910. The force sensors are in communication with a motor control system, and as a result, the motor control system can use both the strain gauge data and the force sensor data to adapt the operation of the surgical instrument motor.

[0202] In addition to the above, the strain and / or force within the shaft shroud 215510 of the surgical instrument 215500 can be measured to control the operation of the surgical instrument 215500. In various examples, elevated strain and / or force readings within the shaft shroud 215510 indicate that the shaft of the surgical instrument 215500 may be pressed against the patient's tissue. To make the clinician aware of the forces being applied to the patient's tissue, the surgical instrument 215500 further comprises an indicator in communication with the control system of the surgical instrument 215500 that is activated by the control system when the strain measured by the strain gauges and / or the force measured by the force gauges within the shaft shroud 215510 exceeds a threshold level. The indicator can comprise, for example, a light configured to generate visual feedback, a speaker configured to generate auditory feedback, a vibration motor configured to generate tactile feedback, and / or an icon on a display screen. In certain examples, the control system can reduce the motor or motor speed within the surgical instrument 215500 when the strain threshold is exceeded. Controlling the electric motor in this manner can prevent the surgical instrument 215500 from excessive deflection and / or fracture, for example, when a portion of the surgical instrument 215500 is articulating and / or rotating. In at least one example, strain gauges and / or force sensors can be disposed on and / or within a circuit board within the surgical instrument 215500, such as a flex circuit. In such an example, excessive force loads and / or deflections within circuitry, particularly circuitry attached to the housing of the surgical instrument, can be prevented. This can also measure strains and / or forces within moving components, such as a rotatable shaft and / or a translatable drive member. With such a configuration, the motor control system can directly assess strains and / or forces within the drive system of the surgical instrument 215500 and prevent the electric motor and / or drive components from becoming overly stressed.

[0203] As described above, surgical instruments can utilize strain gauges in any suitable location. In various examples, the strain gauge circuit can include strain gauges positioned on the jaws of the end effector. Among other things, such strain gauges can detect jaw deflection, particularly when positioned at the distal end of the jaws. Such data can enable a motor control system to adapt the operation of the surgical instrument to accommodate, for example, an overly bent jaw. In at least one such example, the motor control system can slow down an electric motor used to drive a distally movable tissue-cutting knife, such as a surgical stapler knife. During use, the jaws deflect elastically when tissue is captured between the jaws of the end effector; however, the jaws can also deflect plastically or permanently. The strain gauges positioned on the jaws enable the motor control system to detect permanent damage to the jaws when the jaws are unclamped. If the permanent damage exceeds a threshold, the motor control system may limit the functionality of the surgical instrument in some way and / or indicate to the user that the surgical instrument has been damaged and / or indicate the extent of the damage.

[0204] In addition to the above, strain gauges of the strain gauge circuit can be disposed in the jaws of a surgical stapler that support the staple cartridge. When the jaws of the surgical stapler are clamped, the strain gauges can detect strain in the cartridge jaws, thereby revealing jaw deflection. Along these lines, the jaw deflection can reveal the distance between the jaws, i.e., the tissue gap. With this information, a motor control system can assess the thickness of the tissue between the jaws and control the speed of a drive motor that drives a tissue-cutting knife. For example, the motor control system can slow down the drive motor when the tissue is thick and / or slow down the drive motor when the tissue is thin. Additionally or alternatively, strain gauges of the strain gauge circuit can be disposed on the tissue-cutting knife. Such strain gauges can provide the motor control system with data regarding tissue thickness and / or density. Similarly to the above, the motor control system can, for example, slow down the drive motor when the tissue is dense and / or speed up the drive motor when the tissue is sparse. Furthermore, the motor control system can stop and / or pause the drive motor that closes the jaws of the end effector when the measured strain reaches a threshold value. In many instances, fluid within the clamped tissue requires time to drain from the tissue within the end effector after the end effector is initially clamped, and when the strain falls below a threshold, the motor control system may be configured to again start the closure drive motor to compress the tissue the desired amount. Such strain gauges may be located, for example, on one of the end effector jaws and / or the closure drive member.

[0205] The surgical instruments described herein can be inserted into a patient through a trocar, such as the trocar 219900 shown in FIG. 82C. The trocar can include an elongate shaft 219910 with a longitudinal opening 219920 extending therethrough, a sharp distal end 219930 configured to be pushed through an incision in a patient, and a proximal end 219940 with a sealable port or opening configured to receive a surgical instrument S. During use, a surgical instrument passes through the sealable port, into the longitudinal opening, and into the patient's body cavity. The sealable port includes a seal configured to prevent, or at least reduce, the flow of insufflation gas from the patient's body cavity through the trocar. The seal is configured to bias itself into a closed, or at least substantially closed, configuration. Even when a surgical instrument extends through the sealable port, the seal is biased against the side of the surgical instrument to form a sealed, or at least substantially sealed, interface therebetween. During use, the trocar is orientable within the incision, allowing the surgical instrument to be properly oriented within the body cavity. In various examples, a clinician using the surgical instrument pushes or pulls the surgical instrument in a desired direction to orient the surgical instrument; in such embodiments, the surgical instrument contacts the sidewall of the longitudinal opening, which also orients the trocar.

[0206] In various examples, further to the above, the trocar applies force to patient tissue when the trocar is oriented by a surgical instrument. Excessive force can pinch, bruise, and / or otherwise damage tissue. To this end, the trocar can include one or more force sensor circuits and / or one or more strain gauge circuits configured and positioned to detect the force applied to the trocar by the surgical instrument. In various examples, the force sensor circuit is embedded in a flexible substrate, such as a ribbon positioned within the longitudinal opening of the trocar. In at least one such example, the flexible substrate extends around the inner circumference of the trocar shaft and is attached to the trocar shaft by, for example, one or more adhesives. The force sensor circuit includes one or more transducers supported within the flexible substrate that are compressed by the surgical instrument when the surgical instrument is pressed against the trocar. The transducer, such as a piezoelectric transducer, converts mechanical energy into electrical energy, for example, and the force sensor circuit generates a voltage potential when the transducer is compressed between the surgical instrument and the side wall of the trocar. The trocar further includes a control system in electrical and / or signal communication with the force sensor circuit, the control system configured to detect the voltage potential generated by the transducer in the force sensor circuit and the magnitude of the voltage potential. ...

Claims

1. 1. A surgical instrument comprising: a handle housing comprising a rotational interface and an electrical interface defined on the rotational interface, the handle housing being etched to at least partially expose the electrical interface; a shaft rotatably mounted to the handle housing at the rotational interface, the shaft comprising electrical contacts that engage the electrical interface.

2. The surgical instrument of claim 1 , wherein the electrical interface comprises a flex circuit.

3. The handle housing comprises: Housing and a circuit board positioned within the housing, the circuit board including an electrical connector; a port defined in the housing, the port including a seal, the seal including a self-sealing opening, the port configured to allow a communications probe to be inserted through the self-sealing opening and engage with the electrical connector; the circuit board comprises a first circuit board embedded within the housing; the surgical instrument comprising a second circuit board in communication with the first circuit board; the housing having a card slot defined therein, the second circuit board having a card removably retained within the card slot; 10. The surgical instrument of claim 1, wherein the first circuit board conducts a current below but not above a threshold amperage and the second circuit board conducts a current above the threshold amperage.

4. The surgical instrument of claim 3 , wherein the first circuit board comprises a flex circuit attached to the housing.

5. The surgical instrument of claim 4 , wherein the second circuit board comprises a laminate circuit board.

6. 6. The surgical instrument of claim 5, wherein the flex circuit conducts a current below but not above the threshold amperage and the laminate circuit board conducts a current above the threshold amperage.

7. 4. The surgical instrument of claim 3, further comprising electrical contacts in the card slot, the electrical contacts placing the second circuit board in communication with the first circuit board when the second circuit board is seated in the card slot.

8. The surgical instrument of claim 3, wherein the surgical instrument further comprises an electric motor, and the second circuit board comprises a motor controller configured to control the electric motor.

9. The surgical instrument of claim 3, wherein the surgical instrument further comprises an RF generator, and the second circuit board comprises a controller configured to control the RF generator.

10. 4. The surgical instrument of claim 3, wherein the surgical instrument further comprises a transducer configured to convert electrical energy into mechanical energy, the second circuit board comprising a controller configured to control the transducer.

11. The surgical instrument of claim 3 , wherein the circuit board includes electrical traces printed on the housing.

12. The surgical instrument of claim 11 , wherein the circuit board further comprises a solid component surface mounted on the electrical traces.

13. The surgical instrument of claim 3, wherein the circuit board includes electrical traces embedded within the housing, the housing being etched to at least partially expose the electrical traces.

14. The surgical instrument of claim 3 , wherein the first circuit board comprises a flex circuit embedded within the housing.

15. The surgical instrument of claim 14, wherein the second circuit board comprises a laminate circuit board.

16. 16. The surgical instrument of claim 15, wherein the flex circuit conducts a current below but not above the threshold amperage and the laminate circuit board conducts a current above the threshold amperage.

17. The surgical instrument of claim 3, further comprising a staple cartridge including staples removably stored therein.

18. The surgical instrument of claim 3 , wherein the port is constructed from an elastomeric material.

19. The surgical instrument comprises: a first circuit board embedded within the handle housing; a second circuit board in communication with the first circuit board, the first circuit board conducting a current below a threshold amperage but not above the threshold amperage, and the second circuit board conducting a current above the threshold amperage; The surgical instrument of claim 1 , wherein the handle housing includes a card slot defined therein, and the second circuit board includes a card removably retained within the card slot.

20. The surgical instrument of claim 19, wherein the first circuit board comprises a flex circuit.

21. The surgical instrument of claim 19, further comprising an electric motor, the second circuit board comprising a motor controller configured to control the electric motor.

22. The surgical instrument of claim 19, further comprising an RF generator, the second circuit board comprising a controller configured to control the RF generator.

23. 20. The surgical instrument of claim 19, further comprising a transducer configured to convert electrical energy into mechanical energy, the second circuit board comprising a controller configured to control the transducer.

24. The surgical instrument of claim 19, wherein the first circuit board comprises electrical traces printed on the handle housing.

25. The surgical instrument of claim 24, wherein the first circuit board further comprises a solid component surface mounted on the electrical traces.

26. The surgical instrument of claim 24, wherein the handle housing is etched to at least partially expose the electrical traces.

27. 20. The surgical instrument of claim 19, further comprising a port defined in the handle housing, the port comprising a seal, the seal comprising a self-sealing opening, the first circuit board comprising electrical contacts, the port configured to allow a communications probe to be inserted through the self-sealing opening to engage the electrical contacts.

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