Articulation mechanism for surgical end effectors

Abstract

To provide a surgical instrument.SOLUTION: A surgical instrument comprises: an end effector; a shaft, where the end effector extends distally from the shaft, and where the end effector is movable relative to the shaft between an unarticulated configuration and an articulated configuration; and an adaptive closure driver system configured to transition the end effector between an open configuration and a closed configuration, where the adaptive closure driver system includes a first closure length in the unarticulated configuration, where the adaptive closure driver system includes a second closure length in the articulated configuration, and where the first closure length is different than the second closure length.SELECTED DRAWING: Figure 1

Description

[Background technology]

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

[0002] The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 shows a perspective view of a surgical instrument according to at least one embodiment and in accordance with at least one aspect of the present disclosure. [Diagram 2] FIG. 2 is a partial perspective view of an interchangeable shaft assembly and a perspective view of a handle of the surgical instrument of FIG. 1 in an unassembled configuration according to at least one embodiment. [Diagram 3] FIG. 2 illustrates a perspective view of an end effector, shaft, and articulation joint of the surgical instrument of FIG. 1 in accordance with at least one embodiment. [Figure 4] 4 illustrates a partial longitudinal cross-sectional view of the end effector of FIG. 3 in a non-articulated configuration according to at least one embodiment. [Diagram 5] 4 illustrates a partial longitudinal cross-sectional view of the end effector of FIG. 3 in an articulated configuration according to at least one embodiment. [Figure 6] FIG. 2 illustrates a partial longitudinal cross-sectional view of the articulation joint of the surgical instrument of FIG. 1 in a non-articulated configuration in accordance with at least one embodiment. [Figure 7] FIG. 2 illustrates a partial longitudinal cross-sectional view of the articulation joint of the surgical instrument of FIG. 1 in a non-articulated configuration in accordance with at least one embodiment. [Figure 8] FIG. 2 illustrates a partial longitudinal cross-sectional view of the articulation joint of the surgical instrument of FIG. 1 in an articulated configuration in accordance with at least one embodiment. [Figure 9] FIG. 1 illustrates a partial longitudinal cross-sectional view of an articulation joint of a surgical instrument in a non-articulating configuration in accordance with at least one embodiment. [Figure 10] FIG. 10 illustrates a partial longitudinal cross-sectional view of the articulation joint of the surgical instrument of FIG. 9 in a non-articulating configuration in accordance with at least one embodiment. [Figure 11] FIG. 10 shows a partial longitudinal cross-sectional view of the articulation joint of the surgical instrument of FIG. 9 in an articulated configuration in accordance with at least one embodiment. [Figure 12] FIG. 1 is a partial perspective view of an end effector, shaft, and articulation joint of a surgical instrument in accordance with at least one embodiment; [Figure 13] FIG. 13 is a perspective view of a flexible band of the surgical instrument of FIG. 12 in accordance with at least one embodiment. [Figure 14] FIG. 13 is a perspective view of a flexible band of the surgical instrument of FIG. 12 in accordance with at least one embodiment. [Figure 15] FIG. 13 is a partial longitudinal cross-sectional view of the end effector, shaft, and articulation joint of the surgical instrument of FIG. 12 in a non-articulated configuration. [Figure 16] FIG. 13 is a partial longitudinal cross-sectional view of the end effector, shaft, and articulation joint of the surgical instrument of FIG. 12 in an articulated configuration. [Figure 17] FIG. 1 is a perspective view of a surgical instrument in accordance with at least one embodiment. [Figure 18] FIG. 18 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 17 in a non-articulated configuration. [Figure 19] FIG. 18 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 17 in an articulated configuration. [Figure 20] FIG. 18 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 17 in a non-articulated configuration. [Figure 21] FIG. 18 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 17 in an articulated configuration. [Figure 22] FIG. 1 is a perspective view of a surgical instrument in accordance with at least one embodiment. [Diagram 23] FIG. 1 is a block diagram of an articulation control circuit of a surgical instrument in accordance with at least one embodiment. [Figure 24] FIG. 13 is a partial longitudinal cross-sectional view of a surgical instrument in a non-articulated configuration in accordance with at least one embodiment. [Diagram 25]FIG. 25 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 24 in an articulated configuration in accordance with at least one embodiment; [Figure 26] FIG. 1 is a perspective view of a surgical instrument in accordance with at least one embodiment. [Figure 27] FIG. 27 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 26 in a non-articulated configuration in accordance with at least one embodiment; [Figure 28] 27 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 26 in an articulated configuration in accordance with at least one embodiment. [Figure 29] FIG. 27 is a partial longitudinal cross-sectional view of the surgical instrument of FIG. 26 in an articulated configuration in accordance with at least one embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0003] As described in the specification and illustrated in the accompanying drawings, numerous specific details are described to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements are not described in detail so as not to obscure the embodiments described herein. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus the specific structural and functional details disclosed herein may be representative and exemplary. Variations and modifications may be made thereto without departing from the scope of the claims.

[0004] The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "include" (any form of include, such as "includes" and "including"), and "contain" (any form of contain, such as "contains" and "containing") are open-ended linking verbs. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has one or more of those elements, but is not limited to having only one or more of those elements. Similarly, a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features has one or more of those features, but is not limited to having only one or more of those features.

[0005] The terms "proximal" and "distal" are used herein with reference to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further understood that for convenience and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0006] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. As the reader continues to read through the Detailed Description of the Invention section of this specification, the reader will further appreciate that the various instruments disclosed herein may be inserted into the body in any manner, such as through a natural opening, through an incision or puncture made in tissue, etc. The working or end effector portions of these instruments may be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

[0007] Although various aspects of the present disclosure have been described herein in the context of a linear stapler, these aspects may similarly be implemented in other surgical staplers, such as, for example, circular and / or curved staplers. Also, although various aspects of the present disclosure have been described in the context of a handheld instrument, these aspects may similarly be implemented in a robotic surgical system. Various suitable robotic surgical systems are disclosed in U.S. Patent No. 2012 / 0298719, filed May 27, 2011, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Patent No. 9,072,535, the disclosure of which is incorporated herein by reference in its entirety.

[0008] Referring primarily to Figures 1-3, the surgical instrument 10 comprises a shaft 11 and an end effector 12 extending from the shaft 11. The end effector 12 includes a first jaw 14 and a second jaw 15. The first jaw 14 includes a staple cartridge 16. The staple cartridge 16 is insertable into and removable from a cartridge pan or channel 17 of the first jaw 14, although other embodiments are contemplated in which the staple cartridge 16 is not removable from the first jaw 14, or at least not easily replaceable. The second jaw 15 includes an anvil 18 configured to deform staples ejected from the staple cartridge 16. The second jaw 15 is pivotable relative to the first jaw 14 about a closure axis, although other embodiments are contemplated in which the first jaw 14 is pivotable relative to the second jaw 15.

[0009] With reference to FIG. 2, in various embodiments, the surgical instrument 10 includes a housing 8 including a handle assembly 29 configured to be grasped, manipulated, and actuated by a clinician. The housing 8 is configured to be operably attached to an interchangeable shaft assembly 46 including at least a portion of the end effector 12 and the shaft 11. In accordance with the present disclosure, various forms of interchangeable shaft assemblies 46 may be effectively used in conjunction with a robotically controlled surgical system, as well as a handheld instrument. Thus, the term "housing" may encompass a housing or similar portion of a robotic system that houses or operably supports at least one drive system configured to generate and apply at least one control motion that can be utilized to actuate the interchangeable shaft assembly. The term "frame" may refer to a portion of a handheld surgical instrument. The term "frame" may also refer to a portion of a robotically controlled surgical instrument and / or a portion of a robotic system that may be used to operably control a surgical instrument. The interchangeable shaft assemblies may be used with various robotic systems, instruments, components, and methods disclosed in U.S. Patent No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated herein by reference in its entirety.

[0010] Referring primarily to FIG. 3 , the staple cartridge 16 includes a cartridge body 21. The cartridge body 21 includes a proximal end 22, a distal end 23, and a deck 24 extending between the proximal end 22 and the distal end 23. In use, the staple cartridge 16 is positioned on a first side of tissue to be stapled and the anvil 18 is positioned on a second side of the tissue. The anvil 18 is moved toward the staple cartridge 16 to compress and clamp the tissue against the deck 24. Staples removably stored in the cartridge body 21 can then be deployed into the tissue. The cartridge body 21 includes staple cavities 26 defined therein, with the staples removably stored within the staple cavities 26. The staple cavities 26 are generally arranged in six longitudinal rows. Three rows of staple cavities 26 are positioned on a first side of longitudinal slot 27 and three rows of staple cavities 26 are positioned on a second side of longitudinal slot 27. Other arrangements of staple cavities 26 and staples may be possible.

[0011] As described in more detail below, surgical instrument 10 staples and severs tissue by utilizing a carefully engineered firing mechanism to precede tissue stapling with respect to tissue severing. To ensure that tissue severing does not occur before or without tissue stapling, surgical instrument 10 includes various safety mechanisms.

[0012] The staples of the staple cartridge 16 are generally supported by staple drivers within the cartridge body 21. The drivers are movable between a first, or unfired, position and a second, or fired, position that ejects the staples from the staple cavities 26. The drivers are retained within the cartridge body 21 by a pan or retainer that extends around the bottom of the cartridge body 21 and includes a resilient member configured to grip the cartridge body 21 and hold the retainer against the cartridge body 21. The drivers are movable between their unfired and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end 22 and a distal position adjacent the distal end 23. The sled includes a plurality of ramps configured to slide under the drivers and lift the drivers, on which the staples are supported, toward the anvil 18.

[0013] In addition to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and urge the sled from a proximal position adjacent the proximal end 22 toward a distal position adjacent the distal end 23. A longitudinal slot 27 defined in the cartridge body 21 is configured to receive the firing member. The anvil 18 also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages the first jaw 14 and a second cam that engages the second jaw 15. Upon distally advancing the firing member, the first cam and the second cam can control the distance between the deck 24 of the staple cartridge 16 and the anvil 18, i.e., the tissue gap. The firing member also includes a knife configured to resect tissue captured intermediate the staple cartridge 16 and the anvil 18.

[0014] The shaft 11 encircles and guides the firing motion from the housing 8 through a longitudinally reciprocating stacked firing bar that extends proximally from the firing member. Specifically, the shaft 11 includes a longitudinal firing bar slot that receives the firing bar.

[0015] The housing 8 shown in FIGS. 1-3 is shown connected to an interchangeable shaft assembly 46 including an end effector 12 including a surgical cutting and fastening device configured to operably support a surgical staple cartridge 16 therein. The housing 8 may be configured for use in connection with interchangeable shaft assemblies having various shaft lengths, sizes, and types, including end effectors adapted to support various sizes and types of staple cartridges. In addition, the housing 8 may also be effectively used with a variety of other interchangeable shaft assemblies, including assemblies configured to apply other forms of motion and energy, such as, for example, radio frequency (RF) energy, ultrasonic energy, and / or motion, to end effector arrangements adapted for use in connection with various surgical applications and procedures. Furthermore, the end effector, shaft assembly, handle, surgical instrument, and / or surgical instrument system may utilize any suitable fasteners to fasten tissue. By way of example, a fastener cartridge comprising a plurality of fasteners removably stored therein may be removably inserted and / or attached to the end effector of the shaft assembly.

[0016] 3-5, the surgical instrument 10 further comprises an articulation joint 20 configured to allow the end effector 12 to rotate, or articulate, relative to the shaft 11. The end effector 12 is rotatable about a longitudinal joint axis 19 extending through the articulation joint 20 between a non-articulated, or home, configuration (FIG. 4) and an articulated configuration (FIG. 5) in which the end effector 12 defines an angle α with the longitudinal axis 19.

[0017] With respect to the articulation joint 20, in at least one example, the shaft 11 includes a pivot pin 30 that may be received within a pivot opening 31 defined in a frame 32 of the end effector 12. The end effector frame 32 may further include a drive pin 33 extending therefrom, which may be operatively engaged with an articulation drive 34. The drive pin 33 may be received within a pin slot 35 defined in a distal end 36 of the articulation drive 34 such that the drive pin 33 may abut a first side wall 37 of the pin slot 35 in a non-articulating or home configuration ( FIG. 4 ) and abut a second side wall 38 of the pin slot 35 in an articulating configuration ( FIG. 5 ).

[0018] The drive pin 33 may be configured to receive a force applied thereto and to rotate the end effector 12 in a first direction or an opposite second direction depending on the direction in which the force is applied to the drive pin 33. More specifically, for example, when a force is applied to the drive pin 33 in a distal direction by the articulation drive 34, the articulation drive 34 may push the drive pin 33 about the pivot pin 30, and similarly, when a force is applied to the drive pin 33 in a proximal direction by the articulation drive 34, the articulation drive 34 may pull the drive pin 33 in the opposite direction about the pivot pin 30. For example, to the extent that the drive pin 33 is located on opposite sides of the articulation joint 20, moving the articulation drive 34 in a distal and proximal direction will have opposite effects on the end effector 12.

[0019] In various embodiments, the surgical instrument 10 may be utilized in minimally invasive surgical procedures, such as laparoscopic surgery. In such embodiments, an access port, such as a trocar, may form an opening in a body wall for inserting the end effector 12 of the surgical instrument 10 into a surgical site within the patient's body. The remainder of the surgical instrument 10 remains outside the patient's body, allowing a user of the surgical instrument 10 to remotely manipulate the end effector 12 at the surgical site.

[0020] It is desirable to insert the end effector 12 through the access port in the non-articulating configuration to maintain a small opening size. The high clearance between the drive pin 33 and the pin slot 35 facilitates insertion of the end effector 12 through the access port by softening the connection between the end effector 12 and the shaft 11. The high clearance between the drive pin 33 and the pin slot 35 allows for a limited range of passive or unintended movement of the end effector 12 relative to the shaft 11 in the non-articulating, or home, configuration. The high clearance allows the end effector 12 to rock slightly relative to the shaft 11. The added flexibility facilitates insertion of the end effector 12 through the trocar.

[0021] Once inside the patient's body, the end effector 12 may be articulated to a desired orientation. The low clearance between the drive pin 33 and the pin slot 35 ensures a robust articulated configuration of the end effector 12 during operation by strengthening and / or stiffening the connection between the end effector 12 and the shaft 11. The low clearance between the drive pin 33 and the pin slot 35 reduces passive or unintended motion of the end effector 12 relative to the shaft 11 in the articulated, i.e., home, configuration.

[0022] In one embodiment, as shown in FIGS. 6-8, the combined effect of high clearance in the non-articulating, or home, configuration and low clearance in the articulating configuration is a width (w 1 ) and a first portion 35a having a width (w 1 ) smaller than width (w 2 6 and 7, and a second portion 35b having a first portion 35a and a second portion 35b having a second portion 35b, respectively. The drive pin 33 may be positioned at a first portion 35a in a non-articulating or home configuration, as shown in Figures 6 and 7, and at a second portion 35b in an articulating configuration, as shown in Figure 8.

[0023] The larger width of the first portion 35a relative to the second portion 35b increases the diameter of the drive pin 33 by a width (w 1 ) from the additional clearance (w 3 ) as shown in Figs. 6 and 7. 3 ) allows the drive pin 33 to move or reciprocate within the first portion 35a between a first position where the drive pin 33 abuts against a distal wall 39 of the first portion 35a and a second position where the drive pin 33 abuts against a proximal wall 40 opposite the distal wall 39 of the first portion 35a. 3 ), it further illustrates the range of motion or reciprocation distance (θ) that the end effector 12 can move or passively articulate relative to the shaft 11 in the non-articulated, or home, configuration.

[0024] 8, the drive pin 33 is moved laterally a distance (d) when the end effector 12 is moved by the articulation drive 34 from a non-articulated or home configuration (FIG. 7) to an articulated configuration (FIG. 8). In other words, the drive pin 33 is moved from a first portion 35a to a second portion 35b of the pin slot 35 as the end effector 12 is articulated. In the articulated configuration, the drive pin 33 moves laterally a distance (d) when the end effector 12 is articulated. 2 ) is smaller, so that it fits snugly or tightly with the second portion 35b, and the clearance (w 4 ) is reduced. This clearance (w 4 ) is the diameter of the drive pin 33, 2 ) is calculated by subtracting

[0025] The snug fit in the second portion 35b limits movement of the drive pin 33 within the second portion 35b while the end effector 12 remains in the articulated configuration. When the end effector 12 is returned to the non-articulated configuration, the articulation drive 34 causes the drive pin 33 to move laterally back to the first portion 35a, with the additional clearance (w3) providing more room for the drive pin 33 to move between the distal wall 39 and the proximal wall 40.

[0026] In various embodiments, the width (w 1 ) is adjusted by a range (w 2 In a particular embodiment, the width (w 1 ) is adjusted by a range (w 2 In a particular embodiment, the width (w 1 ) is adjusted by a range (w 2 In a particular embodiment, the width (w 1 ) is adjusted by a range of about 5% to about 10%. 2 In various embodiments, the clearance (w 3 ) is greater than the clearance (w4) by a value selected from the range of, for example, about 10% to about 100%. In certain embodiments, the clearance (w 3 ) is, for example, a value selected from the range of about 5% to about 50% of the clearance (w 4 ) is greater than

[0027] 9-11, surgical instrument 50 is similar in many respects to surgical instrument 10. For example, surgical instrument 50 includes shaft 11 and end effector 12. Surgical instrument 50 utilizes pin slot 55 in place of pin slot 35 and drive pin 53 in place of drive pin 33. Drive pin 53 may be received within pin slot 55 defined in distal end 36 of articulation drive 34 such that drive pin 53 may abut a first side wall 57 of pin slot 55 in a non-articulating or home configuration (FIG. 9) and abut a second side wall 58 of pin slot 55 in an articulating configuration (FIG. 11).

[0028] When the end effector 12 is articulated by the articulation drive 34, the drive pin 53 translates within the pin slot 55 toward the second side wall 58. As the drive pin 53 translates, it also rotates to change its orientation from a first orientation defined in the non-articulated or home configuration (FIG. 9) to a second orientation defined in the articulated configuration (FIG. 11). In the first orientation, the drive pin 53 has a width (w 6 ) and in the second orientation, the drive pin 53 has a width (w 6 ) 8 ). Surgical instrument 50 achieves the combined effect of high clearance in the non-articulating, or home, configuration and low clearance in the articulating configuration by utilizing drive pin 53 that includes different widths in different orientations.

[0029] The pin slots 55 are spaced apart by a width (w 10 The distal wall 59 and the proximal wall 60 define a width (w 10 ) is the width (w 6 ) is larger than the width (w 10 ) to the width (w 6 ) is calculated by subtracting the clearance (w 7) allows the drive pin 53 to move or reciprocate between a first position and a second position. In the first position, the drive pin 53 abuts against a distal wall 59, as shown in FIG. 9. In the second position, the drive pin 53 abuts against a proximal wall 60, as shown in FIG. 10. FIGS. 9 and 10 show the additional clearance (w 7 ), further indicates the range of motion or reciprocation distance (β) that the end effector 12 can move or passively articulate relative to the shaft 11.

[0030] 11, the drive pin 53 is moved laterally a distance (d) when the end effector 12 is moved by the articulation drive 34 from a non-articulated or home configuration (FIG. 9) to an articulated configuration (FIG. 11). Stated another way, the drive pin 53 is moved laterally and radially from a first position and a first orientation in a first portion 55a of the pin slot 55 to a second position and a second orientation in a second portion 55b of the pin slot 55 as the end effector 12 articulates. In the articulated configuration, the drive pin 53 is moved laterally and radially from a first position and a first orientation in a first portion 55a of the pin slot 55 to a second position and a second orientation in a second portion 55b of the pin slot 55. In the articulated configuration, the drive pin 53 is moved laterally a distance (d) when the end effector 12 is articulated. 8 11, the clearance (w 9 ) is the width of the pin slot 55 (w 10 ) to the width (w 8 ) is calculated by subtracting

[0031] The snug or tight fit in the second portion 55b limits movement of the drive pin 53 within the second portion 55b while the end effector 12 remains in the articulated configuration. When the end effector 12 is returned to the non-articulated configuration, the articulation drive 34 causes the drive pin 53 to move laterally and radially back to its first position and first orientation within the first portion 55a, with the additional clearance (w7) providing more room for the drive pin 53 to move between the proximal wall 60 and the distal wall 59.

[0032] In various embodiments, as shown in Figures 9-11, drive pin 53 has an elliptical shape that results in different widths in different orientations. Other irregular shapes capable of achieving different widths in different orientations are contemplated in this disclosure. In certain embodiments, drive pin 53 may include a protrusion, i.e., an outwardly extending portion, that contributes to the width of drive pin 53 in the second orientation at second portion 55b but does not contribute to the width of drive pin 53 in the first orientation at first portion 55a.

[0033] In various embodiments, the width (w 8 ) is adjusted by a range (w 6 In a particular embodiment, the width (w 8 ) is adjusted by a range (w 6 In a particular embodiment, the width (w 8 ) is adjusted by a range (w 6 In a particular embodiment, the width (w 8 ) is adjusted by a range of about 5% to about 10%. 6 In various embodiments, the clearance (w 7 ) is, for example, a value selected from the range of about 10% to about 100% of the clearance (w 9 In certain embodiments, the clearance (w 7 ) is, for example, a value selected from the range of about 5% to about 50% of the clearance (w 9 ) is greater than

[0034] In various embodiments, the surgical instrument 10 and / or the surgical instrument 50 may include an articulation drive system including a proximal articulation drive and a distal articulation drive. Once a driving force is transmitted to the proximal articulation drive, whether in a proximal or distal direction, the driving force may be transmitted to the distal articulation drive through a joint lock. Additionally, a firing member may be utilized to impart such driving force to the proximal articulation drive. An example of a suitable articulation drive system is disclosed in U.S. Patent Application Serial No. 13 / 803,210, filed March 14, 2014, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0263538, which is incorporated herein by reference in its entirety.

[0035] 12-16, surgical instrument 100 is similar in many respects to surgical instrument 10. Like surgical instrument 10, surgical instrument 100 includes an articulation drive system including an articulation drive 34 movable to articulate end effector 12 relative to shaft 11. In addition, surgical instrument 100 includes an articulation joint 101 and an adaptive closure drive system 102 configured to maintain or resist a change in jaw opening 9 between first jaw 14 and second jaw 15 during articulation of end effector 12 relative to shaft 11.

[0036] As described in more detail above, a typical closure drive system moves at least one of the first jaw 14 and the second jaw 15 between an open configuration that defines the jaw opening 9 and a closed or approximated configuration. However, the offset of the articulation drive 34 relative to the longitudinal axis 19 causes the typical closure drive system to move slightly during articulation of the end effector 12 due to the change in closure length between the non-articulated and articulated configurations.

[0037] The closure length is the distance occupied by the closure drive system. In the non-articulated configuration, the closure drive system follows a straight, or at least substantially straight, path. However, in the articulated configuration, the closure drive system follows an arcuate path. Unable to accommodate the change in closure length caused by the transition of the closure drive system from a straight to an arcuate path, typical closure drive systems apply undesirable closure forces on the end effector 12 and reduce the jaw opening 9 in the open configuration. The resulting reduction in jaw opening 9 caused by articulation of the end effector 12 reduces the effectiveness of the end effector 12 in containing tissue between the first jaw 14 and the second jaw 15.

[0038] The adaptive closure drive system 102 includes one or more flexible components that allow for smaller changes in closure length due to flexion during articulation of the end effector 12. As shown in Figures 12-16, the adaptive closure drive system 102 includes a shaft closure tube section 103 having upper and lower distally protruding tangs 104, 104'. The end effector closure tube section 105 includes a horseshoe shaped opening 106 and tabs 107 for engaging with opening tabs on the anvil 18. The horseshoe shaped opening 106 and tabs 107 engage with the opening tabs of the anvil 18 when the anvil 18 is opened. The closure tube section 105 is shown having upper and lower proximally protruding tangs 110, 110'.

[0039] In addition to the above, closure tube section 103 is coupled to closure tube section 105 by flexible bands 111, 111' to allow for smaller changes in closure length due to flexion during articulation of the end effector 12. Flexible band 111 extends between tongue 104 and tongue 110. Similarly, flexible band 111' extends between tongue 104' and tongue 110'.

[0040] In use, the adaptive closure drive system 102 is translated distally to close the anvil 18, for example in response to actuation of the handle assembly 29 (FIG. 1). The anvil 18 is closed by translating the closure tube section 103 distally. The flexible bands 111, 111′ transfer the distal closure force of the closure tube section 103 to the closure tube section 105. The closure tube section 105 is then translated distally to close the anvil 18. The anvil 18 is opened by translating the closure tube sections 103 and 105 proximally, causing the tabs 107 and horseshoe opening 106 to contact and press against the opening tabs of the anvil 18, lifting the anvil 18.

[0041] Although flexible, the bands 111, 111' can transmit closing and / or opening forces between the closure tube section 103 and the closure tube section 105. In one embodiment, as shown in Figures 13 and 14, the flexible bands 111, 111' are comprised of multiple flexible members 112 attached together to form the bands 111, 111'. Distal ends of the flexible members 112 can be bent together and / or welded to form the bands 111, 111'. Distal portions 113, 113' of the flexible bands 111, 111' can be secured to the tangs 110, 110' of the closure tube section 105. Proximal portions 114, 114' of the flexible bands 111, 111' can be secured to the tangs 104, 104' of the closure tube section 103.

[0042] The attachment of the flexible members 112 to each other and / or the fastening of the bands 111, 111' to the closure tube sections 103, 105 may be accomplished by any suitable technique, including but not limited to bolting, screwing, crimping, gluing, or any other suitable technique. In at least one example, the attachment of the flexible members 112 to each other and / or the fastening of the bands 111, 111' to the closure tube sections 103, 105 may be accomplished by any suitable welding technique or suitable apparatus to achieve a weld seal, including but not limited to gas tungsten arc welding, shielded metal arc welding, plasma arc welding, laser beam welding, electron beam welding, or combinations thereof.

[0043] With reference to FIG. 13, the flexible members 112 may be attached side-by-side to each other, allowing for greater flexibility in one direction than another. The number of flexible members 112 may determine the flexibility of the flexible band. In at least one embodiment, four flexible members 112 are used to form the flexible band 111, 111'. In at least one embodiment, the number of flexible members used to create the flexible band ranges from 2 to 20. The thickness of the flexible members 112 may also affect the flexibility of the flexible band 111, 111'. In at least one embodiment, the thickness (T1) of the flexible member 112 may be about 25% of the thickness (T2) of the flexible band 111, 111'.

[0044] In certain embodiments, the proximal portions 114, 114' of the flexible bands 111, 111' are not secured to the tangs 104, 104' of the closure tube section 103. Instead, as shown in Figures 15 and 16, a surgical instrument 100', which is similar in many respects to the surgical instrument 100, includes flexible bands 111, 111' having proximal portions 114, 114' movably coupled to the tangs 104, 104', respectively.

[0045] In the embodiment shown in FIGS. 15 and 16 , the tongue 104 comprises an enclosure 115 configured to movably house a proximal portion 114 of the flexible band 111. The proximal portion 114 is capable of moving within the enclosure 115 to compensate for changes in closure length that occur during articulation of the end effector 12. However, the proximal portion 114 includes a laterally extending feature that prevents the proximal portion from exiting the enclosure 115 by abutting a distal wall 116 of the enclosure 115. The distal wall 116 includes an opening 117 sized to allow movement of the flexible band therethrough but not the proximal portion 114. During closure of the end effector 12, the proximal portion 114 abuts a proximal wall 118 of the enclosure 115. Similarly, the proximal portion 114' of the flexible band 111' may be movably housed within the enclosure of the tongue 104'.

[0046] 17-21, the surgical instrument 200 is similar in many respects to the surgical instrument 10. For example, the surgical instrument 200 includes an end effector 212 and a shaft 211. In addition, the surgical instrument 200 includes an articulation joint 220 and an adaptive closure drive system 202. Similar to the adaptive closure drive system 102, the adaptive closure drive system 202 is configured to adapt to changes in closure length during articulation of the end effector 12. The adaptive closure drive system 202 is configured to maintain or resist changes in the jaw opening 9 between the first jaw 14 and the second jaw 15 during articulation of the end effector 212 relative to the shaft 211.

[0047] In addition to the above, the adaptive closure drive system 202 includes a shaft closure tube section 203 having upper and lower distally protruding tangs 204, 204'. The end effector closure tube section 205 includes a horseshoe shaped opening and tabs for engaging with opening tabs on the anvil 18. The horseshoe shaped opening and tabs engage with the opening tabs of the anvil 18 when the anvil 18 is opened. The closure tube section 205 has upper and lower proximally protruding tangs 210, 210'.

[0048] In addition to the above, the closure tube section 203 is connected to the closure tube section 105 by double pivot links 230, 230'. The upper double pivot link 230 includes upwardly projecting distal and proximal pivot pins 234, 236 that engage with an upper distal pin hole 238 in the upper proximal projecting tang 210 and an upper proximal pin hole 240 of the upper distal projecting tang 204, respectively. The lower double pivot link 230' includes downwardly projecting distal and proximal pivot pins 234', 236' that engage with a lower distal pin hole 238' in the lower proximal projecting tang 210' and a lower proximal pin hole 240' in the lower distal projecting tang 204', respectively.

[0049] In use, the adaptive closure drive system 202 is translated distally to close the anvil 18, for example in response to actuation of the handle assembly 29 (FIG. 17). The anvil 18 is closed by translating the closure tube section 203 proximally. The links 230, 230′ transfer the distal closure force of the closure tube section 203 to the closure tube section 205. The closure tube section 205 is then translated distally to close the anvil 18. The anvil 18 is opened by translating the closure tube sections 203 and 205 proximally to bring the tabs and horseshoe opening into contact with and against the opening tabs of the anvil 18, lifting the anvil 18.

[0050] As shown in FIG. 18, the pin holes 238, 238' are larger in size than the pin holes 240, 240' to allow the closure tube section 205 to move relative to the pin holes 238, 238' to accommodate changes in closure length caused by articulation of the end effector 12. In the embodiment shown in FIGS. 18 and 19, the pin holes 238, 238' are elongated longitudinally and elliptically. In the non-articulated position, as shown in FIG. 18, the pivot pins 234, 234' abut the proximal ends 241 of the pin holes 238, 238'. In the articulated position, as shown in FIG. 19, the pivot pins 234, 234' abut the distal ends 243 of the pin holes 238, 238'.

[0051] 22-25, surgical instrument 300 is similar in many respects to surgical instruments 10, 100, 200. For example, surgical instrument 300 includes a shaft 311 and an end effector 312 articulatable relative to shaft 311 between a home, or non-articulated, position and an articulated position. Surgical instrument 300 includes an articulation control system 302 that includes an articulation drive 34. An example of a suitable articulation control system is disclosed in U.S. Patent Application Serial No. 13 / 803,053, filed March 14, 2014, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0263564, which is incorporated herein by reference in its entirety.

[0052] The surgeon can utilize the articulation control system 302 to articulate the end effector 312 relative to the shaft 311 between an articulation home state position and an articulation position. Additionally, the surgeon can utilize the articulation control system 302 to reset or return the articulated end effector 312 to the articulation home state position.

[0053] Additionally, as shown in the exemplary schematic block diagram of Figure 23, the articulation control system 302 may include a control circuit 301. The control circuit 301 may include a controller 306, which may be configured to receive input signals and, in response, activate the electric motor 303 to articulate the end effector 312 in accordance with such input signals. The control circuit 301 also includes one or more sensors 305 configured to detect an articulation position of the end effector 312.

[0054] The controller 306 may include a processor 307 and / or one or more memory units 308. By executing instruction codes stored in the memory 308, the processor 307 may control various components of the surgical instrument 300, such as the motor 303. The controller 306 may be implemented using integrated and / or discrete hardware elements, software elements, and / or a combination of both. The sensor 305 is in communication with the processor 307.

[0055] The surgical instrument 300 may include a motor controller 309 in operative communication with the controller 306. The motor controller 309 may be configured to control the direction of rotation of the motor 303. For example, the motor 303 may be powered from a battery, such as the battery 304, and the motor controller 309 may be configured to determine the voltage polarity applied to the motor 303 from the battery 304 based on an input from the controller 306, and then determine the direction of rotation of the motor 303. For example, when the voltage polarity applied to the motor 303 by the battery 304 is reversed by the motor controller 309 based on an input from the controller 306, the motor 303 may reverse its direction of rotation from a clockwise direction to a counterclockwise direction.

[0056] To reset the end effector 312 from an articulated position to an articulated home state position, the end effector 312 must be positioned in sufficient alignment with the shaft 311 in the articulated home state position, also referred to herein as a non-articulated position, so that the end effector 312 and at least a portion of the shaft 311 can be inserted into or retracted from a patient's lumen, for example through an access port, such as a trocar, positioned in the wall of the lumen, without damaging the axial bore.

[0057] To accurately return the end effector 312 to the articulation home state position, the surgical instrument 300 is configured to split the movement of the end effector 312 toward the articulation home state position into two distinct phases: a motorized phase and a non-motorized phase. The motorized phase is a high tolerance phase intended to bring the end effector 312 within a predetermined position range. On the other hand, the non-motorized phase is a low tolerance phase intended to precisely adjust or fine tune the position of the end effector 312 within a predetermined range to accurately reach the articulation home state position.

[0058] In the motorized phase, the controller 306 is relied upon to direct the motorized motion of the end effector 312 towards a predetermined range. However, the controller 306 does not need to determine the exact location of the articulation home state position. Instead, the controller 306 need only bring the end effector 312 to any position within the predetermined range.

[0059] In at least one embodiment, the predetermined range includes any angle, e.g., 30° or less, relative to the longitudinal axis on either side of the longitudinal axis. In at least one embodiment, the predetermined range includes any angle, e.g., 20° or less, relative to the longitudinal axis on either side of the longitudinal axis. In at least one embodiment, the predetermined range includes any angle, e.g., 10° or less, relative to the longitudinal axis on either side of the longitudinal axis. In at least one embodiment, the predetermined range includes any angle, e.g., 5° or less, relative to the longitudinal axis on either side of the longitudinal axis. Other values ​​for the predetermined range are contemplated in the present disclosure.

[0060] In the non-motorized phase, the mechanical centering system 313 is configured to passively guide the end effector 312 to an articulated home state position within a predetermined range with less tolerance than the controller 306. In some embodiments, as shown in FIGS. 24 and 25 , the mechanical centering system 313 includes a notch 315 defined in a proximal portion 314 of the end effector 312. The mechanical alignment mechanism 316 is configured to capture the notch 315 at any position within the predetermined range. The predetermined range may be defined by a width and / or a depth of the notch 315. The mechanical alignment mechanism 316 is configured to apply a force to the proximal portion 314 of the end effector 312 to precisely drive the end effector 312 to the articulated home state position.

[0061] 24-25, the mechanical alignment mechanism 316 is a spring-loaded pin. A spring 317 is configured to bias the mechanical alignment mechanism 316 against an outer surface 318 of the proximal portion 314 of the end effector 312. When the mechanical alignment mechanism 316 engages an edge of the notch 315, the biasing force of the mechanical alignment mechanism 316 guides the end effector 312 to an articulation home state position. The spring 317 is supported within a housing 319 within the shaft 311. A distal portion 316a of the mechanical alignment mechanism 316 movably extends through an opening in a distal wall 320 of the housing 319. A stop 321 prevents the proximal portion 316b of the mechanical alignment mechanism 316 from exiting the housing through the opening in the distal wall 320.

[0062] 24 and 25, the mechanical centering system 313 may be configured to precisely drive the end effector 312 to a predetermined articulation position in a non-motorized phase following an initial motorized phase, and the controller 306 directs the joints of the end effector 312 towards a predetermined range encompassing the predetermined articulation position. To precisely drive the end effector 312 to the predetermined articulation position, the surgical instrument 300 is configured to split the movement of the end effector 312 towards the predetermined articulation position into two separate phases: a motorized phase controlled by the controller 306 and a non-motorized phase controlled by the mechanical centering system 313.

[0063] In addition to the above, the mechanical centering system 313 may include one or more notches 323, 324 in the proximal portion 314 at one or more predetermined articulation positions. For example, as shown in Figures 24 and 25, the proximal portion 314 includes a notch 323 at articulation angle (α).

[0064] To articulate the end effector 312 to an articulation position of joint angle (α), for example, the controller 306 commands the motor 303 to trigger the joint drive 34 to rotate the end effector 312 toward the articulation position of joint angle (α). The controller 306 need only bring the end effector 312 to any position within a predetermined range that encompasses the articulation position of joint angle (α). The predetermined range may be defined by the width and / or depth of the notch 323.

[0065] Once the end effector 312 is in the predetermined range, the mechanical centering system 313 guides the end effector 312 to an articulated position of joint angle (α), as shown in Figure 25. The mechanical alignment mechanism 316 is configured to apply a force to the proximal portion 314 of the end effector 312 to capture the notch 315 at any position within the predetermined range and precisely drive the end effector 312 to the articulated position of joint angle (α).

[0066] 26-29, surgical instrument 400 is similar in many respects to surgical instruments 10, 100, 200, 300. For example, surgical instrument 400 includes a shaft 411 and an end effector 412 articulatable relative to shaft 411 between a home, or non-articulated, position and an articulated position. Surgical instrument 400 includes an articulation control system 402 that includes articulation drive 34.

[0067] The surgical instrument 400 further includes a mechanical centering system 413 that is similar in many respects to the mechanical centering system 313. For example, the proximal portion 414 of the end effector 412 includes notches 415, 423, 424 that are similar to the notches 315, 323, 324 of the proximal portion 314 of the end effector 312. The mechanical centering system 413 includes a mechanical alignment mechanism 416 that is similar in function to the mechanical alignment mechanism 316, but differs in structure. Similar to the mechanical alignment mechanism 316, the mechanical alignment mechanism 416 is configured to capture the notches 315, 323, 324 and guide the end effector 412 to a target position, such as, for example, an articulation home state position or a predetermined articulation position.

[0068] Similar to the end effector 312, the end effector 412 may be guided by the controller 306 in a high tolerance motorized phase towards an articulated home state position. The controller 306 is relied upon to bring the end effector 412 within a predetermined range of positions which may be defined by the depth and / or width of the notch 415. As described above in relation to the surgical instrument 300, the motorized phase is followed by a low tolerance non-motorized phase controlled by the mechanical centering system 413. Once the end effector 412 is within the predetermined range, the mechanical alignment mechanism 416 applies a force to the proximal portion 414 of the end effector 412 to precisely drive the end effector 412 from any position within the predetermined range to the articulated home state position.

[0069] 28 and 29, the end effector 412 may also be articulated to a predetermined articulated position in motorized stages of high tolerance followed by non-motorized stages of low tolerance, similar to end effector 312. The mechanical centering system 413, similar to mechanical centering system 313, is configured to adjust or fine-tune the position of the end effector 412 within a predetermined range to precisely reach the predetermined articulated position.

[0070] Further to the above, mechanical alignment mechanism 416 is in the form of a leaf spring that includes a generally arcuate frame that includes two ends 429, 430 that are moveable relative to shaft frame portion 428. Arcuate portion 431 extends between ends 429, 430. Arcuate portion 431 includes a distal apex 432 that extends distally from a center of arcuate portion 431, as shown in FIG.

[0071] The mechanical alignment feature 416 is maintained in an unbiased, or first biased, configuration while the apex 432 is received in one of the notches 415, 423, 424. While pressed against the outer surface 418 of the proximal portion 414 of the end effector 312 as shown in FIG. 28, the mechanical alignment feature 416 flexes to a second biased configuration that is greater than the first biased configuration.

[0072] When the mechanical alignment feature 416 engages the edge of the notch 415, the biasing force of the mechanical alignment feature 416 guides the end effector 412 to an articulated home state position. Similarly, when the mechanical alignment feature 416 engages the edge of the notch 415, the biasing force of the mechanical alignment feature 416 guides the end effector 412 to a predetermined articulated position corresponding to the notch 424.

[0073] In various embodiments, the closure tube section 105 may include a mechanical alignment feature in the form of a plastic or spring-loaded insert configured to center the end effector in the articulation home state position. A corresponding notch may be configured to receive the insert of the closure tube section 105 during closure of the end effector. Distal closure motion of the closure tube section 105 pushes the insert of the closure tube section 105 into the notch, directing the end effector to the articulation home state position.

[0074] Although various devices have been described herein with specific embodiments, modifications and variations may be made to those embodiments. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic illustrated or described with respect to one embodiment may be combined in whole or in part with the feature, structure, or characteristic of one or more other embodiments, without limitation. Also, although materials are disclosed with respect to particular components, other materials may be used. Furthermore, in accordance with various embodiments, a single component may be replaced with multiple components, and multiple components may be replaced with a single component, to perform a given function(s). It is intended that the foregoing description and the following claims cover all such modifications and variations.

[0075] The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular parts of the device, and then reassembly of the device. Specifically, a reconditioning facility and / or surgical team can disassemble the device, clean and / or replace particular parts of the device, and then reassemble the device for subsequent use. One of ordinary skill in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. The use of such techniques, and the resulting reconditioned devices, are all within the scope of the present application.

[0076] The devices disclosed herein may be processed prior to surgery. First, new or used instruments may be obtained and cleaned as necessary. The instruments may then be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container, such as a plastic bag or a TYVEK bag. The container and instruments may then be placed in a radiation field that can penetrate the container, such as gamma radiation, x-rays, and / or high-energy electrons. The radiation may kill bacteria on the instruments and in the container. The sterilized instruments may then be stored in the sterile container. The sealed container may keep the instruments sterile until they are opened in the medical facility. The devices may also be sterilized using any other technique known in the art, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, hydrogen peroxide plasma, and / or water vapor.

[0077] While the invention has been described as having an exemplary design, the invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

[0078] All patents, publications, or other disclosures that are incorporated herein by reference in their entirety or in part are incorporated herein only to the extent that the incorporated material does not contradict existing definitions, statements, or other disclosures set forth in this disclosure. As such, and to the extent necessary, the disclosures explicitly set forth herein shall prevail over any conflicting statements incorporated herein by reference. Any content, or portions thereof, that contradicts current definitions, statements, or other disclosures set forth herein shall be incorporated herein by reference, but only to the extent that no conflict arises between the referenced content and the current disclosures. EXAMPLES

[0079] Example 1 - A surgical instrument comprising an articulation joint, an end effector extending distally from the articulation joint, a shaft extending proximally from the articulation joint, and an articulation drive. The end effector includes a drive pin movable between a first position and a second position. The articulation drive is configured to move the drive pin from the first position to the second position to transition the end effector from a non-articulated configuration to an articulated configuration. The surgical instrument further comprises a pin slot extending from the articulation drive. The pin slot is configured to movably receive the drive pin in the non-articulated configuration. The pin slot is configured to securely receive the drive pin in the articulated configuration.

[0080] Example 2 - The surgical instrument of Example 1, wherein the pin slot includes a first portion configured to accommodate the drive pin in a first position and a second portion configured to accommodate the drive pin in a second position.

[0081] Example 3 - The surgical instrument of example 2, wherein the width of the first portion is greater than the width of the second portion.

[0082] Example 4 - The surgical instrument of example 2 or 3, wherein the drive pin is movable within the first portion independently of the articulation drive.

[0083] Example 5 - A surgical instrument as described in Example 1, 2, 3, or 4, wherein the drive pin includes a first orientation defining a first width at a first position and the drive pin includes a second orientation defining a second width at a second position, the second width being greater than the first width.

[0084] Example 6 - The surgical instrument of examples 1, 2, 3, 4, or 5, wherein the pin slot comprises a proximal wall and a distal wall. The drive pin is movable between the proximal and distal walls independent of the articulation drive.

[0085] Example 7 - The surgical instrument of examples 1, 2, 3, 4, 5, or 6, wherein the pin slot comprises a first lateral wall and a second lateral wall. The drive pin abuts the first lateral wall in the non-articulating configuration. The drive pin abuts the second lateral wall in the articulating configuration.

[0086] Example 8 - A surgical instrument comprising an end effector, a shaft, and an adaptive closure drive system. The end effector extends distally from the shaft. The end effector is movable relative to the shaft between a non-articulating configuration and an articulating configuration. The adaptive closure drive system is configured to transition the end effector between an open configuration and a closed configuration. The adaptive closure drive system includes a first closure length in the non-articulating configuration and a second closure length in the articulating configuration. The first closure length is different from the second closure length.

[0087] Example 9 - The surgical instrument of Example 8, wherein the adaptive closure drive system includes a distal closure tube section, a proximal closure tube section, and a flexible band configured to connect the distal closure tube section to the proximal closure tube section.

[0088] Example 10 - The surgical instrument of Example 9, wherein the flexible band includes a distal portion fixed to the distal closure tube section and a proximal portion movably connected to the proximal closure tube section.

[0089] Example 11 - The surgical instrument of Example 10, wherein the proximal closure tube section comprises an enclosure configured to movably accommodate a proximal portion of the flexible band.

[0090] Example 12 - The surgical instrument of Example 8, wherein the adaptive closure drive system includes a distal closure tube section, a proximal closure tube section, and a link extending between the distal closure tube section and the proximal closure tube section.

[0091] Example 13 - The surgical instrument of example 12, wherein the link includes a first pivot pin and a second pivot pin.

[0092] Example 14 - The surgical instrument of Example 13, wherein the distal closure tube section includes a first hole configured to receive a first pivot pin and the proximal closure tube section includes a second hole configured to receive a second pivot pin, the first hole being larger than the second hole.

[0093] Example 15 - A surgical instrument comprising a shaft, an end effector extending distally from the shaft, a motor configured to generate at least one rotational motion, and an articulation drive operably coupled to the motor. The end effector is articulatable relative to the shaft between a home position and a predetermined articulation position. The articulation drive is configured to articulate the end effector from the home position in response to the at least one rotational motion of the motor. The articulation of the end effector between the home position and the predetermined articulation position includes a predetermined motor-driven articulation motion and a predetermined non-motor-driven articulation motion.

[0094] Example 16 - The surgical instrument of example 15, wherein the biasing member is configured to drive a predetermined non-motor driven articulation movement independent of the motor.

[0095] Example 17 - A surgical instrument as described in Example 15, wherein the alignment mechanism is configured to drive a predetermined non-motorized articulation movement independent of the motor.

[0096] Example 18 - A surgical instrument described in Examples 15, 16, or 17, wherein a predetermined motor-driven articulation is configured to deliver the end effector to a first articulation position.

[0097] Example 19 - A surgical instrument described in Examples 15, 16, 17, or 18, wherein a predetermined non-motorized articulation is configured to deliver the end effector to a second articulation position.

[0098] Example 20 - A surgical instrument as described in Examples 15, 16, 17, 18, or 19, wherein the second articulation position is closer to the predetermined articulation position than the first articulation position.

[0099] [Embodiment] (1) A surgical instrument, An articulated joint; an end effector extending distally from the articulation joint, the end effector including a drive pin movable between a first position and a second position; a shaft extending proximally from the articulation joint; an articulation drive configured to move the drive pin from the first position to the second position to transition the end effector from a non-articulated configuration to an articulated configuration; a pin slot extending from the articulation drive portion, the pin slot configured to movably receive the drive pin in the non-articulated configuration and the pin slot configured to securely receive the drive pin in the articulated configuration. (2) The pin slot is a first portion configured to receive the drive pin in the first position; 2. The surgical instrument of claim 1, further comprising: a second portion configured to accommodate the drive pin in the second position. (3) The surgical instrument of claim 2, wherein the width of the first portion is greater than the width of the second portion. (4) The surgical instrument of claim 3, wherein the drive pin is movable within the first portion independently of the articulation drive portion. (5) The surgical instrument of claim 1, wherein the drive pin includes a first orientation defining a first width at the first position, and the drive pin includes a second orientation defining a second width at the second position, the second width being greater than the first width.

[0100] (6) The pin slot is The proximal wall; 2. The surgical instrument of claim 1, further comprising: a distal wall; and wherein the drive pin is movable between the proximal wall and the distal wall independent of the articulation drive. (7) The pin slot is a first lateral wall, the drive pin abutting the first lateral wall in the non-articulated configuration; 2. The surgical instrument of claim 1, further comprising: a second lateral wall, the drive pin abutting the second lateral wall in the articulated configuration. (8) A surgical instrument, An end effector; a shaft, the end effector extending distally from the shaft, the end effector movable relative to the shaft between a non-articulating configuration and an articulating configuration; an adaptive closure drive system configured to transition the end effector between an open configuration and a closed configuration, the adaptive closure drive system comprising a first closure length in the non-articulated configuration and the adaptive closure drive system comprising a second closure length in the articulated configuration, the first closure length being different from the second closure length. (9) The adaptive closing drive system comprises: a distal obturator tube section; a proximal obturator tube section; 9. The surgical instrument of claim 8, comprising: a flexible band configured to connect the distal closure tube section to the proximal closure tube section. (10) The flexible band is a distal portion secured to the distal closure tube section; 10. The surgical instrument of claim 9, further comprising a proximal portion movably connected to the proximal closure tube section.

[0101] (11) The surgical instrument of claim 10, wherein the proximal closure tube section includes an enclosure configured to movably house the proximal portion of the flexible band. (12) The adaptive closing drive system comprises: a distal obturator tube section; a proximal obturator tube section; 9. The surgical instrument of claim 8, further comprising a link extending between the distal closure tube section and the proximal closure tube section. (13) The link is: A first pivot pin; 13. The surgical instrument of embodiment 12, comprising: (14) The surgical instrument of claim 13, wherein the distal closure tube section includes a first bore configured to receive the first pivot pin and the proximal closure tube section includes a second bore configured to receive the second pivot pin, the first bore being larger than the second bore. (15) A surgical instrument, A shaft, an end effector extending distally from the shaft, the end effector being articulatable relative to the shaft between a home position and a predetermined articulated position; a motor configured to generate at least one rotational motion; an articulation drive operatively coupled to the motor, the articulation drive configured to articulate the end effector from the home position in response to the at least one rotational movement of the motor; Articulation of the end effector between the home position and the predetermined articulation position comprises: A predetermined motorized joint movement; and a predetermined non-motorized articulation.

[0102] (16) The surgical instrument of claim 15, wherein a biasing member is configured to drive the predetermined non-motorized articulation motion independently of the motor. (17) The surgical instrument of claim 15, wherein the alignment mechanism is configured to drive the predetermined non-motorized articulation motion independently of the motor. (18) The surgical instrument of claim 15, wherein the predetermined motorized articulation is configured to deliver the end effector to a first articulation position. (19) The surgical instrument of embodiment 18, wherein the predetermined non-motorized articulation is configured to deliver the end effector to a second articulation position. (20) The surgical instrument of claim 19, wherein the second articulation position is closer to the predetermined articulation position than the first articulation position.

Claims

1. 1. A surgical instrument comprising: an end effector including a first jaw and a second jaw pivotable relative to the first jaw about a closure axis; a shaft, the end effector extending distally from the shaft, the end effector movable relative to the shaft between a non-articulated configuration and an articulated configuration by an articulation drive movable to articulate the end effector relative to the shaft; an adaptive closure drive system configured to transition the end effector between an open configuration defining a jaw opening between the first jaw and the second jaw and a closed configuration in which the jaw opening is reduced, the adaptive closure drive system comprising a tubular structure including a closure tube section configured to translate distally to transition the end effector from the open configuration to the closed configuration, the tubular structure positioned about an articulation drive system including the articulation drive, the adaptive closure drive system including a first closure length in the non-articulated configuration, the adaptive closure drive system including a tubular structure including a closure tube section configured to translate distally to transition the end effector from the open configuration to the closed configuration, the tubular structure positioned about an articulation drive system including the articulation drive, the adaptive closure drive system including a first closure length in the non-articulated configuration, an adaptive closure drive system, the drive system including a second closure length in the articulated configuration, the first closure length being a length of a path that the closure tube section translates to transition the end effector from the open configuration to the closed configuration when the end effector is in the non-articulated configuration, and the second closure length being a length of a path that the closure tube section translates to transition the end effector from the open configuration to the closed configuration when the end effector is in the articulated configuration, the first closure length being different from the second closure length.

2. The closed tube section of the tubular structure is a proximal closed tube section, The tubular structure is a distal obturator tube section; 2. The surgical instrument of claim 1, further comprising: a flexible band configured to couple the distal closure tube section to the proximal closure tube section, the flexible band being transformable from a first state in which the flexible band extends along a longitudinal axis of the shaft to a second state in which the flexible band bends in the same direction as the end effector bends when the end effector moves from the non-articulated configuration to the articulated configuration, such that when the tubular structure translates distally when the end effector is in the non-articulated configuration, the flexible band couples the distal and proximal closure tube sections in line along the longitudinal axis in the first state, and when the tubular structure translates distally when the end effector is in the articulated configuration, the flexible band is in the second state in which the distal closure tube section bends relative to the proximal closure tube section.

3. The flexible band comprises: a distal portion secured to the distal closure tube section; and a proximal portion movably coupled to the proximal closure tube section.

4. The surgical instrument of claim 3 , wherein the proximal closure tube section includes an enclosure configured to movably house the proximal portion of the flexible band.

5. The closure tube section of the tubular structure, wherein the closure tube section is a proximal closure tube section; The tubular structure is a distal obturator tube section; 2. The surgical instrument of claim 1, further comprising: a link extending between the distal closure tube section and the proximal closure tube section, the link connecting the distal closure tube section and the proximal closure tube section and pivotable relative to the proximal closure tube section, the link having a first state extending along a longitudinal axis of the shaft and a second state pivoted relative to the proximal closure tube section in the same direction as a direction of bending when the end effector moves from the non-articulated configuration to the articulated configuration, such that when the tubular structure translates distally when the end effector is in the non-articulated configuration, the link connects the distal closure tube section and the proximal closure tube section in line along the longitudinal axis in the first state, and when the tubular structure translates distally when the end effector is in the articulated configuration, the link is in the second state and the distal closure tube section bends relative to the proximal closure tube section.

6. The link is: A first pivot pin; and a second pivot pin.

7. 7. The surgical instrument of claim 6, wherein the distal closure tube section includes a first bore configured to receive the first pivot pin and the proximal closure tube section includes a second bore configured to receive the second pivot pin, the first bore being larger than the second bore.

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