A surgical cutting and fastening device with a pivotable anvil having a tissue positioning configuration proximate to an anvil pivot axis

Abstract

To provide a surgical instrument for clamping, cutting and fastening a pulmonary tissue.SOLUTION: A surgical instrument comprises: a first jaw which defines a first tissue contact surface; and a second jaw which is pivotally attached to the first jaw, is selectively movable between the full-open position and the full-close position with a stationary jaw pivot axis as the center and extends in the longitudinal axis direction. The second jaw includes: a first upper surface which extends in the longitudinal axis direction; a second upper surface which extends in proximity to the proximal end of the first upper surface and extends downward with respect to the first upper surface; and a third upper surface which is located in proximity to the second upper surface and extends in proximity and upward toward the height of the first upper surface.SELECTED DRAWING: Figure 40

Description

Background Art

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

Brief Description of the Drawings

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

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

DETAILED DESCRIPTION OF THE INVENTION

[0004] The applicant of the present application owns the following U.S. patent applications filed on the same day as the present application, the entire contents of each of which are incorporated herein by reference. - U.S. Patent Application No. _____, title of the invention "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT", docket number END8207USNP / 170098, - U.S. Patent Application No. _____, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", docket number END8210USNP / 170099, - U.S. Patent Application No. _____, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", docket number END8204USNP / 170100, - U.S. Patent Application No. _____, title of the invention "SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS", docket number END8218USNP / 170101, - U.S. Patent Application No. _____, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", docket number END8217USNP / 070102, - U.S. Patent Application No. _____, Invention Title "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM", Attorney Docket No. END8211USNP / 170103, - U.S. Patent Application No. _______, Invention Title "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT", Attorney Docket No. END8215USNP / 170107, - U.S. Patent Application No. _____, Invention Title "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS", Attorney Docket No. END8201USNP / 170104, - U.S. Patent Application No. _____, Invention Title "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES", Attorney Docket No. END8206USNP / 170105, - U.S. Patent Application No. _______, Invention Title "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE", Attorney Docket No. END8212USNP / 170106, - U.S. Patent Application No. _______, Invention Title "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT", Attorney Docket No. END8200USNP / 170089M, - U.S. Patent Application No. _______, Invention Title "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS", Attorney Docket No. END8214USNP / 170090, - U.S. Patent Application No. _______, Invention Title "SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING", Attorney Docket No. END8202USNP / 170091, - U.S. Patent Application No. _______, Invention Title "SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOT AXIS", Attorney Docket No. END8213USNP / 170092, - U.S. Patent Application No. _______, Invention Title "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS", Attorney Docket No. END8203USNP / 170093, - U.S. Patent Application No. _______, Invention Title "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW", Attorney Docket No. END8216USNP / 170095, - U.S. Patent Application No. _______, Invention Title "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES", Attorney Docket No. END8208USNP / 170096, - U.S. Patent Application No. _______, titled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER", Attorney Docket No. END8209USNP / 170097, - U.S. Patent Application No. _______, titled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", Attorney Docket No. END8233USNP / 170084, - U.S. Design Patent Application No. _____, titled "STAPLE FORMING ANVIL", Attorney Docket No. END8236USDP / 170109D, - U.S. Design Patent Application No. _____, titled "SURGICAL INSTRUMENT SHAFT", Attorney Docket No. END8239USDP / 170108D, and - U.S. Design Patent Application No. _____, titled "SURGICAL FASTENER CARTRIDGE", Attorney Docket No. END8240USDP / 170110D.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0024] Numerous specific details are set forth in order to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments, as described in the specification and shown in the accompanying drawings. 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. Modifications and variations can be made thereto without departing from the scope of the claims.

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

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

[0027] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, it will be readily understood by the reader that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including those related to, for example, open abdominal surgery. By reading the "DETAILED DESCRIPTION" herein, the reader will further understand that the various instruments disclosed herein may be inserted into the body in any manner, such as through a natural opening or through an incision or puncture hole formed in the tissue. The working portion, i.e., the end effector portion, of these instruments can also be inserted directly into the patient's body or through an access device having a working passage through which the end effector and elongate shaft of the surgical instrument can be advanced.

[0028] A surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, although other embodiments are contemplated where the staple cartridge is not removable from the first jaw or is not at least readily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis, although other embodiments are envisioned where the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes a joint configured to rotate, i.e., articulate, the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the joint. Other embodiments without the joint are also contemplated.

[0029] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck portion extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil moves toward the staple cartridge to compress and clamp the tissue against the deck portion. Subsequently, staples removably stored within the cartridge body can be deployed into the tissue. The cartridge body includes a staple cavity defined therein and the staples are removably stored within the staple cavity. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of the staple cavities and staples are possible.

[0030] The staple is supported by a staple driver within the cartridge body. The driver is movable between a first, i.e., un-fired position and a second, i.e., fired position, where the staple is ejected from the staple cavity. The driver is held within the cartridge body by a retainer that extends around the bottom of the cartridge body and includes an elastic member configured to grip the cartridge body and hold the retainer against the cartridge body. The driver is movable between its un-fired position and its fired position by a thread. The thread is movable between a proximal position adjacent its proximal end and a distal position adjacent its distal end. The thread includes a plurality of inclined surfaces configured to slide under the driver and lift the driver, on which the staple is supported and towards the anvil.

[0031] In addition to the above, the thread is moved distally by a firing member. The firing member is configured to contact the thread and push the thread towards the distal end. A longitudinal slot defined within the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages a first jaw and a second cam that engages a second jaw. When advancing the firing member distally, the first cam and the second cam can control the distance between the deck portion of the staple cartridge and the anvil, i.e., the tissue gap. The firing member also includes a knife configured to excise tissue captured between the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the inclined surface such that the staple is ejected forward of the knife.

[0032] FIG. 1 shows a motor-driven surgical system 10 that can be used to perform various different surgical procedures. As can be seen in this figure, an example of the surgical system 10 includes four interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, each of which is adapted for interchangeable use with a handle assembly 500. Each of the interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 can be designed to be used in connection with the performance of one or more specific surgical procedures. In another embodiment of the surgical system, one or more of the interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 can also be effectively used with a robotic control or an instrument drive assembly of an automated surgical system. For example, the surgical tool assemblies disclosed herein can be used with various robotic systems, instruments, components, and methods, such as, but not limited to, those disclosed in U.S. Patent No. 9,072,535, the entire content of which is incorporated herein by reference, the invention title "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS".

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

[0034] As shown in FIG. 2, the handle assembly 500 can further include a handle frame 506 that operably supports a plurality of drive systems. For example, the handle frame 506 can operably support a “first” or closed drive system, generally designated as 510, and by using this closed drive system, an opening and closing motion can be applied to the interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 that are operably attached or coupled to the handle assembly 500. In at least one form, the closed drive system 510 pivotally supported by the handle frame 506 may include an actuator in the form of a closure trigger 512. Such a configuration enables a clinician to operate the closure trigger 512, such that when the clinician grips the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 can be easily pivoted from a starting or “non - actuated” position to an “actuated” position, more specifically to a fully compressed or fully actuated position. In various forms, the closed drive system 510 further includes a closure link assembly 514 that is pivotally coupled to or otherwise operably interfaced with the closure trigger 512. As will be discussed in more detail below, in the example shown, the closure link assembly 514 includes a lateral attachment pin 516 that facilitates attachment to a corresponding drive system on the surgical tool assembly. In use, to operate the closed drive system 510, the clinician depresses the closure trigger 512 towards the pistol grip portion 504. As described in more detail in U.S. Patent Application No. 14 / 226,142, entitled “SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM,” the entire contents of which are incorporated herein by reference and now published as U.S. Patent Application Publication No. 2015 / 0272575, when the clinician depresses the closure trigger 512 completely to achieve a fully closed stroke, the closed drive system 510 is configured to lock the closure trigger 512 in the fully depressed or fully actuated position.If a clinician desires to unlock and bias the closure trigger 512 to its non-activated position, the clinician can simply activate the closure release button assembly 518, thereby enabling the closure trigger to be returned to its non-activated position. The closure release button assembly 518 may also be configured to interact with various sensors that communicate with a microprocessor 560 within the handle assembly 500 to track the position of the closure trigger 512. Further details regarding the configuration and operation of the closure release button assembly 518 can be found in U.S. Patent Application Publication No. 2015 / 0272575.

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

[0036] The electric motor 505 is configured to axially drive a longitudinally movable drive member (not shown) in the distal and proximal directions in accordance with the polarity of the motor. For example, when the motor is driven in one rotational direction, the longitudinally movable drive member can be axially driven in the distal direction “DD”. When the motor 505 is driven in the opposite rotational direction, the longitudinally movable drive member will be axially driven in the proximal direction “PD”. The handle assembly 500 may include a switch 513, and the switch 513 may be configured to reverse the polarity applied to the electric motor 505 by the power supply 522 or otherwise control the motor 505. The handle assembly 500 may also include one or more sensors (not shown) configured to detect the position of the drive member and / or the direction in which the drive member moves. The operation of the motor 505 can be controlled by a firing trigger 532 (FIG. 1) pivotally supported on the handle assembly 500. The firing trigger 532 may pivot between a non-operative position and an operative position. The firing trigger 532 may be biased to the non-operative position by a spring or other biasing arrangement such that when the clinician releases the firing trigger 532, it pivots to the non-operative position by the spring or biasing device or is otherwise returned. In at least one form, the firing trigger 532 may be positioned “outside” of the closure trigger 512 as described above. As described in U.S. Patent Application Publication No. 2015 / 0272575, the handle assembly 500 may be provided with a firing trigger safety button (not shown) to prevent inadvertent actuation of the firing trigger 532. When the closure trigger 512 is in the non-operative position, the safety button is recessed within the handle assembly 500 and is not readily accessible to the clinician, preventing movement between a safety position that prevents actuation of the firing trigger 532 and a firing position where the firing trigger 532 can fire. When the clinician presses the closure trigger 512, the safety button and the firing trigger 532 pivot downward and then become operable by the clinician.

[0037] In at least one form, the longitudinally movable drive member may have a rack of teeth (not shown) formed thereon for meshing engagement with a corresponding drive gear arrangement (not shown) that interacts with the motor. Further details regarding these features can be found in U.S. Patent Application Publication No. 2015 / 0272575. At least one form also includes a manually operable “emergency” assembly configured such that a clinician can manually retract the longitudinally movable drive member to disable the motor 505. The emergency assembly may include a lever or emergency handle assembly stored within the handle assembly 500 under the removable door portion 550. See FIG. 2. The lever can be configured to be manually pivoted into engagement with the toothed portion of the drive member by a ratchet mechanism. Thus, a clinician can manually retract the drive member by using the emergency release handle assembly to ratchet the drive member in the proximal direction “PD”. U.S. Patent No. 8,608,045, entitled “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM”, the entire disclosure of which is incorporated herein by reference, discloses an emergency release mechanism, as well as other components, mechanisms, and systems that may be used with any of the various interchangeable surgical tool assemblies disclosed herein.

[0038] Referring now to FIGS. 3 and 4, the interchangeable surgical tool assembly 1000 has a surgical end effector 1500 that includes a first jaw 1600 and a second jaw 1800. In one configuration, the first jaw includes an elongate channel 1602 configured to operably support a surgical staple / fastener cartridge 1700 therein. The second jaw 1800 includes an anvil 1810 pivotally supported relative to the elongate channel 1602. The interchangeable surgical tool assembly 1000 can include an articulation system 1300 that includes an articulation joint 1302 and an articulation movement lock 1400 (FIGS. 4-6) configured to releasably hold the surgical end effector 1500 at a desired articulation position relative to the shaft axis SA1. Further details regarding the articulation system and the articulation movement lock can be found in U.S. patent application Ser. No. 17 / 010,282, filed on the same date as this specification and incorporated herein by reference in its entirety, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", Attorney Docket No. END8217USNP / 170102.

[0039] As can be further seen in FIGS. 4 and 7-9, the interchangeable surgical tool assembly 1000 includes a tool frame assembly 1200 that includes a tool chassis 1210 that operably supports a nozzle assembly 1240. In one form, the nozzle assembly 1240 consists of nozzle portions 1242, 1244 and an actuator wheel portion 1246 configured to be coupled to the assembled nozzle portions 1242, 1244 by snaps, protrusions, screws, etc. The interchangeable surgical tool assembly 1000 includes a proximal closure assembly 1900 operably coupled to a distal closure assembly 2000 that is used to open and close the anvil 1810 of the surgical end effector 1500, as described in further detail below. Further, the interchangeable surgical tool assembly 1000 includes a spine assembly 1250 that operably supports the proximal closure assembly 1900 and is coupled to the surgical end effector 1500. In various situations, to facilitate assembly, the spine assembly 1250 can be made from an upper spine portion 1251 and a lower spine portion 1252 that are interconnected with each other by snap mechanisms, adhesives, welding, etc. In the assembled form, the spine assembly 1250 includes a proximal end 1253 rotatably supported within the tool chassis 1210. In one configuration, for example, the proximal end 1253 of the spine 1250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 1210. Such a configuration facilitates the rotatable attachment of the spine assembly 1250 to the tool chassis 1210 and allows the spine assembly 1250 to be selectively rotated about the shaft axis SA1 relative to the tool chassis 1210. Specifically, in one configuration, for example, the proximal end 1253 of the spine assembly 1250 includes an upper protrusion seat 1254 (FIGS. 4, 5, 7, 8 and 10) and a lower protrusion seat (not shown) each configured to receive a corresponding nozzle protrusion 1245 that extends inwardly from each of the nozzle portions 1242, 1244. Such a configuration facilitates the rotation of the spine assembly 1250 about the shaft axis SA1 by rotating the actuator wheel portion 1246 of the nozzle assembly 1240.

[0040] As seen in FIGS. 4 and 5, the spine assembly 1250 further includes an intermediate spine shaft portion 1256 having a diameter smaller than the diameter of the proximal end 1253 of the spine assembly 1250. The intermediate spine shaft portion 1256 of the upper spine portion 1251 terminates at an upper projection attachment element 1260, and the intermediate spine shaft portion of the lower spine portion 1252 terminates at a lower projection attachment element 1270. As seen most particularly in FIG. 6, for example, the upper projection attachment element 1260 is formed with a projection slot 1262 adapted to internally supportably receive an upper attachment link 1264. Similarly, the lower projection attachment element 1270 is formed with a projection slot 1272 adapted to internally supportably receive a lower attachment link 1274. The upper attachment link 1264 includes a pivot socket 1266 offset from the shaft axis SA1. The pivot socket 1266 is adapted to rotatably receive therein a pivot pin 1634 formed on a channel cap or anvil retainer 1630 attached to the proximal end portion 1610 of the elongated channel 1602. The lower attachment link 1274 includes a lower pivot pin 1276 adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated channel 1602. See FIG. 6. The lower pivot pin 1276 as well as the pivot hole 1611 are offset from the shaft axis SA1. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 and defines a joint motion axis AA1 about which the surgical end effector 1500 can articulate with respect to the shaft axis SA1. The joint motion axis AA 1 is transverse to the shaft axis SA1, but the joint motion axis AA1 is laterally offset from the shaft axis SA1 and does not intersect the shaft axis SA1.

[0041] Referring now to FIGS. 6 and 15, anvil 1810 in the illustrated example includes anvil body 1812 that terminates at anvil attachment portion 1820. Anvil attachment portion 1820 is movably or pivotally supported on elongated channel 1602 so as to be selectively pivotally movable about a fixed anvil pivot axis PA1 (FIG. 15) that is transverse to shaft axis SA1. In the illustrated configuration, pivot member or anvil trunnion 1822 extends laterally from each lateral side of anvil attachment portion 1820 and is received within a corresponding trunnion cradle 1614 formed in upright wall 1612 of proximal end portion 1610 of elongated channel 1602. Anvil trunnion 1822 is pivotally retained within their corresponding trunnion cradles 1614 by channel caps or anvil retainers 1630. Channel caps or anvil retainers 1630 include a pair of attachment protrusions 1636 configured to be received so as to be retained within corresponding protrusion grooves or notches 1616 formed in upright wall 1612 of proximal end portion 1610 of elongated channel 1602.

[0042] In the illustrated example, the surgical end effector 1500 is selectively articulable about an articulation axis AA1 by an articulation motion system 1300. In one form, the articulation motion system 1300 includes a proximal articulation driver 1310 pivotally coupled to an articulation link 1320. As seen most particularly in FIG. 6, an offset mounting projection 1314 is formed at the distal end 1312 of the proximal articulation driver 1310. A pivot hole 1316 is formed within the offset mounting projection 1314 and is configured to pivotally receive a proximal link pin 1326 formed at the proximal end 1325 of the articulation link 1320 therein. The distal end 1322 of the articulation link 1320 has a pivot hole 1324 configured to pivotally receive a groove pin 1618 formed at the proximal end portion 1610 of the elongate channel 1602 therein. Thus, axial movement of the proximal articulation driver 1310 thereby applies an articulation motion to the elongate channel 1602 to articulate the surgical end effector 1500 about the articulation axis AA1 relative to the spine assembly 1250.

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

[0044] Referring now to FIGS. 5 and 6, the distal portion 1930 of the proximal closure tube 1910 is attached to the distal closure assembly 2000. In the illustrated configuration, for example, the distal closure assembly 2000 includes an articulating connector 2010 coupled to a distal closure tube portion 2030. In the illustrated example, the distal closure tube portion 2030 has a diameter greater than the diameter of the distal portion 1930 of the proximal closure tube 1910. The articulating connector 2010 has a proximally extending end portion 2012 adapted to be received on a connection flange 1934 formed at the distal end of the distal portion 1930. The articulating connector 2010 can be held on the connection flange 1934 by a suitable fastening mechanism such as an adhesive, welding, or the like. The articulating connector 2010 includes an upper projection 2014 and a lower projection 2016 that project distally from the distal end of the articulating connector 2010 and are movably coupled to an end effector closure sleeve or the distal closure tube portion 2030. The distal closure tube portion 2030 includes an upper projection 2032 and a lower projection (not shown) that project proximally from its proximal end. The upper double pivot link 2060 includes a proximal pin 2061 and a distal pin 2062 that engage corresponding holes 2015, 2034 in the upper projections 2014, 2032 of the articulating connector 2010 and the distal closure tube portion 2030, respectively. Similarly, the lower double pivot link 2064 includes a proximal pin 2065 and a distal pin 2066 that engage corresponding holes 2019 in the lower projection 2016 of the articulating connector 2010. As will be described in more detail below, as a result of the axial rectilinear motion of the distal and proximal closure assemblies 1900 and 2000 in the distal and proximal directions, the anvil 1810 is opened and closed relative to the elongate channel 1602.

[0045] In at least one configuration, the replaceable surgical tool assembly 1000 further includes a firing system, generally shown as 2100. In the illustrated embodiment, the firing system 2100 includes a firing member assembly 2110 supported to move axially within the shaft assembly 1250. In the illustrated embodiment, the firing member assembly 2110 includes an intermediate firing shaft portion 2120 configured to be attached to a distal cutting portion, i.e., a knife bar 2130. The firing member assembly 2110 may also be referred to herein as the "second shaft" and / or "second shaft assembly". As can be seen from FIG. 5, the intermediate firing shaft portion 2120 can include a longitudinal slot 2124 at its distal end 2122 that is configured to receive the proximal end 2132 of the knife bar 2130. The longitudinal slot 2124 and the proximal end 2132 of the knife bar 2130 can be sized and configured to allow relative movement therebetween and can form a slip joint 2134. The slip joint 2134 allows the intermediate firing shaft portion 2120 of the firing member assembly 2110 to move without moving, or at least substantially without moving, the knife bar 2130, thereby allowing the end effector 1500 to articulate. After the end effector 1500 is properly oriented, the knife bar 2130 can be advanced by advancing the intermediate firing shaft portion 2120 distally until the proximal sidewall of the longitudinal slot 2124 contacts a portion of the knife bar 2130, thereby firing a surgical staple / fastening element cartridge 1700 disposed within the elongate channel 1602. In the illustrated configuration, a firing shaft attachment protrusion 2128 (FIG. 8) is formed on the proximal end 2127 of the intermediate firing shaft portion 2120 and is configured to be disposed within an attachment cradle (not shown) at the distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. Such a configuration facilitates the axial movement of the intermediate firing shaft portion 2120 upon actuation of the firing drive system 530.

[0046] In addition to the above, the interchangeable surgical tool assembly 1000 can include a shifter assembly 2200 configured to selectively and releasably couple the proximal articulation driver 1310 to the firing system 2100. In one form, the shifter assembly 2200 includes a lock collar, or lock sleeve 2210, disposed about an intermediate firing shaft portion 2120 of the firing system 2100, and the lock sleeve 2210 can rotate between an engaged position in which the lock sleeve 2210 couples the proximal articulation driver 1310 to the firing member assembly 2110 and a disengaged position in which the proximal articulation driver 1310 is not operably coupled to the firing member assembly 2110. When the lock sleeve 2210 is in its engaged position, distal movement of the firing member assembly 2110 can move the proximal articulation driver 1310 distally, and correspondingly, proximal movement of the firing member assembly 2110 can move the proximal articulation driver 1310 proximally. When the lock sleeve 2210 is in its disengaged position, movement of the firing member assembly 2110 is not transmitted to the proximal articulation driver 1310, and as a result, the firing member assembly 2110 can move independently of the proximal articulation driver 1310. In various situations, the proximal articulation driver 1310 can be held in a predetermined position by the articulation lock 1400 when the proximal articulation driver 1310 is not being moved proximally or distally by the firing member assembly 2110.

[0047] In the illustrated configuration, the intermediate firing shaft portion 2120 of the firing member assembly 2110 has two opposed flat surfaces 2121, 2123 formed thereon with drive notches 2126 formed therein. See FIG. 8. Also as seen in FIG. 13, the lock sleeve 2210 includes a cylindrical, or at least substantially cylindrical, body including a longitudinal opening 2212 configured to receive the intermediate firing shaft portion 2120 therethrough. The lock sleeve 2210 can include diametrically opposed inward lock protrusions 2214, 2216 that are received within corresponding portions of the drive notches 2126 of the intermediate firing shaft portion 2120 when the lock sleeve 2210 is in one position and not received within the drive notches 2126 when in another position, thereby allowing relative axial movement between the lock sleeve 2210 and the intermediate firing shaft portion 2120.

[0048] Referring now to FIGS. 8 and 12-14, in the illustrated example, the lock sleeve 2210 further includes a locking member 2218 sized to be movably received within a notch 1319 of the proximal end 1318 of the proximal articulation driver 1310. With such a configuration, the lock sleeve 2210 can remain engaged with the notch 1319 within the proximal articulation driver 1310, rotate slightly to engage with the intermediate firing shaft portion 2120, and also disengage therefrom. For example, when the lock sleeve 2210 is in its engaged position, the lock protrusions 2214, 2216 are disposed within the drive notches 2126 of the intermediate firing shaft portion 2120, whereby a force pushing in the distal direction and / or a pulling force in the proximal direction can be transmitted from the firing member assembly 2110 to the lock sleeve 2210. Then, such an axially pushing or pulling movement is transmitted from the lock sleeve 2210 to the proximal articulation driver 1310, thereby articulating the surgical end effector 1500. In practice, the firing member assembly 2110, the lock sleeve 2210, and the proximal articulation driver 1310 move together when the lock sleeve 2210 is in its engaged (articulated) position. On the other hand, when the lock sleeve 2210 is in its disengaged position, the lock protrusions 2214, 2216 are not received within the drive notches 2126 of the intermediate firing shaft portion 2120, and as a result, a force pushing in the distal direction and / or a pulling force in the proximal direction may not be transmitted from the firing member assembly 2110 to the lock sleeve 2210 (and the proximal articulation driver 1310).

[0049] In the illustrated example, the relative movement of the lock sleeve 2210 between the engaged position and the disengaged position can be controlled by a shifter assembly 2200 interconnected with the proximal closure tube 1910 of the proximal closure assembly 1900. More specifically, referring to FIGS. 8 and 9, the shifter assembly 2200 further includes a shifter key 2240 configured to be slidably received within a keyway 2217 formed on the outer periphery of the lock sleeve 2210. With such a configuration, the shifter key 2240 can move axially relative to the lock sleeve 2210. Referring to FIGS. 8-11, the shifter key 2240 includes an actuator protrusion 2242 that extends through a cam slot or cam opening 1926 of the proximal closure tube portion 1920. See FIG. 9. Further, a cam surface 2243 is also provided adjacent to the actuator protrusion 2242 configured to interact cammingly with the cam opening 1926, so as to rotate the shifter key 2240 in response to the axial movement of the proximal closure tube portion 1920.

[0050] Also in the illustrated example, the shifter assembly 2200 further includes a switch drum 2220 that is rotatably received on the proximal end portion of the proximal closure tube portion 1920. As seen in FIGS. 10 - 14, the actuator projection 2242 extends through an axial slot portion 2222 within the switch drum 2220 and is movably received within an arcuate slot portion 2224 of the switch drum 2220. A switch drum torsion spring 2226 (FIGS. 12 - 14) is attached to the switch drum 2220 and engages the nozzle portion 1244 to apply a torsional bias or rotation (arrow SR in FIGS. 10 and 11) that rotates the switch drum 2220 until the actuator projection 2242 reaches the end of the arcuate slot portion 2224. See FIGS. 11 and 12. In that position, the switch drum 2220 can apply a torsional bias to the shifter key 2240, thereby rotating the lock sleeve 2210 with the intermediate firing shaft portion 2120 to its engaged position. This position also corresponds to the non - operative configuration of the proximal closure assembly 1900. In one configuration, for example, when the proximal closure assembly 1900 is in the non - operative configuration (the anvil 1810 is in the open position spaced from the surgical staple / fastening element cartridge 1700), the actuator projection 2242 is located above an upper portion of a cam opening 1926 within the proximal closure tube portion 1920. In that position, when the intermediate firing shaft portion 2120 is actuated, the proximal articulation driver 1310 moves axially. When the user articulates the surgical end effector 1500 to a desired orientation, the user can then actuate the proximal closure assembly 1900. Actuating the proximal closure assembly 1900 causes the proximal closure tube portion 1920 to move distally and ultimately apply a closing motion to the anvil 1810. This distal movement of the proximal closure tube portion 1920 causes the cam opening 1926 to cam - interact with the cam surface 2243 of the actuator projection 2242, thereby rotating the lock sleeve 2210 in the actuation direction AD by the shifter key 2240. Such rotation of the lock sleeve 2210 disengages the lock projections 2214, 2216 from the drive notch 2126 of the intermediate firing shaft portion 2120.In such a configuration, the firing drive system 530 can be actuated to actuate the intermediate firing shaft portion 2120 without actuating the proximal joint motion driver 1310. Further details regarding the operation of the switch drum 2220 and the lock sleeve 2210, as well as alternative joint motion and firing drive mechanisms that can be used with the various interchangeable surgical tool assemblies described herein, can be found in U.S. Patent Application No. 13 / 803,086 (currently U.S. Patent Application Publication No. 2014 / 0263541) and U.S. Patent Application No. 15 / 019,196, the entire disclosures of which are hereby incorporated by reference herein.

[0051] Referring again to FIGS. 8-13, the switch drum 2220 may further include openings 2228, 2230 having at least a partially outer circumference, such openings extending from the nozzle portions 1242, 1244 and being capable of receiving circumferential protrusions / mounts 1245 that permit relative rotation but not linear movement between the switch drum 2220 and the nozzle assembly 1240. Such nozzle protrusions 1245 extend through corresponding openings 1923 in the proximal closure tube portion 1920 and are disposed in the protrusion seats 1254 of the spine assembly 1250. See FIGS. 8 and 9. With such a configuration, the user can rotate the spine assembly 1250 about the shaft axis by rotating the nozzle assembly 1240.

[0052] As also shown in FIGS. 7 and 12-14, the interchangeable tool assembly 1000 can be configured to transmit power to and / or from the surgical end effector 1500 and / or communicate signals to and / or from the surgical end effector 1500 back to the handle assembly 500 or the microprocessor 560 (FIG. 2) within the robotic system controller and can include a slip ring assembly 1230. Further details regarding the slip ring assembly 1230 and associated connectors can be found in U.S. Patent Application No. 13 / 803,086 (now U.S. Patent Application Publication No. 2014 / 0263541), the entire disclosure of which is incorporated herein by reference, and U.S. Patent Application No. 15 / 019,196, as well as U.S. Patent Application No. 13 / 800,067, the entire disclosure of which is incorporated herein by reference, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014 / 0263552). As described in further detail in the foregoing patent applications incorporated herein by reference, the interchangeable surgical tool assembly 1000 can also include at least one sensor configured to detect the position of the switch drum 2220.

[0053] Referring again to FIG. 2, the tool chassis 1210 is formed with at least one, preferably two, tapered attachment portions 1212 adapted to be received within corresponding double-tail slots 507 formed within the distal end portion of the handle frame 506 of the handle assembly 500. Various interchangeable surgical tool assemblies utilize a latch system 1220 for removably coupling the interchangeable surgical tool assembly 1000 to the handle frame 506 of the handle assembly 500. As seen in FIG. 7, for example, in at least one form, the latch system 1220 has a lock member or lock yoke 1222 movably coupled to the tool chassis 1210. In the illustrated embodiment, for example, the lock yoke 1222 has a U-shape with two spaced-apart downwardly extending legs 1223. Each of the legs 1223 is formed with a pivot projection (not shown) adapted to be received within a corresponding hole formed in the tool chassis 1210. Such a configuration facilitates the pivotable attachment of the lock yoke 1222 to the tool chassis 1210. The lock yoke 1222 can include two proximally projecting lock projections 1224 configured to releasably engage a corresponding lock detent or groove 509 at the distal end of the handle frame 506 of the handle assembly 500. See FIG. 2. In various forms, the lock yoke 1222 is biased proximally by a spring or biasing member 1225. The actuation of the lock yoke 1222 can be performed by a latch button 1226 slidably attached to a latch actuator assembly 1221 attached to the tool chassis 1210. The latch button 1226 can bias proximally against the lock yoke 1222. The lock yoke 1222 can be moved to an unlocked position by biasing the latch button 1226 distally, which further causes the lock yoke 1222 to pivot out of its retaining engagement with the distal end of the handle frame 506.When the lock yoke 1222 is in a "holding engagement" state with the distal end of the handle frame 506, the lock projection 1224 is arranged to be held within a corresponding lock detent or groove 509 at the distal end of the handle frame 506.

[0054] In the illustrated configuration, the lock yoke 1222 includes at least one, preferably two, lock hooks 1227 adapted to contact a corresponding lock projection portion 1943 formed on the closure shuttle 1940. When the closure shuttle 1940 is in the inoperative position, the exchangeable surgical tool assembly 1000 can be unlocked from the handle assembly 500 by pivoting the lock yoke 1222 in the distal direction. In that position, the lock hooks 1227 are not in contact with the lock projection portion 1943 of the closure shuttle 1940. However, when the closure shuttle 1940 is moved to the operative position, the lock yoke 1222 is prevented from pivoting to the unlocked position. Stated another way, if a clinician attempts to pivot the lock yoke 1222 to the unlocked position, or if for example the lock yoke 1222 is inadvertently struck or contacted in such a way as to pivot distally, the lock hooks 1227 of the lock yoke 1222 contact the lock projection portion 1943 of the closure shuttle 1940 to prevent the lock yoke 1222 from moving to the unlocked position.

[0055] Referring again to FIG. 6, the knife bar 2130 can have a laminated beam structure that includes at least two beam layers. Such beam layers can include, for example, stainless steel bands that are interconnected by welding or pinning to each other, for example, at their proximal ends and / or at other locations along their lengths. In an alternative embodiment, the distal ends of the bands are not connected to each other such that the laminate or bands can spread relative to each other as the end effector articulates. Due to such a configuration, the knife bar 2130 can have sufficient flexibility to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", the entire disclosure of which is incorporated herein by reference. As can also be seen in FIG. 6, the firing shaft support assembly 2300 is used to provide lateral support to the knife bar 2130 as the central support member flexes to accommodate the articulation of the surgical end effector 1500. Further details regarding the operation of the firing shaft support assembly 2300 and alternative knife bar support mechanisms can be found in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", and U.S. Patent Application No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR", the entire disclosures of which are incorporated herein by reference.

[0056] As can also be seen in FIG. 6, a firing member or knife member 2140 is attached to the distal end of the knife bar 2130. In one exemplary form, the firing member 2140 includes a body portion 2142 that supports a knife or tissue cutting portion 2144. The body portion 2142 projects through the elongated slot 1604 of the elongated channel 1602 and terminates in foot members 2146 that extend laterally on each side of the body portion 2142. When the firing member 2140 is driven distally through the surgical staple / fastening element cartridge 1700, the foot members 2146 ride within the passage 1622 of the elongated channel 1602 that is located beneath the surgical staple / fastening element cartridge 1700 (FIG. 48). In one configuration, the body portion 2142 includes two laterally projecting central tabs 2145 that can ride over the central passage within the surgical staple / fastening element cartridge 1700. See FIG. 6. The tissue cutting portion 2144 is disposed between upper nose portions 2143 that project distally. As can further be seen in FIG. 6, the firing member 2140 can further include two laterally extending upper tabs, pins, or anvil engagement mechanisms 2147. When the firing member 2140 is driven distally, the upper portion of the body portion 2142 extends through a centrally disposed anvil slot 1814, and the anvil engagement mechanisms 2147 ride on corresponding anvil ledges 1816 formed on both sides of the anvil slot 1814. In one configuration, the upper portion of the anvil body 1812 has an opening 1817 to facilitate the assembly of the anvil 1810 and the firing member 2140 configuration. When the anvil 1810 is assembled onto the elongated channel 1602 and the firing member 2140 is installed, the opening 1817 is covered by an anvil cap 1819 that is attached to the anvil body 1812 by welding or other suitable fastening means.

[0057] Returning to FIG. 6, the firing member 2140 is configured to operably interconnect with a thread assembly 2150 that is operably supported within the body 1702 of the surgical staple / fastening element cartridge 1700. The thread assembly 2150 is displaceable slidably within the surgical staple / fastening element cartridge body 1702 from a proximal starting position adjacent the proximal end 1704 of the cartridge body 1702 to an end position adjacent the distal end 1706 of the cartridge body 1702. The cartridge body 1702 operably supports within it a plurality of staple drivers (not shown) aligned in respective rows on either side of a centrally disposed slot 1708. The centrally disposed slot 1708 enables the firing member 2140 to cut tissue clamped between the anvil 1810 and the surgical staple / fastening element cartridge 1700 through the slot. Each driver is associated with a corresponding staple / fastening element pocket 1712 that opens into the upper deck surface 1710 of the cartridge body 1702. Each of the staple drivers supports one or more surgical staples / fastening elements or fastening elements (not shown). The thread assembly 2150 includes a plurality of inclined or wedge-shaped cams 2152, each cam 2152 corresponding to a particular line of fastening elements or drivers located at the side of the slot 1708.

[0058] Next, the attachment of the replaceable surgical tool assembly 1000 to the handle assembly 500 will be described with reference to FIG. 2. To initiate the connection process, the clinician can position the tool chassis 1210 of the replaceable surgical tool assembly 1000 above or adjacent to the distal end of the handle frame 506 such that the tapered attachment portion 1212 formed in the tool chassis 1210 is aligned with the double-tail slot 507 of the handle frame 506. The clinician then moves the surgical tool assembly 1000 along the installation axis IA perpendicular to the shaft axis SA1 to position the tapered attachment portion 1212 in "operable engagement" with the corresponding double-tail receiving slot 507 at the distal end of the handle frame 506. At this time, the firing shaft attachment protrusion 2128 of the intermediate firing shaft portion 2120 is also disposed within a mounting cradle (not shown) of a longitudinally movable drive member (not shown) inside the handle assembly 500, and the portion of the attachment pin 516 on the closing link 514 is disposed within the corresponding hook 1942 of the closing shuttle 1940. As used herein, the term "operable engagement" in the context of two components means that the two components are sufficiently engaged with each other such that, when an operating motion is applied to them, the components can perform the intended acts, functions, and / or procedures.

[0059] During a typical surgical procedure, a clinician can introduce the surgical end effector 1500 into the surgical site through a trocar or other opening in the patient to access the target tissue. At this time, the clinician typically axially aligns the surgical end effector 1500 along the shaft axis (in a non-articulated state). After passing the surgical end effector 1500 through the trocar port, for example, there may be a need for the clinician to advantageously position it adjacent to the target tissue by articulating the end effector 1500. Since this is before closing the anvil onto the target tissue, the closing drive system 510 remains in an inactive state. When the firing drive system 530 is actuated in this position, articulation is applied to the proximal articulation driver 1310. When the end effector reaches the desired articulation position and the firing drive system 530 is stopped, the articulation lock 1400 can hold the surgical end effector 1500 in the articulated position. The clinician can then actuate the closing drive system 510 to close the anvil 1810 onto the target tissue. Actuation of such a closing drive system 510 can also separate the shifter assembly 2200 from the proximal articulation driver to the intermediate firing shaft portion 2120. Thus, when the target tissue is captured within the surgical end effector 1500, the clinician can actuate the firing drive system 530 again to axially advance the firing member 2140 through the surgical staple / fastening element cartridge 1700 to cut the clamped tissue and fire staples into the cut tissue. Using other closing and firing drive mechanisms, actuator mechanisms (both hand-held manual and automatic, or robotic), it is also possible to control the axial movement of the components of the closing system, the components of the articulation system, and / or the components of the firing system of the surgical tool assembly 1000 without departing from the spirit and scope of the various inventions disclosed herein.

[0060] Referring now to FIG. 1, the surgical system 10 shown in this figure includes four interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, which can each be effectively used with the same handle assembly 500 to perform different surgical procedures. Referring now to FIGS. 16-18, the interchangeable surgical tool assembly 3000 includes a surgical end effector 3500 that includes a first jaw 3600 and a second jaw 3800. In one configuration, the first jaw includes an elongated channel 3602 configured to operably support a surgical staple / fastening element cartridge 3700 therein. The second jaw 3800 includes an anvil 3810 pivotally supported relative to the elongated channel 3602. The interchangeable surgical tool assembly 3000 can include an articulation system 3300 that includes an articulation joint 3302 and an articulation movement lock 3400 configured to releasably hold the surgical end effector 3500 at a desired joint position relative to the shaft axis SA2. Details regarding the construction and operation of the articulation movement lock 3400, as well as details regarding alternative lock constructions and operations, can be found in U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014 / 0263541, the entire disclosure of which is incorporated herein by reference. Further details regarding the articulation movement lock 3400 can also be found in U.S. Patent Application No. 15 / 019,196, filed on February 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," the entire disclosure of which is incorporated herein by reference.

[0061] As shown in FIG. 17, the replaceable surgical tool assembly 3000 includes a tool frame assembly 3200 that includes a tool chassis 3210 that operably supports a nozzle assembly 3240. In one form, the nozzle assembly 3240 includes nozzle portions 3242, 3244, and an actuator wheel portion 3246 configured to be coupled to the assembled nozzle portions 3242, 3244 by snaps, protrusions, screws, etc. The replaceable surgical tool assembly 3000 includes a proximal closure assembly 3900 operably coupled to a distal closure assembly 4000 that is used to open and close an anvil 3810 of a surgical end effector 3500, as described in more detail below. Further, the replaceable surgical tool assembly 3000 includes an "elastic" spine assembly 3250 that operably supports the proximal closure assembly 3900 and is coupled to the surgical end effector 3500. One exemplary form of the spine assembly 3250 is disclosed in U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS," the entire disclosure of which is incorporated herein by reference. For example, the spine assembly 3250 can include an elastic spine member having a proximal end portion 3253 and a distal end portion 3280 separated from the proximal end portion 3253 of the elastic spine assembly 3250 by an extension mechanism 3282 formed therebetween. Further, an extension limiting insert 3284 is supported so as to be held between the distal end portion 3280 and the proximal end portion 3253. In different configurations, the elastic spine assembly 3250 can be made of a suitable polymeric material, rubber, etc. having a modulus of elasticity shown as ME1 for reference purposes. The extension limiting insert 3284 may have a modulus of elasticity shown as ME2 for reference purposes. In various situations, the extension limiting insert 3284 also includes a pair of extensible limiters 3285 (only one of which is shown in FIG. 17). The extension limiter 3285 can have a modulus of elasticity for reference purposes of ME3.In at least one configuration, ME3 < ME2 < ME1. Further details regarding at least one implementation of the resilient spine assembly 3250 and the extension limit insert 3284 can be found in U.S. Patent Application No. 15 / 385,911.

[0062] In the illustrated configuration, the distal end portion 3280 of the spine assembly 3250 has an opening 3281 to facilitate assembly. After the various internal components are assembled, the spine cap 3283 can be attached to cover the opening 3281. In the assembled form, the proximal end portion 3253 of the spine assembly 3250 is rotatably supported within the tool chassis 3210. In one configuration, for example, the proximal end of the proximal end portion 3253 of the spine assembly 3250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 3210. Such a configuration facilitates the rotatable attachment of the spine assembly 3250 to the tool chassis 3210 and allows the spine assembly 3250 to be selectively rotated about the shaft axis SA2 relative to the tool chassis 3210. Specifically, in one configuration, for example, the proximal end portion 3253 of the spine assembly 3250 includes two diametrically opposed projection seats 3254 (only one can be seen in FIG. 17) configured to receive corresponding nozzle projections (not shown) that each extend inwardly from respective ones of the nozzle portions 3242, 3244. Such a configuration facilitates the rotation of the spine assembly 3250 about the shaft axis SA2 by rotating the actuator wheel portion 3246 of the nozzle assembly 3240.

[0063] Next, referring to FIG. 18, the distal end 3280 of the elastic spine assembly 3250 is attached to a distal frame portion 3286 that operably supports an articulation lock 3400 therein. The spine assembly 3250 is configured to (1) slidably support a firing member assembly 4110 therein and (2) slidably support a proximal closure tube 3910 that extends around the spine assembly 3250. The spine assembly 3250 can also be configured to slidably support a proximal articulation driver 3310. As seen in FIG. 18, the distal frame segment 3286 is pivotally coupled to an elongated channel 3602 by an end effector attachment assembly 3290. In one configuration, for example, a pivot pin 3288 is formed at the distal end of the distal frame portion 3286. The pivot pin 3288 is adapted to be pivotally received within a pivot hole 3292 formed in a pivot base 3291 of the end effector attachment assembly 3290. The end effector attachment assembly 3290 is attached to the proximal end 3610 of the elongated channel 3602 by a spring pin 3620 or other suitable member received within an attachment hole 3611 of the proximal end portion 3610. The pivot pin 3288 defines an articulation axis AA2 that is transverse to the shaft axis SA2. See FIG. 18. Such a mechanism facilitates pivotal movement (i.e., articulation) of the surgical end effector 3500 about the articulation axis AA2 relative to the elastic spine assembly 3250. The distal frame portion 3286 is further configured to support an articulation lock 3400 therein. Various configurations of articulation locks can be used. At least one form of the articulation lock 3400 is described in more detail in U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", the entire disclosure of which is hereby incorporated by reference herein, and currently published U.S. Patent Application Publication No. 2014 / 0263541.Further details regarding joint movement lock can also be found in U.S. Patent Application No. 15 / 019,196, filed on February 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT".

[0064] In the illustrated example, the surgical end effector 3500 can be selectively articulated about the articulation axis AA2 by an articulation system 3300. In one form, the articulation system 3300 includes a proximal articulation driver 3310 that operably interacts with an articulation lock 3400. The articulation lock 3400 includes an articulation frame 3402 adapted to operably engage a drive pin 3293 on a pivot base 3291 of the end effector attachment assembly 3290. Further, a cross link 3294 can be connected to the drive pin 3293 and the articulation frame 3402 to assist in articulating the surgical end effector 3500. As described above, further details regarding the operation of the articulation lock 3400 and the articulation frame 3402 can be found in U.S. Patent Application No. 13 / 803,086, now U.S. Patent Application Publication No. 2014 / 0263541. Further details regarding the end effector attachment assembly and the cross link 3294 can be found in U.S. Patent Application No. 15 / 019,245, filed on February 9, 2016, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", the entire disclosure of which is incorporated herein by reference. As further described herein, and in other disclosures incorporated herein by reference, axial movement of the proximal articulation driver 3310 causes the articulation lock 3400 to engage / disengage, thereby applying articulation to the elongated channel 3602, whereby the surgical end effector 3500 articulates about the articulation axis AA2 relative to the spine assembly 3250.

[0065] In the illustrated example, anvil 3810 includes anvil body 3812 that terminates at anvil attachment portion 3820. Anvil attachment portion 3820 is movably or pivotally supported on elongated channel 3602 so as to be selectively pivotally movable about fixed anvil pivot axis PA2 (FIG. 18), which is transverse to shaft axis SA2. In the illustrated configuration, anvil trunnion 3822 extends laterally from each lateral side of anvil attachment portion 3820 and is received within corresponding trunnion pivot holes 3613 formed in upright wall 3612 of proximal end portion 3610 of elongated channel 3602. Movement of anvil 3810 relative to elongated channel 3602 is effected by the axial movement of proximal closure assembly 3900 and distal closure assembly 4000. In the illustrated configuration, proximal closure assembly 3900 includes proximal closure tube 3910 having proximal end 3912 and distal end 3914. Proximal end 3912 is rotatably supported within closure shuttle 3940 that is slidably supported within tool chassis 3210, such that it can move axially relative to the tool chassis. In one form, closure shuttle 3940 has a pair of proximal projecting hooks 3942 configured to be attached to transverse attachment pin 516 that is attached to closure linkage assembly 514 of handle assembly 500. Proximal end 3912 is connected to closure shuttle 3940 such that it rotates relative to the closure shuttle. For example, U-shaped connector 3944 is inserted into annular slot 3916 of proximal end 3912 and retained within vertical slot 3946 of closure shuttle 3940. Such a configuration has the function of attaching proximal closure assembly 3900 to closure shuttle 3940 so as to move axially therewith, while allowing proximal closure tube 3910 to rotate about shaft axis SA2 relative to closure shuttle 3940.As described above in connection with the interchangeable surgical tool assembly 1000, a closure spring (not shown) extends to overlie the proximal end 3912 of the proximal closure tube 3910 and biases the closure shuttle 3940 in the proximal direction PD, which can function to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to its inoperative position when the interchangeable surgical instrument assembly 3000 is operably coupled to the handle assembly 500 as described above.

[0066] As seen in FIG. 18, the distal end 3914 of the proximal closure tube 3910 is attached to the distal closure assembly 4000. The distal end 3914 includes an upper projection 3917 and a lower projection 3918 configured to be movably coupled to an end effector closure sleeve or distal closure tube portion 4030. The distal closure tube portion 4030 includes an upper projection 4032 and a lower projection 4034 that project proximally from its proximal end. As described above, the upper double pivot link 4060 pivotally couples the upper projection 3917 and the upper projection 4032, and the lower double pivot link 4064 pivotally couples the lower projection 3918 and the lower projection 4034 together. Forward movement of the distal closure tube portion 4030 in the distal direction on the anvil attachment portion 3820 causes the anvil 3810 to close or pivot toward the elongated channel 3602 about the fixed anvil pivot axis PA2. In the illustrated configuration, the distal closure tube portion 4030 also includes a positive jaw or anvil opening mechanism 4040 configured to cooperate with the surface or inclined portion of the anvil attachment portion 3820 such that the anvil 3810 pivots from the closed position to the open position as the distal closure tube portion 4030 moves in the proximal direction back to its starting position. Other embodiments may not use a positive jaw opening mechanism, but may rely on a spring or other biasing mechanism to bias the anvil to the open position when the distal closure tube portion has retracted to its most proximal starting position. Further details regarding the configuration and operation of the anvil opening mechanism can be found in U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS".

[0067] In the illustrated configuration, the exchangeable surgical tool assembly 3000 further includes a firing system, generally shown as 4100. In various examples, the firing system 4100 includes a firing member assembly 4110 supported to move axially within the spine assembly 3250. In the illustrated embodiment, the firing member assembly 4110 includes an intermediate firing shaft portion 4120 configured to be attached to a distal cutting portion, i.e., a knife bar 4130. A support bushing mechanism 4121 may be used to support the intermediate firing shaft portion 4120 within the spine assembly 3250. The firing member assembly 4110 may also be referred to herein as the "second shaft" and / or "second shaft assembly". As can be seen from FIG. 18, the intermediate firing shaft portion 4120 can include a longitudinal slot 4124 at the distal end 4122 that can be configured to receive the proximal end 4132 of the knife bar 4130. The longitudinal slot 4124 and the proximal end 4132 of the knife bar 4130 can be sized and configured to allow relative movement therebetween and can include a slip joint 4134. As described above, the slip joint 4134 allows the intermediate firing shaft portion 4120 of the firing member assembly 4110 to move to articulate the end effector 3500 without moving, or at least substantially without moving, the knife bar 4130. As described above, in the illustrated configuration, at the proximal end 4127 of the intermediate firing shaft portion 4120, a firing shaft attachment protrusion 4128 is formed and configured to be disposed within an attachment cradle (not shown) at the distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. Such a configuration facilitates the axial movement of the intermediate firing shaft portion 4120 when the firing drive system 530 is actuated. Other attachment configurations can also be used to couple the intermediate firing shaft portion 4120 to other firing drive mechanisms (e.g., manual actuation, robotics, etc.).

[0068] In addition to the above, the interchangeable tool assembly 3000 can include a shifter assembly 4200 configured to selectively and releasably couple the proximal articulation driver 3310 to the firing member assembly 4110 in the manner described above. In one form, the shifter assembly 4200 includes a lock collar, or lock sleeve 4210, disposed about an intermediate firing shaft portion 4120 of the firing member assembly 4110, and the lock sleeve 4210 is rotatable between an engaged position in which the lock sleeve 4210 couples the proximal articulation driver 3310 to the firing member assembly 4110 and a disengaged position in which the proximal articulation driver 3310 is not operably coupled to the firing member assembly 4110. As described above, a drive notch 4126 is formed in the intermediate firing shaft portion 4120 of the firing member assembly 4110. The lock sleeve 4210 includes a cylindrical, or at least substantially cylindrical, body including a longitudinal opening 4212 configured to receive the intermediate firing shaft portion 4120 therethrough. As described in further detail above, the lock sleeve 4210 includes diametrically opposed inwardly facing lock protrusions 4214, 4216 that are received within corresponding portions of the drive notch 4126 of the intermediate firing shaft portion 4120 when the lock sleeve 4210 is in one position and not received within the drive notch 4126 when in another position, thereby allowing relative axial movement between the lock sleeve 4210 and the intermediate firing shaft 4120. The lock sleeve 4210 further includes a locking member 4218 sized to be movably received within a notch 3319 at the proximal end of the proximal articulation driver 3310. When the lock sleeve 4210 is in its engaged position, the lock protrusions 4214, 4216 are disposed within the drive notch 4126 of the intermediate firing shaft portion 4120 such that a force pushing distally and / or pulling proximally can be transmitted from the firing member assembly 4110 to the lock sleeve 4210. Such an axial pushing or pulling movement is then transmitted from the lock sleeve 4210 to the proximal articulation driver 3310, thereby articulating the surgical end effector 3500.

[0069] As described above, in the illustrated example, the relative movement of the lock sleeve 4210 between the engaged position and the disengaged position can be controlled by a shifter assembly 4200 interconnected with the proximal closure tube 3910 of the proximal closure assembly 3900. The shifter assembly 4200 further includes a shifter key 4240 configured to be slidably received within a keyway (similar to the keyway 2217 shown in FIG. 8) formed in the outer periphery of the lock sleeve 4210. With such a configuration, the shifter key 4240 can move axially relative to the lock sleeve 4210. The operation of the shifter assembly 4200 may be the same as the operation of the shifter assembly 2200, which has been described in more detail above and will not be repeated here for the sake of brevity. Further details, alternative configurations, and modes of actuation that may be used are disclosed in U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS", U.S. Patent Application No. 13 / 803,086 (currently U.S. Patent Application Publication No. 2014 / 0263541), and U.S. Patent Application No. 15 / 019,196, as well as other disclosures incorporated herein by reference.

[0070] As described above, the exchangeable tool assembly 3000 can include a slip ring assembly 3230 configured to transfer power to and / or from the surgical end effector 3500 and / or communicate signals to and / or from the surgical end effector 3500 back to the handle assembly 500 or the microprocessor 560 within the robotic system controller. Further details regarding the slip ring assembly 3230 and associated connectors can be found in U.S. Patent Application No. 13 / 803,086 (now U.S. Patent Application Publication No. 2014 / 0263541), which is hereby incorporated by reference in its entirety, and U.S. Patent Application No. 15 / 019,196, and also in U.S. Patent Application No. 13 / 800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014 / 0263552), which is hereby incorporated by reference in its entirety.

[0071] The illustrated interchangeable surgical tool assembly 3000 also uses a latch system 3220 for removably coupling the interchangeable surgical tool assembly 3000 to, for example, the handle frame 506 of the handle assembly 500. The latch system 3220 may be the same as the latch system 1220 described in detail above. The knife bar 4130 can include a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands that are interconnected by welding or pinning to each other, for example, at their proximal ends and / or at other locations along their lengths. In an alternative embodiment, the distal ends of the bands are not connected to each other such that the laminate or bands can spread relative to each other when the end effector is articulating. Due to such a configuration, the knife bar 4130 can have sufficient flexibility to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", the entire contents of which are incorporated herein by reference. As can also be seen in FIG. 18, the firing shaft support assembly 4300 is used to provide lateral support to the knife bar 4130 when the central support member bends to accommodate the articulation of the surgical end effector 3500. Further details regarding the operation of the firing shaft support assembly 4300 and alternative knife bar support mechanisms can be found in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", and U.S. Patent Application No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR", the entire contents of each of which are incorporated herein by reference.

[0072] As also seen in Figure 18, a firing member or knife member 4140 is attached to the distal end of the knife bar 4130. The firing member 4140 is configured to operably interconnect with a thread assembly 4150 that is operably supported within the body 3702 of the surgical staple / fastening element cartridge 3700. The thread assembly 4150 is displaceable slidably within the surgical staple / fastening element cartridge body 3702 from a proximal starting position adjacent the proximal end 3704 of the cartridge body 3702 to an end position adjacent the distal end 3706 of the cartridge body 3702. The cartridge body 3702 operably supports within it a plurality of staple drivers (not shown) aligned with rows on both sides of a centrally located slot 3708. By the centrally located slot 3708, the firing member 4140 can cut through tissue clamped between the anvil 3810 and the staple cartridge 3700. Associated with the driver is a corresponding staple pocket 3712 that opens into the deck surface 3710 of the cartridge body 3702. Each of the staple drivers supports one or more surgical staple / fastening elements or fastening elements (not shown). The thread assembly 4150 includes a plurality of inclined or wedge-shaped cams 4152, each cam 4152 corresponding to a particular line of fastening elements or drivers located at the side of the slot 3708.

[0073] In an exemplary form, the firing member 4140 includes a body portion 4142 that supports a knife or tissue cutting portion 4144. See FIG. 49. The body portion 4142 projects through the elongated slot 3604 of the elongated channel 3602 and terminates in foot members 4146 that extend laterally on each side of the body portion 4142. When the firing member 4140 is driven distally through the surgical staple / fastener cartridge 3700, the foot members 4146 ride within the passage 3622 of the elongated channel 3602 that is located beneath the surgical staple / fastener cartridge 3700. The tissue cutting portion 4144 is disposed between upper nose portions 4143 that project distally. As can be seen further in FIG. 18, the firing member 4140 can further include two laterally extending upper tabs, pins, or anvil engagement mechanisms 4147. When the firing member 4140 is driven distally, the upper portion of the body portion 4142 extends through a centrally located anvil slot 3814, and the anvil engagement mechanisms 4147 are positioned on corresponding ledges 3816 formed on both sides of the anvil slot 3814. Further details regarding the firing member 4140, the thread assembly 4150 and their various alternatives, as well as examples of their operation, are described in more detail below and can also be seen in U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS". The replaceable surgical tool assembly 3000 can be attached to the handle assembly 500 in the manner described above with respect to the replaceable surgical tool assembly 1000.

[0074] Referring again to FIG. 1, as described above, the surgical system 10 shown in this figure includes four interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, each of which can be effectively used with the same handle assembly 500 to perform different surgical procedures. Referring now to FIGS. 19-21, the interchangeable surgical instrument assembly 5000 includes a surgical end effector 5500 that includes a first jaw 5600 and a second jaw 5800. In one configuration, the first jaw includes an elongated channel 5602 configured to operably support a surgical staple / fastening element cartridge 5700 therein. The second jaw 5800 includes an anvil 5810 movably supported relative to the elongated channel 5602. The interchangeable surgical instrument assembly 5000 can include an articulation system 5300 that includes an articulation joint 5302 and an articulation movement lock 5400 configured to releasably hold the surgical end effector 5500 at a desired articulation position relative to the shaft axis SA3. Details regarding the construction and operation of the articulation lock 5400, as well as details of alternative lock mechanisms and operations, can be found in U.S. Patent Application No. 15 / 385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCK OUT," the entire disclosure of which is incorporated herein by reference. Alternative articulation movement lock configurations can also be found in U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (currently U.S. Patent Application Publication No. 2014 / 0263541), and U.S. Patent Application No. 15 / 019,196, filed on February 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," and the entire disclosure of each of such references is incorporated herein by reference.

[0075] As can be further seen in FIG. 20, the replaceable surgical tool assembly 5000 includes a tool frame assembly 5200 that includes a tool chassis 5210 that operably supports a nozzle assembly 5240. In one form, the nozzle assembly 5240 includes nozzle portions 5242, 5244, and an actuator wheel portion 5246 configured to be coupled to the assembled nozzle portions 5242, 5244 by snaps, protrusions, screws, etc. The replaceable surgical tool assembly 5000 includes a proximal closure assembly 5900 operably coupled to a distal closure assembly 6000 used to open and close the anvil 5810 of the surgical end effector 5500, as described in further detail below. Further, the replaceable surgical tool assembly 5000 includes a spine assembly 5250 that operably supports the proximal closure assembly 5900 and is coupled to the surgical end effector 5500. In the illustrated configuration, the spine assembly 5250 includes a distal end portion 5280 having an opening 5281 to facilitate assembly. A spine cap 5283 can also be attached to the opening 5281 to cover it after various internal components are assembled. In the assembled form, the proximal end portion 5253 of the spine assembly 5250 is rotatably supported within the tool chassis 5210. In one configuration, for example, the proximal end of the proximal end portion 5253 of the spine assembly 5250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 5210. Such a configuration facilitates the rotatable attachment of the spine assembly 5250 to the tool chassis 5210 and allows the spine assembly 5250 to be selectively rotated about a shaft axis SA3 relative to the tool chassis 5210. Specifically, in one configuration, for example, the proximal end portion 5253 of the spine assembly 5250 includes two diametrically opposed projection seats 5254 (only one can be seen in FIG. 20) each configured to receive a corresponding nozzle projection (not shown) that extends inwardly from each of the nozzle portions 5242, 5244.Such a configuration promotes the rotation of the spine assembly 5250 about the shaft axis SA3 by rotating the actuator wheel portion 5246 of the nozzle assembly 5240.

[0076] Next, referring to FIG. 21, the distal end portion 5280 of the spine assembly 5250 is attached to a distal frame portion 5286 that operably supports the articulation lock 5400 therein. The spine assembly 5250 is configured to (1) slidably support the firing member assembly 6110 therein and (2) slidably support a proximal closure tube 5910 that extends around the spine assembly 5250. The spine assembly 5250 can also be configured to slidably support a first articulation driver 5310 and a second articulation driver 5320. As seen in FIG. 21, the distal frame segment 5286 is pivotally coupled to the proximal end 5610 of the elongate channel 5602. In one configuration, for example, a pivot pin 5288 is formed at the distal end of the distal frame portion 5286. The pivot pin 5288 is adapted to be pivotally received within a pivot hole 5611 formed in the proximal end portion 5610 of the elongate channel 5602. The pivot pin 5288 defines an articulation axis AA3 transverse to the shaft axis SA3. Refer to FIG. 21. Such a mechanism promotes the pivotal movement (i.e., articulation) of the surgical end effector 5500 about the articulation axis AA3 with respect to the spine assembly 5250. The distal frame portion 5286 is further configured to support the articulation lock 5400 therein.

[0077] In the illustrated configuration, a loop 5316 adapted to receive therein a first articulation pin 5618 formed at a proximal end portion 5610 of an elongate channel 5602 is formed at a distal end 5314 of a first articulation driver 5310. Similarly, a distal end 5324 of a second articulation driver 5320 has a loop 5326 adapted to receive therein a second articulation pin 5619 formed at the proximal end portion 5610 of the elongate channel 5602. In one configuration, for example, the first articulation driver 5310 further includes a proximal tooth rack 5315 that meshes with an idler gear 5330 rotatably supported within a spine assembly 5250. Similarly, the second articulation driver 5320 further includes a proximal tooth rack 5325 that meshes with the idler gear 5330. Thus, in such a configuration, movement of the first articulation driver 5310 in a distal direction DD causes movement of the second articulation driver 5320 in a proximal direction PD. Movement of the first articulation driver 5310 in a proximal direction PD causes movement of the second articulation driver 5320 in a distal direction DD. Thus, such movement of the first articulation driver 5310 and the second articulation driver 5320 causes the surgical end effector 5500 to articulate about an articulation axis AA3 by simultaneously applying a pushing movement and a pulling movement to the surgical end effector.

[0078] In the illustrated example, anvil 5810 includes an anvil body 5812 that terminates at anvil attachment portion 5820. Anvil attachment portion 5820 is movably supported on elongated channel 5602 and selectively pivots and moves vertically with respect to the elongated channel. In the illustrated configuration, anvil trunnion 5822 extends laterally from each lateral side of anvil attachment portion 5820 and is received within corresponding "open end" vertical cradles 5613 formed in upright wall 5612 of proximal end portion 5610 of elongated channel 5602. Movement of anvil 5810 with respect to elongated channel 5602 is effected by axial movement of proximal closure assembly 5900 and distal closure assembly 6000. In the illustrated configuration, proximal closure assembly 5900 includes a proximal closure tube 5910 having a proximal end 5912 and a distal end 5914. Proximal end 5912 is rotatably supported within a closure shuttle 5940 that is slidably supported within tool chassis 5210, such that it can move axially with respect to the tool chassis. In one form, closure shuttle 5940 includes a pair of proximal projecting hooks 5942 configured to be attached to a transverse attachment pin 516 that is attached to closure linkage assembly 514 of handle assembly 500. Proximal end 5912 of proximal closure tube 5910 is connected to the closure shuttle such that it rotates relative to the closure shuttle. For example, a U-shaped connector 5944 is inserted into an annular slot 5916 of proximal end 5912 and retained within a vertical slot 5946 of closure shuttle 5940. Such a configuration has the function of attaching proximal closure assembly 5900 to the closure shuttle to move axially therewith, while allowing proximal closure tube 5910 to rotate about shaft axis SA3 with respect to closure shuttle 5940. As described above in connection with the interchangeable surgical tool assembly 1000, a closure spring (not shown) extends to overlie proximal end 5912 of proximal closure tube 5910 and biases closure shuttle 5940 in the proximal direction PD, which can function to pivot closure trigger 512 (FIG. 2) of handle assembly 500 to its non-operated position when interchangeable surgical tool assembly 5000 is operably connected to handle assembly 500 as described above.

[0079] As shown in FIG. 21, the distal end 5914 of the proximal closure tube 5910 is attached to the distal closure assembly 6000. The distal end 5914 includes an upper projection 5917 and a lower projection 7918 configured to be movably coupled to an end effector closure sleeve or distal closure tube portion 6030. The distal closure tube portion 6030 includes an upper projection 6032 and a lower projection 6034 that project proximally from its proximal end. In the manner described above, an upper double pivot link 6060 pivotally couples the upper projection 5917 and the upper projection 6032, and a lower double pivot link 6064 pivotally couples the lower projection 5918 and the lower projection 6034 to each other. The distal closure tube portion 6030 includes an internal cam surface 6036 configured to cam engage the anvil cam surface 5821 of the anvil attachment portion 5820. Forward movement of the distal closure tube portion 6030 in the distal direction on the anvil attachment portion 5820 causes closure or pivotal movement of the anvil 5810 toward the elongated channel 5602. In the illustrated configuration, an upright anvil tab 5827 is formed on the anvil attachment portion 5820 and is configured to contact two positive Joe opening tabs 6038 that extend inwardly within the distal closure tube portion 6030. Each positive Joe opening tab 6038 is engaged with a corresponding one of the anvil tabs 5827 and is configured to pivot the anvil 5810 to the open position when the distal closure tube portion 6030 is axially moved in the proximal direction PD.

[0080] In the illustrated configuration, the exchangeable surgical tool assembly 5000 further includes a firing system, generally shown as 6100. In various examples, the firing system 6100 includes a firing member assembly 6110 supported to move axially within the spine assembly 5250. In the illustrated embodiment, the firing member assembly 6110 includes an intermediate firing shaft portion 6120 configured to be attached to a distal cutting portion, i.e., a knife bar 6130. The firing member assembly 6110 may also be referred to herein as the "second shaft" and / or "second shaft assembly". As can be seen from FIG. 21, the intermediate firing shaft portion 6120 can include a longitudinal slot 6124 at its distal end 6122 that can be configured to receive the proximal end 6132 of the knife bar 6130. The longitudinal slot 6124 and the proximal end 6132 of the knife bar 6130 can be sized and configured to allow relative movement therebetween and can constitute a slip joint 6134. As described above, the slip joint 6134 allows the intermediate firing shaft portion 6120 of the firing member assembly 6110 to move to articulate the end effector 5500 without moving, or at least substantially without moving, the knife bar 6130. As described above, in the illustrated configuration, at the proximal end 6127 of the intermediate firing shaft portion 6120, a firing shaft attachment protrusion 6128 is formed and configured to be disposed within an attachment cradle (not shown) at the distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. Such a configuration facilitates the axial movement of the intermediate firing shaft portion 6120 upon actuation of the firing drive system 530. Other attachment configurations can also be used to couple the intermediate firing shaft portion to other firing drive mechanisms (e.g., manual actuation, robotics, etc.).

[0081] In addition to the above, the interchangeable surgical tool assembly 5000 can include a shifter assembly 6200 configured to selectively and releasably couple the first articulation driver 5310 to the firing member assembly 6110 in the manner described above. In one form, the shifter assembly 6200 includes a lock collar, or lock sleeve 6210, disposed about an intermediate firing shaft portion 6120 of the firing member assembly 6110, and the lock sleeve 6210 is rotatable between an engaged position where the lock sleeve 6210 couples the first articulation driver 5310 to the firing member assembly 6110 and a disengaged position where the first articulation driver 5310 is not operably coupled to the firing member assembly 6110. As described above, a drive notch 6126 is formed in the intermediate firing shaft portion 6120 of the firing member assembly 6110. The lock sleeve 6210 includes a cylindrical, or at least substantially cylindrical, body including a longitudinal opening configured to receive the intermediate firing shaft portion 6120 therethrough. As described in more detail above, the lock sleeve 6210 includes diametrically opposed inwardly facing lock protrusions 6214, 6216 that are received within corresponding portions of the drive notch 6126 of the intermediate firing shaft portion 6120 when the locking sleeve 6210 is in one position and not received within the drive notch 6126 when in another position, thereby allowing relative axial movement between the lock sleeve 6210 and the intermediate firing shaft 6120. The lock sleeve 6210 further includes a locking member 6218 sized to be movably received within a notch 5319 at the proximal end of the first articulation driver 5310. When the lock sleeve 6210 is in its engaged position, the lock protrusions 6214, 6216 are disposed within the drive notch 6126 of the intermediate firing shaft portion 6120 such that a force pushing in the distal direction and / or a pulling force in the proximal direction can be transmitted from the firing member assembly 6110 to the lock sleeve 6210. Such axial pushing or pulling movement is then transmitted from the lock sleeve 6210 to the first articulation driver 5310.The axial movement of the first joint movement driver 5310 causes an axial movement in the opposite direction of the second joint movement driver 5320, thereby causing the surgical end effector 5500 to move in a jointed manner.

[0082] As described above, in the illustrated example, the relative movement of the lock sleeve 6210 between its engaged position and disengaged position can be controlled by a shifter assembly 6200 interconnected with the proximal closure tube 5910 of the proximal closure assembly 5900. The shifter assembly 6200 further includes a shifter key 6240 configured to be slidably received within a keyway (similar to the keyway 2217 shown in FIG. 8) formed in the outer circumference of the lock sleeve 6210. With such a configuration, the shifter key 6240 can move axially relative to the lock sleeve 6210. The operation of the shifter assembly 6200 may be the same as the operation of the shifter assembly 2200, which was described in more detail above and will not be repeated here for the sake of brevity. Further details, alternative configurations, and drive forms that can be used are disclosed in U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS", U.S. Patent Application No. 13 / 803,086 (currently U.S. Patent Application Publication No. 2014 / 0263541), and U.S. Patent Application No. 15 / 019,196, as well as other disclosures incorporated herein by reference.

[0083] As described above, the replaceable tool assembly 5000 can include a slip ring assembly 5230 configured to transfer power to and / or from the surgical end effector 5500 and / or communicate signals to and / or from the surgical end effector 5500 back to the microprocessor 560 within the handle assembly 500 or the robot system controller. Further details regarding the slip ring assembly 5230 and associated connectors can be found in U.S. Patent Application No. 13 / 803,086 (now U.S. Patent Application Publication No. 2014 / 0263541), the entire contents of which are incorporated herein by reference, and U.S. Patent Application No. 15 / 019,196, and in U.S. Patent Application No. 13 / 800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014 / 0263552), the entire contents of which are incorporated herein by reference.

[0084] The illustrated interchangeable surgical tool assembly 5000 also uses a latch system 5220 for removably coupling the interchangeable surgical tool assembly 5000 to, for example, the handle frame 506 of the handle assembly 500. The latch system 5220 may be the same as the latch system 1220 described in detail above. The knife bar 6130 can include a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands that are interconnected by welding or pinning to each other, for example, at their proximal ends and / or at other locations along their lengths. In an alternative embodiment, the distal ends of the bands are not connected to each other such that the laminate or bands can spread relative to each other when the end effector is articulating. Due to such a configuration, the knife bar 6130 can be sufficiently flexible to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", the entire disclosure of which is incorporated herein by reference. As can also be seen in FIG. 21, the firing shaft indicator assembly 6300 is used to provide lateral support to the knife bar 6130 when the central support member flexes to accommodate the articulation of the surgical end effector 5500. Further details regarding the operation of the firing shaft support assembly 6300 and alternative knife bar support mechanisms can be found in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", and U.S. Patent Application No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR", the entire disclosures of which are incorporated herein by reference.

[0085] As also seen in FIGS. 21 and 50, a firing member or knife member 6140 is attached to the distal end of a knife bar 6130. The firing member 6140 is configured to operably interconnect with a thread assembly 6150 that is operably supported within the body 5702 of a surgical staple / fastening element cartridge 5700. The thread assembly 6150 is displaceable slidably within the surgical staple / fastening element cartridge body 5702 from a proximal starting position adjacent the proximal end 5704 of the cartridge body 5702 to an end position adjacent the distal end 5706 of the cartridge body 5702. The cartridge body 5702 operably supports within it a plurality of staple drivers (not shown) aligned with rows on both sides of a centrally located slot 5708. By the centrally located slot 5708, the firing member 6140 can cut through tissue clamped between an anvil 5810 and the staple cartridge 5700. Each driver is associated with a corresponding staple pocket that opens to the upper deck surface of the cartridge body 5702. Each of the staple drivers supports one or more surgical staples / fastening elements or fastening elements (not shown). The thread assembly includes a plurality of inclined or wedge-shaped cams 6152, each cam corresponding to a particular line of fastening elements or drivers located at the side of the slot 5708.

[0086] In an exemplary form, the firing member 6140 includes a body portion 6142 that supports a knife or tissue cutting portion 6144. See FIG. 50. The body portion 6142 projects through the elongated slot 5604 of the elongated channel 5602 and terminates in foot members 6146 that extend laterally on each side of the body portion 6142. When the firing member 6140 is driven distally through the surgical staple / fastener cartridge 5700, the foot members 6146 are positioned within the passage 5622 of the elongated channel 5602 that is located beneath the surgical staple / fastener cartridge 5700. The tissue cutting portion 6144 is disposed between upper nose portions 6143 that project distally. As can be seen further in FIGS. 21 and 50, the firing member 6140 can further include two laterally extending upper tabs, pins, or anvil engagement mechanisms 6147. When the firing member 6140 is driven distally, the upper portion of the body portion 6142 extends through a centrally disposed anvil slot 5814, and the anvil engagement mechanisms 6147 are positioned on corresponding ledges 5816 formed on both sides of the anvil slot 5814. Further details regarding the firing member 6140, the thread assembly 6150, and their various alternatives, as well as examples of their operation, are described in further detail below and can also be seen in U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS". The replaceable surgical tool assembly 5000 can be operably coupled to the handle assembly 500 in the same manner as described above with respect to the replaceable surgical tool assembly 1000.

[0087] Referring again to FIG. 1, as described above, the surgical system 10 shown in this figure includes four interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, which can each be effectively used with the same handle assembly 500 to perform different surgical procedures. Referring now to FIGS. 22-24, the interchangeable surgical instrument assembly 7000 includes a surgical end effector 7500 that includes a first jaw 7600 and a second jaw 7800. In one configuration, the first jaw includes an elongated channel 7602 configured to operably support a surgical staple / fastening element cartridge 7700 therein. The second jaw 7800 includes an anvil 7810 movably supported relative to the elongated channel 7602. The interchangeable surgical instrument assembly 7000 can further include an articulation system 7300 that includes an articulation joint 7302 and an articulation motion lock 7400 configured to releasably hold the surgical end effector 7500 at a desired articulation position relative to the shaft axis SA4. Details regarding the construction and operation of the articulation motion lock 7400, as well as details of alternative lock mechanisms and operations, can be found in U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now published as U.S. Patent Application Publication No. 2014 / 0263541, the entire disclosure of which is incorporated herein by reference. Further details regarding the articulation motion lock 7400 and / or alternative articulation motion lock mechanisms can also be found in U.S. Patent Application No. 15 / 019,196, filed on February 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," the entire disclosure of which is incorporated herein by reference.

[0088] As shown in FIG. 24, the replaceable surgical tool assembly 7000 includes a tool frame assembly 7200 that includes a tool chassis 7210 that operably supports a nozzle assembly 7240. In one form, the nozzle assembly 7240 includes nozzle portions 7242, 7244 and an actuator wheel portion 7246 configured to be coupled to the assembled nozzle portions 7242, 7244 by snaps, protrusions, screws, etc. The replaceable surgical tool assembly 7000 includes a proximal closure assembly 7900 operably coupled to a distal closure assembly 8000 used to open and close an anvil 7810 of a surgical end effector 7500, as described in more detail below. Further, the replaceable surgical tool assembly 7000 includes a spine assembly 7250 that operably supports the proximal closure assembly 7900 and is coupled to a surgical end effector 3500. In the illustrated configuration, the spine assembly 7250 has a distal end portion 7280 that has an opening 7281 therein to facilitate assembly. After various internal components are assembled, a spine cap 7283 can also be attached to cover the opening 7281. In the assembled form, the proximal end portion 7253 of the spine assembly 7250 is rotatably supported within the tool chassis 7210. In one configuration, for example, the proximal end of the proximal end portion 7253 of the spine assembly 7250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 7210. Such a configuration facilitates rotatable attachment of the spine assembly 7250 to the tool chassis 7210 and allows the spine assembly 7250 to be selectively rotated about a shaft axis SA4 relative to the tool chassis 7210. Specifically, in one configuration, for example, the proximal end portion 7253 of the spine assembly 7250 includes two diametrically opposed projection seats 7254 (only one can be seen in FIG. 23) each configured to receive a corresponding nozzle projection (not shown) extending inwardly from each of the nozzle portions 7242, 7244.Such a configuration promotes the rotation of the spline assembly 7250 about the shaft axis SA4 by rotating the actuator wheel portion 7246 of the nozzle assembly 7240.

[0089] Referring now to FIG. 24, the distal end 7280 of the spine assembly 7250 is attached to a distal frame portion 7286 that operably supports an articulation lock 7400 therein. The spine assembly 7250 is configured to (1) slidably support a firing member assembly 8110 therein and (2) slidably support a proximal closure tube 7910 that extends around the spine assembly 7250. The spine assembly 7250 can also be configured to slidably support a proximal articulation driver 7310. As seen in FIG. 24, the distal frame segment 7286 is pivotally coupled to the elongated channel 7602 by an end effector attachment assembly 7290. In one configuration, for example, a pivot pin 7288 is formed at the distal end of the distal frame portion 7286. The pivot pin 7288 is adapted to be pivotally received within a pivot hole 7292 formed in a pivot base 7291 of the end effector attachment assembly 7290. The end effector attachment assembly 7290 is attached to the proximal end portion 7610 of the elongated channel 7602 by a spring pin 7620 or other suitable member received within an attachment hole 7611 of the proximal end portion 7610. The pivot pin 7288 defines an articulation axis AA4 transverse to the shaft axis SA4. Refer to FIG. 24. Such a mechanism facilitates pivotal movement (i.e., articulation) of the surgical end effector 7500 about the articulation axis AA4 with respect to the spine assembly 7250. The distal frame portion 7286 is further configured to support an articulation lock 7400 therein. Various configurations of articulation locks can be used. At least one form of the articulation lock 7400 is described in more detail in U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", the entire disclosure of which is incorporated herein by reference, and currently published U.S. Patent Application Publication No. 2014 / 0263541.Further details regarding joint movement lock can also be found in U.S. Patent Application No. 15 / 019,196, filed on February 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT".

[0090] In the illustrated example, the surgical end effector 7500 can be selectively articulated about the articulation axis AA4 by the articulation system 7300. In one form, the articulation system 7300 includes a proximal articulation driver 7310 that is operably interconnected with an articulation lock 7400. The articulation lock 7400 has an articulation frame 7402 that is adapted to operably engage a drive pin 7293 on a pivot base 7291 of the end effector attachment assembly 7290. Further, a cross link 7294 can be connected to the drive pin 7293 and the articulation frame 7402 to assist in the articulation of the surgical end effector 7500. As described above, further details regarding the operation of the articulation lock 7400 and the articulation frame 7402 can be found in U.S. Patent Application No. 13 / 803,086 (now U.S. Patent Application Publication No. 2014 / 0263541). Further details regarding the end effector attachment assembly and the cross link 7294 can be found in U.S. Patent Application No. 15 / 019,245, filed on February 9, 2016, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", the entire disclosure of which is incorporated herein by reference. As further described herein and in other disclosures incorporated herein by reference, axial movement of the proximal articulation driver 7310 causes the articulation lock 7400 to engage / disengage, thereby applying articulation to the elongate channel 7602, thereby causing the surgical end effector 7500 to articulate relative to the spine assembly 7250 about the articulation axis AA4.

[0091] In the illustrated example, anvil 7810 includes anvil body 7812 that terminates at anvil attachment portion 7820. Anvil attachment portion 7820 is movably supported on elongated channel 7602 and selectively pivots and axially moves with respect to the elongated channel. In the illustrated configuration, anvil trunnion 7822 extends laterally from each lateral side of anvil attachment portion 7820 and is received within corresponding “kidney-shaped” openings 7613 formed in upright wall 7612 of proximal end portion 7610 of elongated channel 7602. Movement of anvil 7810 with respect to elongated channel 7602 is effected by axial movement of proximal closure assembly 7900 and distal closure assembly 8000. In the illustrated configuration, proximal closure assembly 7900 includes proximal closure tube 7910 having proximal end 7912 and distal end 7914. Proximal end 7912 is rotatably supported within closure shuttle 7940 that is slidably supported within tool chassis 7210, such that it can move axially with respect to the tool chassis. In one form, closure shuttle 7940 includes a pair of proximal projecting hooks 7942 configured to be attached to transverse attachment pin 516 that is attached to closure linkage assembly 514 of handle assembly 500. Proximal end 7912 of proximal closure tube 7910 is connected to closure shuttle 7940 such that it rotates relative to the closure shuttle. For example, U-shaped connector 7944 is inserted into annular slot 7916 of proximal end 7912 of proximal closure tube 7910 and retained within vertical slot 7946 of closure shuttle 7940. Such a configuration has the function of attaching proximal closure assembly 7900 to closure shuttle 7940 such that it moves axially with the closure shuttle, while allowing proximal closure tube 7910 to rotate about shaft axis SA4 relative to closure shuttle 7940.As described above in connection with the interchangeable surgical tool assembly 1000, a closing spring (not shown) extends to cover the proximal end 7912 of the proximal closing tube 7910 and biases the closing shuttle 7940 in the proximal direction PD, which can function to pivot the closing trigger 512 (FIG. 2) of the handle assembly 500 to its inoperative position when the interchangeable surgical tool assembly 7000 is operably coupled to the handle assembly 500 in the manner described above.

[0092] As seen in FIG. 24, the distal end 7914 of the proximal closing tube 3910 is attached to the distal closing assembly 8000. The distal end 7914 includes an upper projection 7917 and a lower projection 7918 configured to be movably coupled to an end effector closing sleeve or a distal closing tube portion 8030. The distal closing tube portion 8030 includes an upper projection 8032 and a lower projection 8034 projecting proximally from its proximal end. In the manner described above, an upper double pivot link 8060 pivotally couples the upper projection 7917 and the upper projection 8032, and a lower double pivot link 8064 pivotally couples the lower projection 7918 and the lower projection 8034 together. Forward movement of the distal closing tube portion 8030 in the distal direction on the anvil attachment portion 7820 causes the anvil 7810 to close or pivot towards the elongated channel 7602. In the illustrated configuration, an upright anvil tab 7824 is formed in the anvil attachment portion 7820 and extends into a horseshoe-shaped opening 8038. The opening 8038 defines an opening tab 8039 configured to operatively interconnect with the anvil tab 7824 when the distal closing tube retracts in the distal direction. Such interaction between the opening tab 8039 and the anvil tab 7824 applies an opening motion to the anvil 7810, thereby moving the anvil 7810 to the open position.

[0093] In the illustrated configuration, the exchangeable surgical tool assembly 7000 further includes a firing system, generally shown as 8100. In various examples, the firing system 8100 includes a firing member assembly 8110 supported to move axially within the spine assembly 7250. In the illustrated embodiment, the firing member assembly 8110 includes an intermediate firing shaft portion 8120 configured to be attached to a distal cutting portion, i.e., a knife bar 8130. The firing member assembly 8110 may also be referred to herein as the "second shaft" and / or the "second shaft assembly". As can be seen from FIG. 24, the intermediate firing shaft portion 8120 can include a longitudinal slot 8124 at its distal end 8122 that can be configured to receive the proximal end 8132 of the knife bar 8130. The longitudinal slot 8124 and the proximal end 8132 of the knife bar 8130 can be sized and configured to allow relative movement therebetween and can form a slip joint 8134. As described above, the slip joint 8134 allows the intermediate firing shaft portion 8120 of the firing member assembly 8110 to move to articulate the end effector 7500 without moving, or at least substantially without moving, the knife bar 8130. As described above, in the illustrated configuration, at the proximal end 8127 of the intermediate firing shaft portion 8120, a firing shaft attachment protrusion 8128 is formed and configured to be disposed within an attachment cradle (not shown) at the distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. Such a configuration facilitates the axial movement of the intermediate firing shaft portion 8120 when the firing drive system 530 is actuated. Other attachment configurations can also be used to couple the intermediate firing shaft portion to other firing drive mechanisms (e.g., manual actuation, robotics, etc.).

[0094] In addition to the above, the replaceable surgical tool assembly 7000 can include a shifter assembly 8200 configured to selectively and releasably couple the proximal articulation driver 7310 to the firing member assembly 8110 in the manner described above. In one form, the shifter assembly 8200 includes a lock collar, or lock sleeve 8210, disposed about an intermediate firing shaft portion 8120 of the firing member assembly 8110, and the lock sleeve 8210 is rotatable between an engaged position where the lock sleeve 8210 couples the proximal articulation driver 7310 to the firing member assembly 8110 and a disengaged position where the proximal articulation driver 7310 is not operably coupled to the firing member assembly 8110. As described above, a drive notch 8126 is formed in the intermediate firing shaft portion 8120 of the firing member assembly 8110. The lock sleeve 8210 includes a cylindrical, or at least substantially cylindrical, body including a longitudinal opening configured to receive the intermediate firing shaft portion 8120 therethrough. As described in further detail above, the lock sleeve 8210 includes diametrically opposed inwardly directed locking protrusions 8214, 8216 that are received within corresponding portions of the drive notch 8126 of the intermediate firing shaft portion 8120 when the locking sleeve 8210 is in one position and not received within the drive notch 8126 when in another position, thereby allowing relative axial movement between the lock sleeve 8210 and the intermediate firing shaft 8120. The lock sleeve 8210 further includes a locking member 8218 sized to be movably received within a notch 7319 at the proximal end of the proximal articulation driver 7310. When the lock sleeve 8210 is in its engaged position, the locking protrusions 8214, 8216 are disposed within the drive notch 7126 of the intermediate firing shaft portion 8120 such that a force pushing distally and / or a force pulling proximally can be transmitted from the firing member assembly 8110 to the lock sleeve 8210. Such an axial pushing or pulling movement is then transmitted from the lock sleeve 8210 to the proximal articulation driver 7310, thereby articulating the surgical end effector 7500.

[0095] As described above, in the illustrated example, the relative movement of the lock sleeve 8210 between its engaged position and disengaged position can be controlled by a shifter assembly 8200 interconnected with the proximal closure tube 7910 of the proximal closure assembly 7900. The shifter assembly 8200 further includes a shifter key 8240 configured to be slidably received within a keyway (similar to keyway 2217 shown in FIG. 8) formed in the outer periphery of the lock sleeve 8210. With such a configuration, the shifter key 8240 can move axially relative to the lock sleeve 8210. The operation of the shifter assembly 8200 may be the same as the operation of the shifter assembly 2200, which is described in more detail above and will not be repeated here for the sake of brevity. Further details, alternative configurations, and drive configurations that may be used are disclosed in U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS", U.S. Patent Application No. 13 / 803,086 (currently U.S. Patent Application Publication No. 2014 / 0263541), and U.S. Patent Application No. 15 / 019,196, as well as other disclosures incorporated herein by reference.

[0096] As described above, the replaceable tool assembly 7000 can include a slip ring assembly 7230 configured to transmit power to and / or from the surgical end effector 7500 and / or communicate signals to and / or from the surgical end effector 7500 back to the microprocessor 560 within the handle assembly 500 or the robot system controller. Further details regarding the slip ring assembly 7230 and associated connectors can be found in U.S. Patent Application No. 13 / 803,086 (now U.S. Patent Application Publication No. 2014 / 0263541), the entire contents of which are incorporated herein by reference, and U.S. Patent Application No. 15 / 019,196, and in U.S. Patent Application No. 13 / 800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014 / 0263552), the entire contents of which are incorporated herein by reference.

[0097] The illustrated interchangeable surgical tool assembly 7000 also uses a latch system 7220 for removably coupling the interchangeable surgical tool assembly 7000 to, for example, the handle frame 506 of the handle assembly 500. The latch system 7220 may be the same as the latch system 1220 described in detail above. The knife bar 8130 can include a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands, which are interconnected by welding or pinning to each other, for example, at their proximal ends and / or at other locations along their lengths. In an alternative embodiment, the distal ends of the bands are not connected to each other such that the laminate or bands can spread relative to each other as the end effector articulates. Due to such a configuration, the knife bar 8130 can have sufficient flexibility to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", the entire disclosure of which is incorporated herein by reference. As can also be seen in FIG. 24, the firing shaft support assembly 8300 is used to provide lateral support to the knife bar 8130 as the firing shaft support assembly bends to accommodate the articulation of the surgical end effector 7500. Further details regarding the operation of the firing shaft support assembly 8300 and alternative knife bar support mechanisms can be found in U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS", and U.S. Patent Application No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR", the entire disclosures of which are incorporated herein by reference.

[0098] As also seen in FIG. 24, a firing member or knife member 8140 is attached to the distal end of knife bar 8130. The firing member 8140 is configured to operably interconnect with a thread assembly 8150 that is operably supported within the body 7702 of surgical staple / fastening element cartridge 7700. See FIG. 51. The thread assembly 8150 is displaceable slidably within the surgical staple / fastening element cartridge body 7702 from a proximal starting position adjacent the proximal end 7704 of the cartridge body 7702 to an end position adjacent the distal end 7706 of the cartridge body 7702. The cartridge body 7702 operably supports within it a plurality of staple drivers (not shown) aligned with rows on both sides of a centrally disposed slot 7708. By virtue of the centrally disposed slot 7708, the firing member 8140 can pass through the slot to cut tissue clamped between anvil 7810 and staple cartridge 7700. The drivers are associated with corresponding staple pockets that open to the upper deck surface of the cartridge body 7702. Each of the staple drivers supports one or more surgical staples / fastening elements or fastening elements (not shown). The thread assembly includes a plurality of inclined or wedge-shaped cams, each cam corresponding to a particular line of fastening elements or drivers located at the side of slot 7708.

[0099] In an exemplary form, the firing member 8140 includes a body portion 8142 that supports a knife or tissue cutting portion 8144. See FIG. 51. The body portion 8142 projects through the elongated slot 7604 of the elongated channel 7602 and terminates in foot members 8146 that extend laterally on each side of the body portion 8142. When the firing member 8140 is driven distally through the surgical staple / fastener cartridge 7700, the foot members 8146 are positioned within the passage 7622 of the elongated channel 7602 that is located beneath the staple cartridge 7700. The tissue cutting portion 8144 is disposed between upper nose portions 8143 that project distally. As can be seen further in FIG. 24, the firing member 8140 can further include two laterally extending upper tabs, pins, or anvil engagement mechanisms 8147. When the firing member 8140 is driven distally, the upper portion of the body portion 8142 extends through a centrally disposed anvil slot 7814, and the anvil engagement mechanisms 8147 ride on corresponding ledges 7816 formed on both sides of the anvil slot 7814. Further details regarding the firing member 8140, the thread assembly 8150, and their various alternatives, as well as examples of their operation, are described in more detail below and can also be seen in U.S. Patent Application No. 15 / 385,911, titled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS". The replaceable surgical tool assembly 7000 can be operably coupled to the handle assembly 500 in the same manner as described above with respect to the replaceable surgical tool assembly 1000.

[0100] As can be understood from the above description, the interchangeable surgical tool assemblies described herein can be actuated by the same handle assembly, robotic system, or other automated actuation system. All of the interchangeable surgical tool assemblies described above include surgical cutting and fastening instruments having somewhat similar closing and firing elements. However, each of these tool assemblies' closing and firing systems and elements have differences that may appear somewhat minor at first glance, but as will be further described below, such differences can result in significant improvements in the material composition, design, structure, manufacture, and use of such tools. As will become apparent by reading on in the "DETAILED DESCRIPTION" of this specification, the interchangeable surgical tool assembly 1000 has subtle design differences that can result in significant improvements in the overall functionality, reliability, and cost of the tool assembly when compared to other interchangeable surgical tool assemblies 3000, 5000, 7000 described herein. Further, the inventors have found that in some cases, there are synergistic effects between certain element configurations used in the tool assembly 1000 that can further improve the overall efficiency and functionality of the tool assembly 1000. To better understand these differences and improvements, the specific elements and systems of each of the tool assemblies 1000, 3000, 5000, 7000 will be further described and compared to each other below.

[0101] For example, each of the disposable surgical tool assemblies 1000, 3000, 5000, 7000 must be able to apply a closing force large enough for Joe to adequately clamp the target tissue so that the firing member can properly treat the clamped tissue when the firing drive system is actuated. For example, in the illustrated assemblies, each closing system element must be able to clamp the anvil and the surgical staple / fastening element cartridge onto the target tissue so that the firing member can properly cut the clamped tissue and eject a line of staples or fastening elements on both sides of the tissue cutting line. Depending on the thickness and composition of the target tissue, large closing and firing forces are often required. Thus, the closing drive system and the firing drive system, such as the handle assembly housing, the robot housing, etc., must be able to generate such forces large enough (e.g., by use of a motor or movement generated manually) to fully close Joe and fire the firing member through the clamped tissue. In such procedures, it is further required that the elements within the disposable shaft assembly be strong enough to withstand the magnitude of the forces transmitted through the elements. Heretofore, due to such magnitudes of forces, the elements of the closing system as well as the elements of the firing system have often been determined to be formed of metal or other suitable materials having a relatively large cross-sectional thickness and a significantly reinforced configuration.

[0102] The tissue loads acting during the clamping process typically generate a large "moment" about the pivot axis PA of the anvil. The elements of the closure system need to be designed to counteract such moments. In various situations, for example, moments in the opposite direction about the anvil pivot axis PA are required. To maximize the efficiency of the system (e.g., to minimize the magnitude of the applied force), the largest practical moment arm is desirable. However, as further described below, attempting to establish a large counter-moment results in a trade-off with other design variables. For example, in a closure system where the firing system and the closure system are separate and distinct, there is a certain balance between the distance from the articulation joint to the first staple and the length of the moment arm of the closure system. The larger the moment arm of the closure system, the more efficiently the closure system handles the clamping load and tissue compression. However, the distance between the articulation joint and the first staple can have a significant impact on the access of the surgical end effector when the surgical end effector is placed within the confined space of the laparoscopic environment.

[0103] Figures 25-32 illustrate exemplary moment arms for each of surgical end effectors 1500, 3500, 5500, 7500. Referring initially to FIG. 25, as described above, anvil trunnion 1822 extends laterally from each side of anvil attachment portion 1820 and is received within corresponding trunnion cradles 1614 formed in upright walls 1612 of proximal end 1610 of elongated channel 1602. Anvil trunnion 1822 is pivotally retained within those corresponding trunnion cradles 1614 by a channel cap or anvil retainer 1630. Channel cap 1630 includes a pair of attachment protrusions 1636 configured to be received and retained within corresponding protrusion grooves or notches 1616 formed in upright walls 1612 of proximal end portion 1610 of elongated channel 1602. With such a configuration, anvil 1810 is constrained to only pivot about pivot axis PA1 (see FIG. 3). With such a configuration, anvil attachment portion 1820 does not move axially or vertically. When distal closure tube portion 2030 is advanced in distal direction DD in response to receiving horizontal closure force F H1 (FIG. 26), an interaction between inner cam surface 2036 of distal closure tube portion 2030 and anvil cam surface 1821 of anvil attachment portion 1820 causes closure force F C1 to be applied to anvil cam surface 1821. Closure force F C1 consists of forces resulting from horizontal closure force F H1 and vertical closure force F V1 and is essentially “orthogonal,” i.e., perpendicular, to cam surface 1821 of anvil attachment portion 1820. See FIG. 26. M A1 represents a closure moment arm from anvil pivot axis PA1 (which coincides with the center of anvil trunnion 1822) to the point of contact between inner cam surface 2036 of distal closure tube portion 2030 and anvil cam surface 1821 of anvil attachment portion 1820 when anvil 1810 is pivoted to its fully closed position. In one example, closure moment arm M A1 can be, for example, about 0.415 inches. M A1 × F C1 = closure moment C applied to anvil attachment portion 1820M1 .

[0104] On the proximal end portion 1818 of the anvil body 1812, two tissue locking formations, i.e., tissue positioning elements 1830, extending downward from each side surface of the anvil body 1812 are formed so that each side of the tissue cutting line is securely fastened by staples or fastening elements extending from the proximal end to the distal end of the tissue cutting line (only one tissue locking formation 1830 can be seen in FIGS. 25 and 26). When the anvil 1810 is opened and the target tissue is received between the lower surface of the anvil and the deck surface of the cartridge, the downwardly extending tissue locking portion 1830 functions to prevent the target tissue from extending proximally beyond the most proximal staple / fastening element within the surgical staple / fastening element cartridge 1700. If the tissue extends proximally beyond the most proximal staple / fastening element, that portion of the tissue may be cut by the firing member or not fastened during the firing process, which could lead to serious consequences. The downwardly extending tissue locking portion 1830 can prevent such occurrences. In the embodiment shown in FIG. 26, for example, the most proximal staple / fastening element pocket 1720 is shown by a phantom line relative to the tissue locking portion 1830. As can be seen from this figure, the tissue locking portion 1830 has a downwardly extending portion 1832 and a chamfered portion 1834. By the portions 1832, 1834 contacting the target tissue, the target tissue is prevented from extending proximally beyond the most proximal staple / fastening element supported within the most proximal staple / fastening element pocket 1720 of the staple / fastening element cartridge body 1702.

[0105] Returning again to FIG. 25, when the anvil 1810 pivots and closes over a target tissue (not shown) disposed between the lower surface of the anvil body 1812, i.e., the tissue contact surface 1813, the tissue applies a tissue force T F1 to the lower surface 1813 of the anvil body 1812, thereby applying a tissue reverse moment C T1 to the anvil 1810, which is a closing moment C M1must be overcome by. The example shown in FIG. 25 shows the tissue force T evenly distributed on the anvil 1810 F1 , and the tissue moment arm M established by the clamped tissue T1 (The clamped tissue is not shown in FIG. 25 for clarity). As can be seen from this figure, in this example, the tissue moment arm M T1 is significantly longer than the closing moment arm M A1 (i.e., M T1 >M A1 ).

[0106] Next, referring to FIGS. 27 and 28, as described above, the anvil trunion 3822 of the anvil 3810 of the interchangeable surgical tool assembly 3000 extends laterally from each side of the anvil attachment portion 3820 and is received in corresponding trunion holes 3613 formed in the upright wall 3612 of the proximal end portion 3610 of the elongated channel 3602. With such a configuration, the anvil 3810 is constrained to only pivot about the pivot axis PA2 (see FIG. 18). In such a configuration, the anvil attachment portion 3820 does not move axially or vertically. When the distal closing tube portion 4030 receives a horizontal closing force F H2 (FIG. 28) and advances in the distal direction DD, a closing force F C2 is applied to the anvil cam surface 3821 by the interaction between the inner cam surface 4036 of the distal closing tube portion 4030 and the anvil cam surface 3821 of the anvil attachment portion 3820. The closing force F C2 consists of a force resulting from the horizontal closing force F H2 and the vertical closing force F V2 and is essentially "orthogonal", i.e., perpendicular, to the anvil cam surface 3821 of the anvil attachment portion 3820. See FIG. 28. M A2 represents the closing moment arm from the anvil pivot axis PA2 (the center of the anvil trunion 3822) to the contact point between the inner cam surface 4036 of the distal closing tube 4030 and the anvil cam surface 3821 of the anvil attachment portion 3820 when the anvil 3810 is pivoted to the fully closed position. In one example, the closing moment arm MA2 can be, for example, about 0.539 inches. M A2 ×F C2 = the closing moment C applied to the anvil attachment portion 3820 M2 .

[0107] In the embodiments shown in FIGS. 27 and 28, the anvil body 3812 is formed with two tissue locking formations or tissue positioning elements 3830 that extend downwardly from each side surface of the anvil body 3812 (only one tissue locking formation 3830 can be seen in FIGS. 27 and 28). When the anvil 3810 is opened and the target tissue is received between the lower surface of the anvil and the deck surface of the cartridge, the downwardly extending tissue locking formation 3830 functions to prevent the target tissue from extending proximally beyond the most proximal staple / fastening element within the surgical staple / fastening element / cartridge 3700. In the embodiment shown in FIG. 28, for example, the most proximal staple pocket 3720 is shown in phantom relative to the tissue locking formation 3830. As can be seen from this figure, the tissue locking formation 3830 has a downwardly extending portion 3832 and a chamfered portion 3834. Contact of the target tissue with portions 3832, 3834 prevents the target tissue from extending proximally beyond the most proximal staple / fastening element supported within the most proximal staple / fastening element pocket 3720 of the staple / fastening element cartridge body 3702.

[0108] Returning again to FIG. 27, when the anvil 3810 pivots and closes over a target tissue (not shown) disposed between the lower surface of the anvil body 3812, i.e., the tissue contact surface 3813, the tissue applies a tissue force T F2 to the lower surface 3813 of the anvil body 3812, whereby a tissue reverse moment C T2 acts on the anvil 3810, which needs to be overcome by the closing moment C M2 established by each element of the closing system. The example shown in FIG. 27 is for a tissue force T F2 evenly distributed over the anvil 3810, and a tissue moment arm M established by the clamped tissueT2 (For the purpose of clarity, the clamped tissue is not shown in FIG. 27). As can be seen from this figure, in this example, the tissue moment arm M T2 is significantly longer than the closing moment arm M A2 (i.e., M T2 >M A2 ).

[0109] Next, referring to FIGS. 29 and 30, as described above, the anvil trunion 5822 of the anvil 5810 of the interchangeable surgical tool assembly 5000 extends laterally from each side of the anvil attachment portion 5820 and is received within corresponding "open end" vertical cradles 5613 formed in the upright walls 5612 of the proximal end portion 5610 of the elongated channel 5602. In this configuration, the anvil trunion 5822 pivots freely within its corresponding cradles 5613 when the distal closure tube portion 6030 makes cam contact with the anvil cam surface 5821 of the anvil attachment portion 5820. In such a configuration, the anvil 5810 does not move axially, but the anvil trunion 5822 moves freely vertically (arrow V) within its corresponding cradles 5613. When the distal closure tube portion 6030 receives a horizontal closing force F H3 (FIG. 30) and advances in the distal direction DD, an interaction between the inner cam surface 6036 of the distal closure tube portion 6030 and the anvil cam surface 5821 of the anvil attachment portion 5820 causes a closing force F C3 to be applied to the anvil cam surface 5821. The closing force F C3 consists of a force resulting from the horizontal closing force F H3 and the vertical closing force F V3 and is essentially "orthogonal", i.e., perpendicular, to the anvil cam surface 5821 of the anvil attachment portion 5820. See FIG. 30. M A3 represents the closing moment arm from the anvil pivot axis PA3 (which coincides with the center of the anvil trunion 5822) to the point of contact between the inner cam surface 6036 of the distal closure tube 6030 and the anvil cam surface 5821 of the anvil attachment portion 5820 when the anvil 5810 is pivoted to the closed position. In one example, the closing moment arm M A3can be, for example, approximately 0.502 inches. M A3 ×F C3 = the closing moment C applied to the anvil attachment portion 5820 M3

[0110] In the embodiments shown in FIGS. 29 and 30, on the anvil body 5812, two tissue locking formations, i.e., tissue positioning elements 5830, which extend downward from each side surface of the anvil body 5812, are formed (only one tissue locking formation 5830 can be seen in FIGS. 29 and 30). When the anvil 5810 is opened and the target tissue is received between the lower surface of the anvil and the cartridge deck surface, the downwardly extending tissue locking formation 5830 functions to prevent the target tissue from extending proximally beyond the most proximal staple / fastening element within the surgical staple / fastening element cartridge 5700. In the embodiment shown in FIG. 29, for example, the most proximal staple / fastening element pocket 5720 is shown by a phantom line relative to the tissue locking formation 5830. As can be seen from this figure, the tissue locking formation 5830 has a downwardly extending portion 5832 and a chamfered portion 5834. By the portions 5832 and 5834 contacting the target tissue, the target tissue is prevented from extending proximally beyond the most proximal staple / fastening element supported within the most proximal staple / fastening element pocket 5720 of the staple / fastening element cartridge body 5702.

[0111] Returning again to FIG. 29, when the anvil 5810 pivots and closes over a target tissue (not shown) disposed between the anvil 5810 and the lower surface 5813 of the anvil body 5812, the tissue applies a tissue force T F3 to the lower surface of the anvil body 5812, i.e., the tissue contact surface 5813, whereby a tissue reverse moment C T3 acts on the anvil 5810, which needs to be overcome by the closing moment C M3 established by the elements of the closing system. The example shown in FIG. 29 is a tissue force T F3 evenly distributed over the anvil 5810, and a tissue moment arm M T3(For the purpose of clarity, the clamped tissue is not shown in Fig. 29). As can be seen from this figure, in this example, the tissue moment arm M T3 is significantly longer than the closing moment arm M A3 (i.e., M T3 >M A3 ).

[0112] Referring now to FIGS. 31 and 32, as described above, the anvil trunnion 7822 of the anvil 7810 of the replaceable surgical tool assembly 7000 extends laterally from each side of the anvil attachment portion 7820 and is received within corresponding "kidney-shaped" openings 7613 formed in the upright walls 7612 of the proximal end portion 7610 of the elongated channel 7602. When the anvil 7810 is in the "fully" open position, the anvil trunnion 7822 can generally be located at the lowermost portion 7613B of the kidney-shaped slot 7613. The anvil 7810 can be moved to the closed position by advancing the distal closure tube portion 8030 distally in the distal direction DD, whereby the inner cam surface 8036 of the distal end 8035 of the distal closure tube portion 8030 rides on the anvil cam surface 7821 formed on the anvil attachment portion 7820 of the anvil 7810. The internal cam surface 8036 of the distal end 8035 of the distal closure tube portion 8030 exerts a horizontal closing force F H4Upon being advanced distally along the anvil cam surface 7821 of the anvil attachment portion 7820 in response to [Figure 32], the distal closure tube portion 8030 pivots and axially moves the body portion 7812 of the anvil 7810 relative to the surgical staple / fastening element cartridge 7700 as the anvil trunnion 7822 moves upwardly and distally within the kidney-shaped slot 7613. When the distal closure tube portion 8030 reaches the end of its closure stroke, the distal end 8035 of the distal closure tube portion 8030 abuts / comes into contact with the raised anvil shelf portion 7823 and functions to position the anvil 7810 such that the lower surface of the body portion 7812, i.e., the forming pocket (not shown) of the tissue contact surface 7813, is properly aligned with the staples / fastening elements within the staple / fastening element cartridge 7700. The anvil shelf portion 7823 is defined between the anvil cam surface 7821 of the anvil attachment portion 7820 and the anvil body portion 7812. Stated another way, in this configuration, the anvil cam surface 7821 does not extend to the outermost surface 7817 of the anvil body 7812. In that position, the anvil trunnion 7822 is located at the uppermost portion 7613T of the kidney-shaped slot 7613. M A4 represents the moment arm from the anvil pivot axis PA4 (which coincides with the center of the anvil trunnion 7822) when the trunnion 7822 is located at the uppermost portion 7613T of the kidney-shaped slot 7613 as shown in the figure. In one example, the moment arm M A4 can be, for example, approximately 0.184 inches. M A4 × F H4 = the closure moment C applied to the anvil attachment portion 7820 M4 .

[0113] In the example shown in FIGS. 31 and 32, the anvil body 7812 is formed with two tissue locking formations or tissue positioning formations 7830 that extend downward from each side surface of the anvil body 7812 (only one tissue locking formation 7830 can be seen in FIGS. 31 and 32). When the anvil 7810 is opened and the target tissue is received between the lower surface of the anvil and the cartridge deck surface, the downwardly extending tissue locking formation 7830 functions to prevent the target tissue from extending proximally beyond the most proximal staple / fastening element within the surgical staple / fastening element cartridge 7700. In the embodiment shown in FIG. 31, for example, the most proximal staple / fastening element pocket 7720 is shown by a phantom line relative to the tissue locking formation 7830. As can be seen from this figure, the tissue locking formation 7830 has a downwardly extending portion 7832 and a chamfered portion 7834. Contact of portions 7832, 7834 with the target tissue prevents the target tissue from extending proximally beyond the most proximal staple / fastening element supported within the most proximal staple / fastening element pocket 7720 of the staple / fastening element cartridge body 7702.

[0114] Returning again to FIG. 31, when the anvil 7810 pivots and closes over a target tissue (not shown) disposed between the lower surface of the anvil body portion 7812, i.e., the tissue contact surface 7813, the tissue applies a tissue force T F4 to the lower surface 7813 of the anvil body 7812, thereby applying a tissue reverse moment C T4 to the anvil 7810, which must be overcome by a closing moment C M4 established by elements of the closing system. The example shown in FIG. 31 shows a tissue force T F4 evenly distributed over the anvil 7810, and a tissue moment arm M T4 (the clamped tissue is not shown in FIG. 31 for clarity) established by the clamped tissue. As can be seen from this figure, in this example, the tissue moment arm M T4 is significantly longer than the closing moment arm M A4 (i.e., M T4>M A4 )。

[0115] The exemplary interchangeable surgical tool assemblies 1000, 3000, 5000, 7000 shown include a surgical stapling device using a "separate and distinct" closure system and a firing system. That is, the closure system used to close the jaws and the firing system used to drive the firing member through a surgical staple / fastening element cartridge to cut and fasten tissue can be operated separately. These separate and distinct closure and firing systems can be different from the surgical stapling instrument required to move the firing member forward by the operation of the firing system to move the jaws from the open position to the closed position. However, as will be described in more detail below, some of the firing members of the interchangeable surgical tool assemblies disclosed herein can also apply additional closing motion to the anvil when the firing member is fired (i.e., advances distally through the surgical end effector). As can be seen by referring to FIGS. 25-32, in the example shown, M A2 >M A3 >M A1 >M A4 is. FIGS. 25, 27, 29, and 31 also show the resistance established by the tissue during the closing process. T F represents the force generated by the tissue when the tissue is clamped between the anvil and the staple cartridge. These forces are the "reverse" moment C applied to the anvil around the point / area where the distal closure tube portion makes cam contact with the anvil cam surface of the anvil attachment portion Tis established. In these illustrated examples, the tissue moment arm of each surgical instrument (tool assembly) is generally larger than the closing moment arm of that instrument. Due to the difference between the typical tissue moment arm that acts when clamping tissue between the anvil and the surgical staple / fastening element cartridge and the closing moment arm of the instrument, it will be recognized that sufficient closing force must be applied to the anvil by the distal closing tube portion in order to fully close the anvil against the tissue. Thus, the distal closing tube portion must have sufficient strength and robustness to handle the large stresses that occur internally during the closing process. To establish a stress state in the distal closing tube portion that is closer to a "hoop stress" state rather than a "ring stress" state, the sidewall of the distal closing tube portion can be made thicker and brought into contact with the sidewall of the corresponding elongated channel and the anvil attachment portion. Such a configuration can also increase the strength of the overall hoop-like structure of the tube. By maximizing the thickness on the anvil side of the distal closing tube portion, the strength of the tube portion (hoop) is increased while ensuring space for a large bearing surface or cam surface to cam the anvil downward toward the cartridge. U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS", discloses several configurations of distal closing tube portions that can be used in the various interchangeable surgical tool assemblies disclosed herein.

[0116] The above considerations and comparisons can show that the design of a closure system with a large closure moment arm leads to an improvement in the efficiency of each element of the closure system and can reduce the magnitude of the closure force required to achieve complete closure of the anvil to the tissue. However, as described above, attempting to maximize the closure moment arm can result in trade - offs with other design variables. For example, there is something related to the "Joe opening" as another desirable attribute. The "Joe opening" refers to the distance J measured along a line perpendicular to the lower surface of the anvil body part, i.e., the tissue contact surface, from the center of the most distal staple or fastening element to the corresponding most distal staple forming pocket on the tissue contact surface A and can refer to this. Figure 33 shows the Joe opening J A1 of the surgical end effector 1500. In the illustrated example, the most distal staple / fastening element pocket 1730 houses the most distal staple or fastening element (not shown) therein. Each of the most distal staples or fastening elements corresponds to the most distal staple / fastening element forming pocket 1815 (shown by a phantom line in Figure 33) formed on the lower surface or tissue contact surface 1813 of the anvil body 1812. The distance J A1 between the most distal staple / fastening element pocket 1730 and the corresponding most distal staple / fastening element forming pocket 1815 is the "Joe opening" of the surgical end effector 1500. In at least one embodiment, for example, J A1 is about 1.207 inches. Figure 34 shows the Joe opening J A2 of the surgical end effector 3500. In the illustrated example, the most distal staple / fastening element pocket 3730 houses the most distal staple or fastening element (not shown) therein. Each of the most distal staples or fastening elements corresponds to the most distal staple / fastening element forming pocket 3815 formed on the lower surface or tissue contact surface 3813 of the anvil body 3812. The distance J A2 between the most distal staple / fastening element pocket 3730 and the corresponding most distal staple / fastening element forming pocket 3815 is the "Joe opening" of the surgical end effector 3500. In at least one embodiment, for example, JA2 is approximately 0.781 inches. FIG. 35 shows the jaw opening J of the surgical end effector 5500 A3 In the illustrated example, the most distal staple / fastening element pocket 5730 houses the most distal staple / fastening element (not shown) therein. Each of the most distal staple / fastening elements corresponds to a most distal staple / fastening element forming pocket 5815 formed in the lower or tissue contacting surface 5813 of the anvil body 5812. The distance J between the most distal staple / fastening element pocket 5730 and the corresponding most distal staple / fastening element forming pocket 5815 A3 is the "jaw opening" of the surgical end effector 5500. In at least one embodiment, for example, J A3 is approximately 0.793 inches. FIG. 36 shows the jaw opening J of the surgical end effector 7500 A4 In the illustrated example, the most distal staple / fastening element pocket 7730 houses the most distal staple or fastening element (not shown) therein. Each of the most distal staples or fastening elements corresponds to a most distal staple / fastening element forming pocket 7815 formed in the lower or tissue contacting surface 7813 of the anvil body 7812. The distance J between the most distal staple / fastening element pocket 7730 and the corresponding most distal staple / fastening element forming pocket 7815 A4 is the "jaw opening" of the surgical end effector 7500. In at least one embodiment, for example, J A4 is approximately 0.717 inches. Thus, in these examples, J A1 > J A3 > J A2 > J A4 That is, J> J> J> J> J. Thus, by comparison, the surgical end effector 1500 has the largest jaw opening.

[0117] In the design of a surgical end effector using a separate and distinct closure system and a firing system with an axially movable closure ring, i.e., a distal closure tube portion, as in the examples described above, the anvil or jaw pivot axis P AThe size of the jaw opening achievable in the design of each particular end effector can be determined by the interrelationship between the distal end of the distal closure tube portion and the robustness of the anvil attachment portion. These interrelationships can be better understood, for example, by referring to FIG. 37. FIG. 37 shows a surgical end effector 1500R using an anvil 1810R having an anvil attachment portion 1820R shown by a solid line. The anvil attachment portion 1820R includes an anvil trunnion 1822R that defines a reference pivot axis P about which the anvil attachment portion 1820R can pivot with respect to the elongate channel 1602R. The surgical end effector 1500R also uses a distal closure tube portion 2030R having a distal end 2035R configured to cam contact the anvil attachment portion 1820R in the various forms described above. A surgical staple / fastening element cartridge 1700R is supported within the elongate channel 1602R and has a cartridge deck surface, i.e., a tissue contact surface 1710R. FIG. 37 shows the distance D AR between the reference pivot axis P AR and the distal end 2035R of the distal closure tube portion 2030R P . FIG. 37 shows the anvil 1810R as a solid line. The anvil body 1812R is in its maximum open position when the distal closure tube portion 2030R is in its most proximal starting position relative to the anvil attachment portion 1820R. The maximum opening angle APA R of its configuration is, for example, about 10°. This opening angle APA R is typical of many end effector configurations. In another end effector configuration, the opening angle is 12.25°. In one configuration, for example, D P may be about 0.200 inches. To achieve a larger opening angle APA R1 of, for example, 22°, if there is no change in the relationship between the distal end 2035R of the distal closure tube portion 2030R and the reference pivot axis P AR , the cross-sectional width M of the anvil attachment portion 1820R1 Wmust be made undesirably small. Anvil 1810R1 is shown by phantom lines. As can be seen from this figure, a stepped shelf must be formed between anvil body 1812R1 and anvil attachment portion 1820R1 such that its cross-sectional width decreases. Opening angle APA R1 is measured from lower surface 1813R1 of anvil body 1812R1 and deck surface 1710R of surgical staple / fastening element cartridge 1700R. Such a reduction in the strength of the anvil attachment portion of the anvil leads to a reduction in the reliability of the anvil and is less desirable than an anvil having an anvil attachment portion with a larger cross-sectional profile.

[0118] Referring now to FIGS. 38 and 39, as the pivot point or pivot axis PA approaches the distal end of the starting or proximal position of the distal closure tube portion, an increase in the Joe opening (or opening angle) can be more easily achieved. FIG. 38 shows a surgical end effector 1500' substantially similar to surgical end effector 1500, except for the position of pivot axis PA' relative to distal end 2035 of distal closure tube portion 2030. As can be seen from this figure, when the distal closure tube portion 2030 is at its most proximal starting position, the distance between pivot axis PA' and distal end 2035 of distal closure tube portion 2030 is represented by DP', and the opening angle is APA. Stated another way, when the distal closure tube portion 2030 is at its starting position corresponding to the fully open position of anvil 1810, its distal end 2035 is on a reference plane RF perpendicular to the shaft axis SA. The distance between pivot axis PA' and reference plane RF' measured along a line passing through pivot axis PA' and perpendicular to reference plane RF' is DP'. In at least one configuration, DP' is about 0.200 inches and the opening angle APA can be about 10°.

[0119] FIG. 38 shows the jaw opening angle APA of a surgical end effector 1500' having a distance DP' between a reference pivot axis PA' and the distal end 2035 of the distal closure tube portion 2030. Referring now to FIG. 39, as can be seen in this figure, when the distal closure tube portion 2030 is in its most proximal starting position, the distance DP between the pivot axis PA and the reference plane RF at which the distal end 2035 of the distal closure tube portion 2030 is located is less than the distance DP', and the jaw opening angle APA1 is greater than APA. For example, in at least one embodiment, the distance DP is about 0.090 inches and the jaw opening angle APA1 is about 22°. Thus, by bringing the pivot axis PA closer to the distal end of the distal closure tube portion when the distal closure tube portion is in its most proximal starting position, the Joe opening can be significantly increased without the need to reduce the cross-sectional width of the anvil attachment position. This can represent a significant improvement compared to the configurations of other surgical end effectors. In various situations, the center of the anvil trunnion 1822 can ideally be positioned between 0.010 and 0.060 inches from the distal end 2035 of the distal closure tube portion 2030 when the distal closure tube portion is in the starting (most proximal) position. The maximum distance in applications with a large Joe opening can be, for example, 0.090 inches. Also as seen in FIG. 39, when the anvil 1810 is in its fully open position as shown in the figure, the portion 1832 extending below the tissue engagement portion 1830 generally stops at the deck surface 1710 of the staple cartridge, preventing proximal movement of the target tissue during the clamping operation.

[0120] Figures 40 and 41 show a tissue latching or tissue positioning mechanism 1830 used in one form of the surgical end effector 1500. As described above, the tissue latching portion 1830 includes a downwardly extending portion 1832 and a chamfered portion 1834. The downwardly extending portion 1832 includes a distal edge 1833 that terminates at a distal corner 1835. FIG. 40 shows the anvil 1810 in its fully open position. The lower surface 1813 of the anvil body 1812 is located at the aperture opening angle APA1. In at least one configuration, the aperture opening angle APA1 may be greater than 12.25 degrees (12.25°) and on the order of 18 degrees (18°). The surgical end effector 1500, when in its fully open position, in at least one configuration, may have a proximal opening P, for example, on the order of about 0.254 inches APP1 and may further have. The proximal opening defines how much tissue can be placed between the proximal portions of the jaws (anvil and cartridge). A large proximal opening may be most effective, for example, when cutting and fastening lung tissue that may be partially inflated when introduced between the anvil and the cartridge. The proximal opening can be measured from the center of the most proximal latching element pocket or pocket pair that is directly perpendicular to the lower surface or tissue contact surface of the anvil body.

[0121] When the anvil 1810 is in the fully open position as shown in FIG. 40, the distal corner 1835 does not extend above the deck surface 1710 of the cartridge, preventing tissue from moving proximally to the proximal side of the most proximal staple in the most proximal staple pocket 1720. In at least one embodiment, the upright channel locking portion 1619 extends upward from the sidewall of the elongate channel 1602 so as to coincide with each corresponding tissue locking portion 1830, further preventing tissue from entering proximally between the tissue locking portion 1830 and the channel locking portion 1619. FIG. 41 shows the anvil 1810 in the fully closed position. In that position, the distal edge 1833 of the tissue locking portion 1830 is substantially aligned or coincides with the position of the most proximal staple / fastening element in the staple / fastening element cartridge 1700. The distance from the articulation axis AA1 to the most proximal staple / fastening element is specified as T SD1 as. In one configuration, T SD1 is, for example, about 1.044 inches. When the anvil 1810 is fully closed, the tissue locking portion 1830 can be sized and shaped relative to the proximal end portion 1610 of the elongate channel 1602 such that it facilitates easy insertion through a standard trocar of a corresponding size. In at least one example, the tissue locking portion 1830 of the anvil 1810 is sized and shaped relative to the elongate channel 1602 such that the surgical end effector 1500 can be inserted through a conventional 12 mm trocar.

[0122] Figures 42 and 43 show a tissue locking mechanism 3830 used in one form of the surgical end effector 3500. As described above, the tissue locking portion 3830 includes a downwardly extending portion 3832 and a chamfered portion 3834. The downwardly extending portion 3832 includes a distal edge 3833 that terminates at a distal corner 3835. FIG. 42 shows the anvil 3810 in a fully open position. The lower surface 3813 of the anvil body 3812 is located at the opening angle APA2. In at least one configuration, the opening angle APA2 is about 13.5 degrees (13.5°). The surgical end effector 3500, when in its fully open position, may have a proximal opening P that is, in at least one configuration, for example, about 0.242 inches. APP2 It can further have. When the anvil 3810 is in the fully open position as shown in FIG. 42, the distal corner 3835 does not extend onto the deck surface 3710 of the cartridge, preventing tissue from moving to the proximal side of the most proximal staple / fastening element within the most proximal staple / fastening element pocket 3720. FIG. 43 shows the anvil 3810 in a fully closed position. In that position, the distal edge 3833 of the tissue locking portion 3830 substantially aligns with or coincides with the position of the most proximal staple / fastening element within the staple / fastening element cartridge 3700. The distance from the articulation axis AA2 to the most proximal staple / fastening element is specified as T SD2 In one configuration, T SD2 is, for example, about 1.318 inches.

[0123] Figures 44 and 45 show a tissue latching mechanism 5830 used in one form of a surgical end effector 5500. As described above, the tissue latching portion 5830 includes a downwardly extending portion 5832 and a chamfered portion 5834. The downwardly extending portion 5832 includes a distal edge 5833 that terminates at a distal corner 5835. Figure 44 shows the anvil 5810 in its fully open position. The lower surface 5813 of the anvil body 5812 is located at the opening angle APA3. In at least one configuration, the opening angle APA3 is about 8 degrees (8°). The surgical end effector 5500, when in its fully open position, may have a proximal opening P that is, in at least one configuration, for example, about 0.226 inches. APP3 can further have. When the anvil 5810 is in the fully open position as shown in Figure 44, the distal corner 3835 extends slightly above the deck surface 5710 of the cartridge. Figure 45 shows the anvil 5810 in its fully closed position. In that position, the distal edge 5833 of the tissue latching portion 5830 substantially aligns with or coincides with the position of the most proximal staple / fastening element within the staple / fastening element cartridge 5700. The distance from the articulation axis AA3 to the most proximal staple / fastening element is designated as T. SD3 In one configuration, T SD3 is, for example, about 1.664 inches.

[0124] Figures 46 and 47 show a tissue latching mechanism 7830 used in one form of a surgical end effector 7500. As described above, the tissue latching portion 7830 includes a downwardly extending portion 7832 and a chamfered portion 7834. The downwardly extending portion 7832 includes a distal edge 7833 that terminates at a distal corner 7835. Figure 46 shows the anvil 7810 in its fully open position. The lower surface 7813 of the anvil body portion 7812 is located at the opening angle APA4. In at least one configuration, the opening angle APA4 is about 10 degrees (10°). The surgical end effector 7500, when in its fully open position, may have a proximal opening P that is, in at least one configuration, for example, about 0.188 inches. APP4It can further have. When the anvil 7810 is in the fully open position as shown in FIG. 46, since the distal corner 7835 extends slightly below the deck surface 7710 of the cartridge, the tissue is prevented from moving to the proximal side of the most proximal staple / pinning element within the most proximal staple pocket 7720. FIG. 47 shows the anvil 7810 in the fully closed position. In that position, the distal edge 7833 of the tissue locking portion 7830 substantially aligns with or coincides with the position of the most proximal staple / pinning element within the staple / pinning element cartridge 7700. The distance from the articulation axis AA4 to the most proximal staple / pinning element is specified as T SD4 and is designated as. In one configuration, T SD4 is, for example, about 1.686 inches.

[0125] In various situations, the relationship of the firing member with respect to the articulation axis AA, and the relationship of the anvil's pivot axis PA about which it pivots, can be affected by the length of the articulation joint mechanism. Naturally, a longer articulation joint mechanism can negatively impact the operability of the end effector within a confined space and can also limit the size of the jaw opening that can ultimately be obtained by the end effector. FIG. 48 shows a surgical end effector 1500 in a fully open position. That is, the anvil 1810 has been pivoted to its fully open position and the firing member 2140 is in its home or starting position. The distance between each distal end of the anvil engagement mechanism 2147 and the articulation axis AA1 is represented by AJD1. In at least one example, AJD1 is approximately 0.517 inches. Referring to FIG. 49 for comparison, the distance AJD2 between each distal end of the anvil engagement mechanism 4147 and the articulation axis AA2 is approximately 0.744 inches in at least one example. Referring to FIG. 50, the distance AJD3 between each distal end of the anvil engagement mechanism 6147 and the articulation axis AA3 is approximately 1.045 inches in at least one example. Referring to FIG. 51, the distance AJD4 between each distal end of the anvil engagement mechanism 8147 and the articulation axis AA4 is approximately 1.096 inches in at least one example. Thus, as can be seen from this comparison, the articulation joint mechanism of the surgical end effector 1500 (measured by the distances AJD1, AJD2, AJD3, AJD4) is more compact than the surgical end effectors 3500, 5500, and 7500 and is therefore easier to operate in at least some surgical applications.

[0126] Another factor that can affect the length of the joint mechanism relates to the position of the firing member relative to the anvil pivot axis PA about which the anvil pivots. For example, FIG. 52 shows the anvil 1810 of the surgical end effector 1500 in its fully open position. In that position, the firing member 2140 is in its stop or “starting position”. As can be seen from this figure, one useful measure for comparing the “compactness” of the articulating joint mechanism is the proximal tab distance TD1 between the respective proximal ends 2149 of the upper anvil engagement mechanisms 2147 and the anvil pivot axis PA1. In at least one preferred configuration, when the anvil 1810 is in the fully open position and the firing member 2140 is in its most proximal or starting position, the proximal tab distance TD1 is greater than about 35 percent (35%) of the total length TL1 of each of the anvil engagement mechanisms 2147. Said another way, when the anvil 1810 and the firing member 2140 are in the positions described above, at least 35% of each of the anvil engagement mechanisms 2147 extends proximally beyond the anvil pivot axis PA1. FIG. 53 shows the end effector 1500 with the anvil 1810 in the closed position and the firing member 2140 in its most proximal or starting position. As can be seen from this figure, at least 35% of each of the anvil engagement mechanisms 2147 extends proximally beyond the anvil pivot axis PA1.

[0127] Figure 54 shows the position of the firing member 4140 of the surgical end effector 3500 when the anvil 3810 is in its fully open position and the firing member 4140 is in its proximal or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 4147 is fully distal to the anvil pivot axis PA2, thereby resulting in a longer articulation mechanism. Thus, the distance TD2 is the distal distance between the proximal end 4149 of the anvil engagement mechanism 4147 and the anvil pivot axis PA2. Figure 55 shows the position of the firing member 6140 of the surgical end effector 5500 when the anvil 5810 is in its fully open position and the firing member 6140 is in its proximal or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 6147 is fully distal to the anvil pivot axis PA3, thereby resulting in a longer articulation mechanism. Thus, the distance TD3 is the distal distance between the proximal end 6149 of the anvil engagement mechanism 6147 and the anvil pivot axis PA3. Figure 56 shows the position of the firing member 8140 of the surgical end effector 7500 when the anvil 7810 is in its fully open position and the firing member 8140 is in its proximal or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 8147 is fully distal to the anvil pivot axis PA4, thereby resulting in a longer articulation mechanism. Thus, the distance TD4 is the distal distance between the proximal end 8149 of the anvil engagement mechanism 8147 and the anvil pivot axis PA4. For comparison purposes, the surgical end effector 1500 is the only surgical end effector in which a portion of the anvil engagement mechanism on the firing member extends proximally beyond the anvil pivot axis when the firing member is in its proximal position or starting position. Each of the anvil engagement mechanisms of the firing members of the surgical end effectors 3500, 5500, and 7500 is fully distal to its respective anvil pivot axis when the firing members are in their proximal or starting positions. Looking further at this comparison, for example, the surgical end effector 1500 is the only surgical end effector in which at least 35 percent (35%) of the anvil engagement mechanism is present between the anvil pivot axis and the articulation axis when the firing member is in its starting position and the anvil is fully open.A similar comparison can be made by comparing the same distance between the position of the lower channel engagement mechanism on the firing member and the Joe pivot axis when the firing member is in its most proximal starting position.

[0128] As another metric that can be used to evaluate the compactness of the articulation mechanism, for each end effector, the ratio of the distance from the articulation axis of motion to the distal edge of the tissue engagement portion or the most proximal staple / fastening element (distances TSD1, TSD2, TSD3, TSD4 - FIGS. 41, 43, 45, 47) to the distance from the articulation axis of motion to the distal end of the anvil engagement mechanism on the firing member (distances AJD1, AJD2, AJD3, AJD4 - FIGS. 48 - 51) may be compared. For example, in a preferred configuration, AJD / TSD < 0.500. The ratio of AJD / TSD may be referred to herein as the "compactness ratio" of that particular surgical end effector. For example, in one configuration of end effector 1500, AJD1 / TSD1 = 0.517 inches / 1.044 inches = 0.495. In an illustrated example of end effector 3500, AJD2 / TSD2 = 0.744 inches / 1.318 inches = 0.564. In an illustrated example of end effector 5500, AJD3 / TSD3 = 1.045 inches / 1.664 inches = 0.628. In one illustrated configuration, AJD4 / TSD4 = 1.096 inches / 1.686 inches = 0.650. Thus, in at least one preferred configuration where the articulation mechanism is the most compact, has the largest Joe opening, and is the most operable, the ratio of the distance from the articulation axis of motion to the proximal end of the anvil engagement mechanism on the firing member to the distance from the articulation axis of motion to the distal edge of the tissue engagement portion or the most proximal staple / fastening element is approximately less than 0.500.

[0129] Figures 57-61 illustrate a progressive closure mechanism for moving anvil 1810 of surgical end effector 1500 from a fully open position to a closed position and further to an overclosed position. Figures 57 and 58 illustrate anvil 1810 in the closed position. In both of these figures, distal closure tube portion 2030 has been advanced in the distal direction DD to its fully closed position. As described above, anvil 1810 pivots to the closed position by the interaction of inner cam surface 2036 of distal closure tube portion 2030 and anvil cam surface 1821 of anvil attachment portion 1820. As seen in Figure 58, staple forming lower surface, i.e., tissue contact surface 1813 of anvil body 1812, can be relatively parallel and spaced from cartridge deck surface 1710 of the surgical staple / fastening element cartridge. When in its initial closed position, firing member 2140 is at its starting position as seen in Figure 57. When in that position, anvil engagement mechanism 2147 of firing member 2140 is not engaged with anvil 1810 but is substantially horizontally aligned with ledge 1816 formed in anvil 1810. In at least one configuration, inclined portion 1829 is formed proximal to each of horizontal anvil ledges 1816. Figure 59 shows the position of firing member 2140 after it has advanced distally to the point where anvil engagement mechanism 2147 first engages horizontal anvil ledge 1816 of anvil 1810, and Figure 61 shows the position of firing member 2140 and anvil 1810 such that the anvil engagement mechanism is in full engagement with anvil ledge 1816 and applies an "overclosure" force to anvil 1810 as firing member 2140 continues to advance distally. For example, in at least one configuration as shown in Figure 61, when anvil 1810 is in the closed position (with no tissue clamped between the anvil and the cartridge), the distal portion of anvil 1810 contacts cartridge deck surface 1710. As a result of such a configuration, the force required to advance the firing member distally within the end effector from its starting position to its ending position can generally be less than that of other surgical end effector configurations that do not use such a progressive closure mechanism.

[0130] FIG. 62 shows the anvil 1810 of the surgical end effector 1500 in the fully open position. As described above, each of the anvil trunnions 1822 is received within a corresponding trunnion cradle 1614 formed in the upright wall 1612 of the proximal end portion 1610 of the elongate channel 1602. The anvil trunnions 1822 are pivotally retained within their corresponding trunnion cradles 1614 by a channel cap or anvil retainer 1630. The channel cap 1630 includes a pair of attachment protrusions 1636 configured to be received such that they are retained within corresponding protrusion grooves or notches 1616 formed in the upright wall 1612 of the proximal end portion 1610 of the elongate channel 1602. During a portion of the closing stroke of the anvil 1810 against thick tissue, the reaction force established during the tissue clamping process tends to push the anvil trunnions 1822 out of their respective trunnion cradles 1614. The channel cap 1630 includes a pair of slot cap portions 1632 corresponding to each trunnion cradle 1614. When the channel cap 1630 is installed on the proximal end portion 1610 of the elongate channel 1602, each slot cap portion 1632 functions to retain the anvil trunnions 1822 within their respective trunnion cradles 1614 during the closing process. As seen in FIGS. 62 and 63, each slot cap portion 1632 may have an arcuate bottom 1638 configured to pivotally receive the corresponding anvil trunnion 1822. Each slot cap 1632 may have a wedge shape that completely closes the open end of the trunnion cradle 1614. Such a channel cap mechanism 1630 can facilitate the ease of assembly of the anvil 1810 to the elongate channel 1602. After the anvil trunnions 1822 are disposed within their respective trunnion cradles 1614, the channel cap 1630 can be installed as shown in the figure. In at least one configuration, the distal closure tube portion 2030 functions to hold the channel cap 1630 in a position that prevents the anvil trunnions 1822 from moving vertically within their corresponding trunnion cradles 1614 during closure as shown in FIG. 63.In another configuration, the mounting protrusions 1636 may be frictionally retained within their respective notches 1616 or may be retained within the notches by an adhesive or other fastening means.

[0131] The four interchangeable tool assemblies 1000, 3000, 5000, and 7000 utilize different jaw opening configurations to facilitate moving the anvil from the closed position to the fully open position. For example, the distal closure tube portion 4030 of the interchangeable tool assembly 3000 includes a positive jaw or anvil opening mechanism 4040 corresponding to and protruding inwardly from each of the side walls of the distal closure tube portion 4030. The positive anvil opening mechanism 4040 extends inwardly through the corresponding openings in the transitioning side walls and can be welded to the distal closure tube portion 4030. In this configuration, the positive anvil opening mechanisms are axially aligned with each other and are configured to operably interconnect with corresponding opening ramp surfaces formed on the lower surface of the anvil attachment portion 3820. When the anvil 3810 and the distal closure tube portion 4030 are in their fully closed positions, each of the positive anvil opening mechanisms 4040 is positioned within a cavity established between the anvil opening ramp surface and the bottom of the elongate channel 3602. In that position, the positive anvil opening mechanisms 4040 may not contact the anvil attachment portion 3820 or may at least not apply a significant opening movement or force to the anvil attachment portion. When the distal closure tube portion 4030 is moved in the proximal direction, the anvil opening mechanism 4040 contacts the anvil opening ramp surface and pivots the anvil 3810 to the open position. Further details regarding the positive anvil opening mechanism 4040 can be found in U.S. Patent Application No. 15 / 385,911, titled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS".

[0132] Regarding the surgical end effector 5500 of the tool assembly 5000, the distal closure tube portion 6030 includes two inwardly extending positive anvil opening tabs 6038 that can be punched through the wall of the distal closure tube portion 6030. See FIG. 21. In the illustrated configuration, the tabs 6038 are axially aligned with each other and are configured to contact corresponding upright anvil tails 5827 formed in the anvil attachment portion 5820. When the distal closure tube portion 6030 is moved in the proximal direction, the anvil opening mechanism 6038 contacts the anvil tails 5827 and pivots the anvil 5810 to the open position.

[0133] Regarding the surgical end effector 7500 of the tool assembly 7000, when the distal closure tube portion 8030 is moved in the proximal direction, a positive anvil opening movement is applied to the anvil 7810 by the distal closure tube portion 8030. As described above, upright anvil tabs 7824 are formed in the anvil attachment portion 7820 and extend into the U-shaped opening 8038 of the distal closure tube portion 8030. See FIG. 24. The opening 8038 defines an opening tab 8039 configured to operatively interconnect with the anvil tab 7824 when the distal closure tube portion 8030 retracts in the distal direction. Such interaction between the opening tab 8039 and the anvil tab 7824 applies an opening movement to the anvil 7810, thereby moving the anvil 7810 to the open position.

[0134] Regarding the surgical end effector 1500 of the exchangeable tool assembly 1000, in the illustrated example, the distal closure tube portion 2030 uses two axially offset proximal and distal positive jaw opening mechanisms 2040 and 2050 as shown in FIGS. 64-77. As seen in FIGS. 64 and 65, the proximal positive jaw opening mechanism 2040 is axially proximal by an axial offset distance AOF relative to the distal positive jaw opening mechanism 2050. In FIG. 65, the proximal positive jaw opening mechanism 2040 is disposed on the right side of the shaft axis SA1 (as viewed from the user of the tool assembly). FIGS. 66, 72, and 73 show the position of the proximal positive jaw opening mechanism 2040 when the anvil 1810 is in the closed position. As most detailedly seen in FIG. 66, in that position, the proximal positive jaw opening mechanism 2040 is within the right side, i.e., the first relief region 1825, formed in the anvil attachment portion 1820. FIGS. 69, 72, and 73 show the position of the distal positive jaw opening mechanism 2050 when the anvil 1810 is in the closed position. As most detailedly seen in FIG. 69, in that position, the distal positive jaw opening mechanism is in contact with the step portion 1823 of the anvil cam surface 1821.

[0135] To initiate the opening process, operate the Joe closure system to move the distal closure tube portion 2030 proximally in the PD direction. As the distal closure tube portion 2030 is moved proximally in the PD direction, the proximal positive Joe opening mechanism 2040 contacts the first, i.e., right Joe opening cam surface 1826 and begins to apply a Joe opening movement to the anvil 1810. See FIGS. 67, 74, and 75. As seen in FIGS. 70, 74, and 75, during such proximal movement of the distal closure tube portion 2030, the distal positive Joe opening mechanism 2050 is axially movable within the second, i.e., left relaxation region 1840 formed in the anvil attachment portion 1820. Thus, while the proximal positive Joe opening mechanism 2040 is applying the first, i.e., initial opening movement to the anvil attachment portion 1820, the distal positive Joe opening mechanism 2050 is not applying any significant opening movement to the anvil 1810. Further proximal movement of the distal closure tube portion 2030 causes the distal positive Joe opening mechanism 2050 to contact the left anvil opening tab 1842 and the proximal positive Joe opening mechanism 2040 to disengage from the Joe opening cam surface 1826. Thus, the proximal positive Joe opening mechanism 2040 is disengaged from the anvil attachment portion 1820 and is not applying any further opening movement to the anvil attachment portion, while the distal positive Joe opening mechanism 2050 applies a second Joe opening movement to the anvil attachment portion 1820 to pivot the anvil 1810 to the fully open position shown in FIGS. 68, 71, 76, and 77.

[0136] FIG. 78 graphically shows the anvil or jaw opening process used in the interchangeable tool assembly 1000. As can be seen from this figure, the left or vertical axis of the graph represents the amount of jaw opening from approximately 0° to approximately 22° (“anvil opening angle”), and the lower or horizontal axis represents the approximate axial movement amount in the proximal direction of the distal closed tube portion 2030 from the position where the anvil is fully closed to the position where the anvil is fully open. As described above, the “anvil opening angle” or “jaw opening angle” can represent the angle between the cartridge deck surface or tissue contact surface of the surgical fastening element cartridge, or the fastening element forming surface or tissue contact surface of the anvil or “second jaw”. When the anvil is fully closed, the anvil opening angle can be, for example, approximately 0°. In the illustrated configuration, the distal closed tube portion 2030 moves proximally from the first position (1850 on the graph) corresponding to the fully closed position to the first intermediate position (1852 on the graph) before the proximal positive jaw opening mechanism 2040 begins to apply the first jaw opening movement to the anvil 1810, by a distance of, for example, approximately 0.040 inches in the proximal direction. As the distal closed tube portion 2030 continues to move proximally from the first intermediate position 1852 to the second intermediate position (1854 on the graph) by a further distance in the proximal direction, for example, from approximately 0.040 inches to approximately 0.120 inches, the proximal positive jaw opening mechanism 2040 moves the anvil 1810 over an anvil opening angle from 0° to approximately 10°. While the distal closed tube portion 2030 continues to move proximally from the second intermediate position 1854 to the third intermediate position (1856 on the graph) by a further distance in the proximal direction (from approximately 0.120 inches to approximately 0.140 inches), the anvil remains at an anvil opening angle of approximately 10°. When the distal closed tube portion 2030 moves further proximally from the third intermediate position 1856 to the fourth intermediate position (1858 on the graph) by a distance in the proximal direction (from approximately 0.140 inches to approximately 0.240 inches), the distal positive jaw opening mechanism 2050 begins to apply the second jaw opening movement to the anvil 1810.As the distal closure tube portion 2030 continues to move proximally by a further distance in the proximal direction (e.g., about 0.140 inches to about 0.240 inches) from the third intermediate position 1856 to the fourth intermediate position (1858 on the graph), the positive jaw opening mechanism 2050 on the distal side moves the anvil 1810 relative to the elongate channel 1602, and the anvil opening angle increases, for example, from about 10° to about 22°. While the distal closure tube portion 2030 continues to move a further distance in the proximal direction (e.g., about 0.240 inches to about 0.260 inches) from the fourth intermediate position 1858 to the final proximal position (1860 on the graph), the anvil 1810 remains in the fully open position with an anvil opening angle of about 22°.

[0137] The illustrated closed process of the example of the interchangeable tool assembly 1000 can be understood by referring to FIGS. 67-69 and FIGS. 70-72, and FIG. 78. FIGS. 68 and 71 show the anvil 1810 in its fully open position. As seen in these figures, the proximal positive jaw opening mechanism 2040 is not in contact with the anvil attachment portion 1820, and the distal positive jaw opening mechanism 2050 is in contact with the left anvil opening tab 1842. When the anvil closing process is initiated, the closing drive system is actuated to move the distal closing tube portion 2030 in the distal direction DD. As the distal closing tube portion moves from the final proximal position 1860 to the fourth intermediate position 1858 (FIG. 78), the anvil 1810 remains in its fully open position. Thus, when the closing process is initiated, in at least one example, the distal closing tube portion 2030 can move distally by a first, i.e., initial, predetermined axial closing distance before the anvil 1810 begins to move. Stated another way, the distal closing tube portion can move by a first predetermined axial closing distance before any closing movement is applied to the anvil 1810. In at least one example, the first, i.e., initial, predetermined closing distance can be about 0.020 inches. As the distal closing tube portion 2030 continues to move distally by the intermediate axial closing distance, the distal end 2035 of the distal closing tube portion 2030 begins to contact the anvil cam surface 1821 of the anvil attachment portion 1820 until the inner cam surface 2036 of the distal closing tube portion 2030 begins to cam contact the anvil cam surface 1821 (FIGS. 67 and 70). As the inner cam surface 2036 rides up and moves along the anvil cam surface 1821, the anvil 1810 pivots to the fully closed position. The anvil cam surface 1821 and the inner cam surface 2036 can be configured to allow further distal movement of the distal closing tube portion 2030, for example, from a first intermediate point or position 1852 to a first position 1850 (FIG. 78). Thus, in at least one example, the distal closing tube portion 2030 can move distally by a final predetermined axial closing distance during the closing process after the anvil 1810 has reached its fully closed position.In at least one example, the final predetermined axial closure distance can be about 0.040 inches.

[0138] In a surgical stapling device that uses a firing member assembly including a firing member having a tissue cutting surface, it may be desirable for portions of the firing system and end effector to be configured in a manner that prevents inadvertent advancement of the firing member unless an unused staple cartridge is properly supported within the end effector. For example, if there is no staple cartridge present at all and the firing member advances distally through the end effector, the tissue will be cut but not stapled. Similarly, if a used staple cartridge (i.e., a staple cartridge in which at least some of the staples have already been fired) is present in the end effector and the firing member advances, the tissue will be cut, but may not be fully stapled even if stapling occurs. It will become apparent that the occurrence of such phenomena can lead to undesired catastrophic results during the surgical procedure.U.S. Patent No. 6,988,649, titled "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT"; U.S. Patent No. 7,044,352, titled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING"; U.S. Patent No. 7,380,695, titled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING"; U.S. Patent Application Publication No. 2016-0367247-A1, titled "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING"; and U.S. Patent Application No. 15 / 385,958, titled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT" each disclose various firing member lockout mechanisms. Each of these references is hereby incorporated by reference in its entirety.

[0139] Referring to FIGS. 60A-60I, a surgical end effector 9010 is shown that forms part of a surgical tool assembly 9000 that includes a first jaw 9020 and a second jaw 9120. In the illustrated configuration, for example, the first jaw 9020 includes an elongate channel 9022 configured to removably and operably support a surgical staple cartridge 9600 therein. The elongate channel 9022 is attached to an elongate shaft assembly 9300 of the surgical tool assembly. In the configuration shown in FIGS. 60C and 60D, for example, the elongate channel 9022 is pivotally coupled to a spine assembly 9310 of the elongate shaft assembly 9300 to selectively articulate relative to the elongate shaft assembly. See FIGS. 60D, 60E, 60H, and 60I. The elongate shaft assembly 9300 can define a shaft axis SA. The second jaw 9120 includes an anvil 9122 movably supported on the elongate channel 9022 and movable between an open position and a closed position by a closure system 9400. The anvil 9122 includes an anvil body 9124 and an anvil attachment portion 9126 pivotally supported to pivot relative to a proximal end 9024 of the elongate channel 9022. The closure system 9400 can include, for example, an axially movable distal closure tube portion 9410 configured to cam engage a cam surface 9128 on the anvil attachment portion 9126 as the distal closure tube portion 9410 axially advances in a distal direction DD. The distal closure tube portion 9410 can also be configured to apply an opening movement to the anvil attachment portion 9126 as the distal closure tube portion 9410 is moved in a proximal direction PD. See FIGS. 60C and 60D.

[0140] The surgical tool assembly 9000 further including a firing system 9500 includes, in the illustrated configuration, a firing member assembly 9510 configured to receive a firing motion from a firing control system supported within a housing of, for example, a hand-held control system or a robotic control system. In the illustrated embodiment, one form of the firing member assembly 9510 includes a first firing member element 9520 consisting of a firing member body 9522 that supports a tissue cutting surface, i.e., a blade 9524. The firing member body 9522 is coupled to a firing bar or knife bar 9530 operably interconnected with a corresponding portion of the firing system 9500 to receive a firing motion from the firing control system. The firing member body 9522 can include a second jaw or anvil engagement mechanism 9526 that can include a laterally extending tab element configured to be received within a corresponding second jaw passage or slot 9125 of the anvil body 9124. Further, the firing member body 9522 can further include a first jaw or channel engagement mechanism or foot 9528 configured to be received within a corresponding first jaw passage or slot or opening 9023 of the elongated channel 9022.

[0141] The staple cartridge assembly 9600 includes a cartridge body 9602. Refer to FIGS. 60H and 60I. The cartridge body 9602 includes a proximal end 9604, a distal end (not shown), and a deck 9606 extending between the proximal end and the distal end. In use, the staple cartridge 9600 is positioned on a first side of the tissue to be stapled, and the anvil 9122 is positioned on a second side of the tissue. The anvil 9122 moves toward the staple cartridge 9600 to compress and clamp the tissue against the deck 9606. Thereafter, staples or fastening elements removably stored in the cartridge body 9602 can be deployed into the tissue. The cartridge body 9602 includes an internally defined staple or fastening element cavity (not shown), and staples or fastening elements (not shown) are removably stored within the staple cavity. Each staple cavity can be arranged as a longitudinal column. In one configuration, three columns of staple cavities are positioned on a first side of the longitudinal slot, and three columns of staple cavities are positioned on a second side of the longitudinal slot. The longitudinal slot is configured to axially receive a first firing member element 9520 therethrough. Other configurations of the staple / fastening element cavities and staples or fastening elements may be possible.

[0142] The staple or fastening element is supported by a staple driver (not shown) movably supported within the cartridge body 9602. The driver is movable between a first position, i.e., an un-fired position, and a second position, i.e., a fired position, in which the staple or fastening element is ejected from the cavity. The driver is held within the cartridge body 9602 by a retainer (not shown) that includes an elastic member that extends around the bottom of the cartridge body and is configured to grip the cartridge body and hold a retainer against the cartridge body. The driver can move between their un-fired position and their fired position by means of a thread 9610. The thread 9610 can move between a proximal, i.e., "un-fired" position adjacent to the proximal end 9604 and a distal, i.e., "fired" position (after firing) adjacent to the distal end. As seen in FIG. 60G, the thread 9610 includes a plurality of inclined or cam surfaces 9620 configured to slide under the driver and lift the driver, and the staple or fastening element supported thereon, toward the anvil. A "non-fired", "unused", "new" or "fresh" staple cartridge 9600 means herein that all staples or fastening elements of the staple cartridge 9600 are in the "ready-to-fire position". When in that position, the thread assembly 9610 is in its starting or "un-fired" position. The new staple cartridge 9600 can be placed within the elongate channel 9022 and held therein by snap elements of the cartridge body 9602 configured to engage retainingly with corresponding portions of the elongate channel 9022. FIGS. 60G and 60H show a portion of the surgical end effector 9010 with a new, i.e., non-fired, surgical staple cartridge 9600 placed therein. As seen in FIGS. 60G and 60H, the thread 9610 is in the un-fired position.To prevent the firing system 9500 from operating when an unfired, i.e., new, surgical staple cartridge 9600 is not properly placed within the elongate channel 9022, or more precisely, to prevent the first firing member element 9520 from being driven distally through the surgical end effector 9010, the illustrated surgical tool assembly 9000 utilizes a firing member lockout system, generally designated 9700.

[0143] Referring now to FIGS. 60E and 60F, in one form, the firing member lockout system 9700 includes a second firing member element or tilt element 9710 that includes a threaded engagement portion 9720. In the illustrated configuration, the second firing member element 9710 is pivotally coupled to the firing member body 9522 by an attachment joint 9713 in the form of one or more pivot members 9714 that are pivotally received within corresponding pivot holes 9523 provided in the firing member body 9522 so as to pivotally move about a transverse pivot axis PA with respect to the shaft axis SA. Such a configuration facilitates pivotal movement of the second firing member element 9710 with respect to the firing member body 9522 between a locked position (FIG. 60E) and an unlocked position (FIG. 60F). In the illustrated example, the firing member body 9522 includes a distal face 9525 that is generally perpendicular to the channel engagement mechanism 9528 and a lockout face 9527 that is inclined with respect to the distal face 9525. Further, one or more support ramp surfaces 9529 are formed on the firing member body 9522 that function to define a corresponding landing surface 9531 for receiving the second firing member element 9710 when in the locked configuration. See FIG. 60E.

[0144] As can be seen in Figure 60F, when the second firing member element 9710 is in the unlocked position, a space generally indicated as 9724 is provided between the proximal surface 9722 of the second firing member element 9710 and the distal surface 9525 of the firing member body 9522. Thus, when in the unlocked position, the proximal surface 9722 of the second firing member element 9710 is not in contact with the distal surface 9525 of the firing member body 9522. Referring now to Figures 60A - 60D, the second firing member element 9710 further includes at least one lockout engagement portion 9730 including an inclined lock end 9732 configured to engage a corresponding lockout notch 9026 formed in the elongated channel 9022 when the second firing member element 9710 is in the locked position. In one embodiment, for example, the second firing member element 9710 includes two lockout engagement portions 9730. Also as seen in Figures 60A - 60D, a lockout spring or biasing member 9740 is attached to the proximal end 9024 of the elongated channel 9022 and includes two spring arms 9742 respectively corresponding to the lockout engagement portions 9730. As shown in Figures 60B - 60D, the spring arms 9742 function to bias the second firing member element 9710 to the locked position.

[0145] Referring now to FIGS. 60G - 60I, the thread 9610 includes a release portion 9630 configured to engage with a thread engagement portion 9720 of a second firing member element 9710 when the thread 9610 is in the unfired position. Such a configuration serves to pivot the second firing member element 9710 to the release position. When in the release position, the inclined lock ends 9732 of each lockout engagement portion 9730 pivot out of corresponding lockout notches 9026 of the elongated channel 9022, enabling the firing member assembly 9510 to fire or advance distally through the staple cartridge. If the staple cartridge loaded within the elongated channel 9022 has already been fired or is partially fired, the thread 9610 is not in the unfired position and does not pivot the second firing member element 9710 to the release position. In such a case, the clinician will not be able to advance or fire the firing member assembly 9510 distally. When in the release position, actuation of the firing system 9500 will cause the firing member assembly 9510 to move distally. As described above, when the firing member assembly 9510 is driven distally, the second firing member element 9710 contacts the firing member body 9522 via the pivot member 9714. However, when the second firing member element 9710 is pivoted to the locked position (FIG. 60E), a portion of the proximal face 9722 abuts against the inclined lockout surface 9527 of the firing member body 9522. Further, as most clearly seen in FIGS. 60E and 60F, the pivot holes 9523 of the firing member body 9522 are sized such that a gap C is provided between them and the corresponding pivot members 9714, so that the load is transmitted directly to the firing member body 9522 via the second firing member element without passing through the pivot member 9714. As seen in FIG. 60E, the inclined lockout surface 9527 facilitates the pivotal movement of the thread engagement portion 9720 to the locked position.When the second firing member element 9720 is in the locked position and a clinician inadvertently applies a firing motion FM in the distal direction DD to the firing member assembly 9510, the engagement between the second firing member element 9720 and the lockout notch 9026 of the elongated channel 9022 prevents the firing member assembly 9510 from advancing distally, and the resulting unlocking load force UL is applied to the second firing member element 9720. This unlocking load force UL is applied to the inclined lockout surface 9527 of the firing member body 9522 and not to the pivot member 9714. Such a configuration prevents a load or stress from being applied to the pivot member 9714 when a clinician attempts to inadvertently advance the firing member assembly 9510 when it is in the locked position. Thus, this configuration can prevent the pivot member 9714 from being sheared when the firing member assembly 9510 is attempted to be advanced in that manner.

[0146] As such, the above-described firing member assembly 9510 and firing member lockout assembly 9700 can provide several advantages. For example, as described above, the distal surface 9525 of the firing member body 9522 receives the load during firing and prevents such load from being transmitted to the pivoting member that attaches the second firing member element 9710 to the first firing member element 9520. When in the lockout state or lock position, the load is received by the inclined lock end 9732 of the lockout engagement portion 9730. Such a configuration also eliminates the need for the firing member assembly 9510, or more particularly the first firing member element 9520, to move vertically. Such vertical movement can inadvertently cause misalignment with the anvil and the elongated channel when moved to the unlocked state for firing. Further, since the first firing member element 9520 does not move vertically, the anvil engagement mechanism as well as the channel engagement mechanism can be of advantageous shapes and designs such that desirable engagement with the anvil and the channel is obtained during firing. The design and shape of the firing member body can also provide a large surface area for attachment to the knife bar, for example, by welding. For example, the distal end of the knife bar can be attached to the firing member body by butt welding and laser welding from both sides to interconnect the laminates and form a knife bar at the distal end. Such welding configurations can be made more compact longitudinally compared to conventional welding configurations and can provide an excellent joint length. Other advantages can also be enjoyed from the configuration of the above-described firing member and lockout system.

[0147] Many of the surgical instrument systems described herein are operated by an electric motor, but the surgical instrument systems described herein can operate in any suitable manner. In various instances, the surgical instrument systems described herein can operate, for example, by a manually operated trigger. In certain examples, the motors disclosed herein may include portions of a robotic control system. Further, any of the end effectors and / or tool assemblies disclosed herein can be utilized with a robotic surgical instrument system. For example, U.S. Patent Application No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", now U.S. Patent No. 9,072,535, discloses in more detail some examples of robotic surgical instrument systems.

[0148] The surgical instrument systems described herein are described in connection with staple deployment and deformation, but the embodiments described herein are not limited thereto. Various embodiments are contemplated that use fastening elements other than staples, such as clamps or tacks. Further, various embodiments are contemplated that utilize any suitable means for sealing tissue. For example, end effectors according to various embodiments can include electrodes configured to heat and seal tissue. Also, for example, end effectors according to certain embodiments can apply vibrational energy to seal tissue.

Examples

[0149] Example 1 - A surgical instrument including an elongate shaft assembly defining a shaft axis. The surgical end effector is operably coupled to the elongate shaft assembly so as to selectively articulate relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a first end effector jaw coupled to a joint that is coupled to the elongate shaft assembly. A second end effector jaw is coupled to the first end effector jaw so as to selectively pivot relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis. One of the first end effector jaw and the second end effector jaw is configured to operably support therein a surgical fastening element cartridge including a most proximal fastening element position. One of the first end effector jaw and the second end effector jaw is movable between an open position and a fully closed position by an axially movable closure member including a closure member cam surface configured to cam contact a jaw cam surface of one of the first effector jaw and the second effector jaw. A value obtained by dividing a first distance between the articulation axis and a cam contact region between the closure member cam surface and the jaw cam surface by a second distance from the articulation axis to the most proximal fastening element position is less than 0.5.

[0150] Example 2 - The surgical instrument according to Example 1, wherein a value obtained by dividing a first distance between the jaw pivot axis and a cam contact region between the closure cam member surface and the jaw cam surface by a second distance from the articulation axis to the proximal fastening element position is greater than 0.2 and less than 0.5.

[0151] Example 3 - The surgical instrument according to Example 1 or 2, wherein the cartridge of surgical fastening elements is supported within the first end effector jaw and the second end effector jaw includes an anvil including a jaw cam surface.

[0152] Example 4 - The surgical instrument according to Example 1, 2 or 3, wherein the jaw pivot axis is fixed.

[0153] Example 5 - The surgical instrument according to Example 3, wherein the anvil includes at least one tissue locking member including a distal tissue contact surface corresponding to the proximal fastening element position when the anvil is in the fully closed position.

[0154] Example 6 - The surgical instrument according to Example 3 or 5, wherein the anvil includes an anvil body and an anvil attachment portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of the Joachim surface and the first end effector jaw.

[0155] Example 7 - The surgical instrument according to Example 1, 2, 3, 4, 5 or 6, wherein the closure member includes an axially movable distal closure tube portion including a closure member cam surface.

[0156] Example 8 - The surgical instrument according to Example 7, wherein the elongated shaft assembly includes a spine assembly operably coupled to the first end effector jaw and a proximal closure tube assembly movably supported to axially move relative to the spine assembly and pivotally coupled to the axially movable distal closure tube portion.

[0157] Example 9 - The surgical instrument according to Example 8, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

[0158] Example 10 - The surgical instrument according to Example 9, wherein the closure system is supported by a hand-held housing.

[0159] Example 11 - The surgical instrument according to Example 10, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

[0160] Example 12 - A surgical instrument including an elongated shaft assembly defining a shaft axis and further including a surgical end effector operably coupled to the elongated shaft assembly to selectively articulate the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongated channel coupled to a joint that is coupled to the elongated shaft assembly. The elongated channel is configured to operably support a surgical fastener cartridge. The surgical fastener cartridge includes a most proximal fastener position. The surgical end effector further includes an anvil pivotally coupled to the elongated channel to selectively pivotally move relative to the elongated channel about a fixed anvil pivot axis transverse to the shaft axis. The anvil is movable between an open position and a fully closed position by an axially movable closure member that includes a closure member cam surface configured to cam contact a cam surface of the anvil. A value obtained by dividing a first distance between the articulation axis and a cam contact region between the closure member cam surface and the cam surface by a second distance from the articulation axis to the most proximal fastener position is less than 0.5.

[0161] Example 13 - The surgical instrument according to Example 12, wherein a value obtained by dividing a first distance between the anvil pivot axis and a cam contact region between the closure member cam surface and the anvil cam surface by a second distance from the articulation axis to the most proximal fastener position is greater than 0.2 and less than 0.5.

[0162] Example 14 - The surgical instrument according to Example 12 or 13, wherein the anvil includes at least one tissue engaging member including a distal tissue contact surface corresponding to the most proximal fastener position when the anvil is in the fully closed position.

[0163] Example 15 - The surgical instrument according to Example 12, 13, or 14, wherein the anvil includes an anvil body and an anvil attachment portion having a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of the anvil cam surface and the elongated channel.

[0164] Example 16 - A surgical instrument according to Example 12, 13, 14 or 15, wherein the closure member includes an axially movable distal closure tube portion including a closure member cam surface.

[0165] Example 17 - A surgical instrument according to Example 16, wherein the elongate shaft assembly includes a spine assembly operably coupled to an elongate channel. The proximal closure tube assembly is movably supported to move axially relative to the spine assembly and is pivotally coupled to the axially movable distal closure tube portion.

[0166] Example 18 - A surgical instrument according to Example 17, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

[0167] Example 19 - A surgical instrument according to Example 18, further including a firing member operably supported to move axially through a surgical fastening element cartridge when an axial firing movement is applied.

[0168] Example 20 - A surgical system including a housing that operably supports a closure system therein. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly that is operably and removably connectable to the housing, such that a proximal closure portion of the elongate shaft assembly is configured to receive an axial closing motion from the closure system. The elongate shaft assembly defines a shaft axis. A surgical end effector is operably connected to the elongate shaft assembly such that the surgical end effector is selectively articulable relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a first end effector jaw connected to an articulation joint connected to the elongate shaft assembly. A second end effector jaw is connected to the first end effector jaw such that the second end effector jaw is selectively pivotable relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis. One of the first end effector jaw and the second end effector jaw is configured to operably support a surgical fastening element cartridge having a most proximal fastening element position. One of the first end effector jaw and the second end effector jaw is movable between an open position and a fully closed position by an axially movable distal closure member operably connected to the proximal closure portion of the elongate shaft assembly. The distal closure member includes a closure member cam surface configured to cam contact a jaw cam surface of one of the first end effector jaw and the second end effector jaw. A value obtained by dividing a first distance between the articulation axis and a cam contact region between the closure member cam surface and the jaw cam surface by a second distance from the articulation axis to the most proximal fastening element position is less than 0.5.

[0169] Example 21 - A surgical instrument including an elongate shaft assembly defining a shaft axis. The surgical end effector is operably coupled to the elongate shaft assembly to selectively articulate relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector also includes a first end effector jaw coupled to a joint that is coupled to the elongate shaft assembly. A second end effector jaw is coupled to the first end effector jaw to selectively pivot relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis. The surgical instrument further includes an axially movable firing member, and at least one jaw engagement mechanism configured to apply a closing movement to the second end effector jaw as the axially movable firing member is moved from a starting position to an ending position within the first end effector jaw. At least one jaw engagement mechanism is configured such that a portion of the at least one jaw engagement mechanism is disposed between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position.

[0170] Example 22 - The surgical instrument according to Example 21, wherein a portion of the at least one jaw engagement mechanism is disposed between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position and the second end effector jaw is in the fully open position.

[0171] Example 23 - The surgical instrument according to Example 21 or 22, wherein at least 35 percent of each jaw engagement mechanism is positioned between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position.

[0172] Example 24 - The surgical instrument according to Example 22, wherein at least 35% of each jaw engagement mechanism is between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position and the second jaw of the end effector is in the fully open position.

[0173] Example 25 - A surgical instrument according to any one of Examples 21, 22, 23, or 24, further comprising an axially movable closure member that is movable independently of the axially movable firing member and is configured to selectively apply an additional closing motion to the second end effector jaw.

[0174] Example 26 - A surgical instrument according to Example 25, wherein the axially movable closure member includes a closure member cam surface configured to cam contact a cam surface of the second end effector jaw.

[0175] Example 27 - A surgical instrument according to any one of Examples 21, 22, 23, 24, 25, or 26, wherein the axially movable firing member includes a tissue cutting surface.

[0176] Example 28 - A surgical instrument according to any one of Examples 21, 22, 23, 24, 25, 26, or 27, wherein the first end effector jaw includes an elongate channel configured to operably support a surgical fastening element cartridge therein, and the second end effector jaw includes an anvil.

[0177] Example 29 - A surgical instrument according to any one of Examples 21, 22, 23, 24, 25, 26, 27, or 28, wherein the jaw pivot axis is fixed.

[0178] Example 30 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongated shaft assembly to selectively articulate relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongated channel configured to be coupled to the elongated shaft assembly and to operably support a surgical fastening element cartridge therein. An anvil is coupled to the elongated channel to selectively pivot relative to the elongated channel about a fixed jaw pivot axis transverse to the shaft axis. The surgical instrument further includes an axially movable firing member, and at least one anvil engagement mechanism configured to apply a closing motion to the anvil when the axially movable firing member moves from a starting position to an ending position within the elongated channel. The at least one anvil engagement mechanism is configured such that a portion of the at least one anvil engagement mechanism is disposed between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position.

[0179] Example 31 - The surgical instrument according to Example 30, wherein a portion of the at least one anvil engagement mechanism is disposed between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position and the anvil is in the fully open position.

[0180] Example 32 - The surgical instrument according to Example 30 or 31, wherein at least 35 percent of each anvil engagement mechanism is located between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position.

[0181] Example 33 - The surgical instrument according to Example 30, 31 or 32, wherein at least 35 percent of each anvil engagement mechanism is located between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position.

[0182] The surgical instrument according to Example 30, wherein when the axially movable firing member is in the starting position and the anvil is in the fully open position, at least 35% of each anvil engagement mechanism is located between the Joe pivot axis and the articulation axis.

[0183] The surgical instrument according to Example 30, 31, 32, 33 or 34, further comprising an axially movable closing member that is movable independently of the axially movable firing member and is configured to selectively apply further closing movement to the anvil.

[0184] The surgical instrument according to Example 35, wherein the axially movable closing member includes a closing member cam surface configured to cam contact the anvil cam surface of the anvil.

[0185] The surgical instrument according to Example 30, 31, 32, 33, 34, 35 or 36, wherein the firing member includes a tissue cutting surface.

[0186] The surgical instrument according to Example 30, 31, 32, 33, 34, 35 or 36, wherein the firing member includes a firing member body including a tissue cutting surface, and at least one anvil engagement mechanism includes a first anvil engagement tab protruding from a first side surface of the upper portion of the firing member body and a second anvil engagement tab protruding from a second side surface of the upper portion of the firing member body.

[0187] The surgical instrument according to Example 38, wherein when the firing member is in the starting position, the firing member body extends through a slot in the anvil attachment portion of the anvil.

[0188] Example 40 - A surgical system including a housing that operably supports a closure system and a firing system. The closure system and the firing system are operable independently of each other. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly that is operably and removably connectable to the housing such that a proximal closure portion of the elongate shaft assembly is configured to receive an axial closure motion from the closure system and a proximal firing member of the elongate shaft assembly is configured to receive a firing motion from the firing system. The elongate shaft assembly defines a shaft axis. A surgical end effector is operably connected to the elongate shaft assembly such that the surgical end effector is selectively articulable relative to the elongate shaft assembly about a transverse articulation axis relative to the shaft axis. The surgical end effector includes an elongate channel configured to be connected to the elongate shaft assembly and to operably support a surgical fastening element cartridge therein. An anvil is connected to the elongate channel such that the anvil is selectively pivotally movable relative to the elongate channel about a transverse jaw pivot axis relative to the shaft axis. At least one anvil engagement mechanism is included, the at least one anvil engagement mechanism being configured to apply a closure motion to the anvil when an axially movable firing member, which is operably connected to the proximal firing member, is movable from a starting position to an ending position within the elongate channel. The at least one anvil engagement mechanism is configured such that a portion of the at least one anvil engagement mechanism is disposed between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position.

[0189] Example 41 - The surgical instrument according to Example 40, wherein the housing includes a part of a robotic system.

[0190] Example 42 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A first end effector jaw is coupled to the elongated shaft assembly, and a second end effector jaw is coupled to the first end effector jaw so as to be selectively pivotally movable relative to the first end effector jaw between a fully open position and a fully closed position about a fixed jaw pivot axis that is transverse to the shaft axis and extends through the shaft axis. The elongated shaft assembly includes a closure member that is axially movable between a starting position corresponding to the fully open position of the second end effector jaw and an ending position corresponding to the fully closed position of the second end effector jaw relative to the first end effector jaw. When the closure member is in the starting position, its distal end is located in a plane that is distally spaced from the jaw pivot axis by a distance measured along the shaft axis that is 0.090 inches or less.

[0191] Example 43 - The surgical instrument according to Example 42, wherein when the closure member is in the starting position, the distal end of the closure member is located in the plane, and the plane intersects the jaw pivot axis.

[0192] Example 44 - The surgical instrument according to Example 42 or 43, wherein the distance is in the range of 0.010 to 0.060 inches.

[0193] Example 45 - The closure member includes an axially movable distal closure tube portion, and the axially movable distal closure tube portion includes a closure cam surface configured to cam engage a jaw cam surface of the second end effector jaw when the axially movable distal closure tube portion is movable from the starting position to the ending position. The surgical instrument according to Example 42, 43, or 44.

[0194] Example 46 - The first end effector jaw includes an elongated channel configured to operably support a surgical fastening element cartridge therein, and the second end effector jaw includes an anvil. The surgical instrument according to Example 42, 43, 44, or 45.

[0195] Example 47 - The surgical instrument according to Example 46, comprising an anvil attachment portion including an anvil body and a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of the anvil cam surface and the elongated channel.

[0196] Example 48 - The surgical instrument according to Example 46 or 47, wherein the closure member includes an axially movable distal closure tube portion, and the axially movable distal closure tube portion includes a closure cam surface configured to cam engage with the anvil cam surface of the anvil when the axially movable distal closure tube portion is movable from a starting position to an end position.

[0197] Example 49 - The surgical instrument according to Example 48, wherein the elongated shaft assembly includes a spine assembly operably coupled to the elongated channel, and a proximal closure tube assembly movably supported to move axially relative to the spine assembly and pivotally coupled to the axially movable distal closure tube portion.

[0198] Example 50 - The surgical instrument according to Example 49, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing motion to the proximal closure tube assembly.

[0199] Example 51 - The surgical instrument according to Example 50, wherein the closure system is supported by a handheld housing.

[0200] Example 52 - The surgical instrument according to Example 50, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

[0201] Example 53 - A surgical instrument including an elongated shaft assembly that defines a shaft axis. An elongated channel is configured to operably support a surgical fastening element cartridge therein and is operably coupled to the elongated shaft assembly to selectively articulate relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. An anvil is pivotally coupled to the elongated channel to selectively pivot relative to the elongated channel between a fully open position and a fully closed position about a fixed jaw pivot axis that intersects the shaft axis transversely. The elongated shaft assembly includes an axially movable closure member between a starting position corresponding to the fully open position of the anvil and an ending position corresponding to the fully closed position of the anvil. When the closure member is in the starting position, its distal end is located on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is 0.090 inches or less.

[0202] Example 54 - The surgical instrument according to Example 53, wherein when the closure member is in the starting position, the distal end of the closure member is located on the plane, and the plane intersects the jaw pivot axis.

[0203] Example 55 - The surgical instrument according to Example 53 or 54, wherein the distance is in the range of 0.010 to 0.060 inches.

[0204] Example 56 - The surgical instrument according to Example 53, 54 or 55, wherein the anvil includes an anvil body and an anvil attachment portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening of the anvil cam surface and the elongated channel.

[0205] Example 57 - The surgical instrument according to Example 53, 54, 55 or 56, wherein the closure member includes an axially movable distal closure tube portion including a closure cam surface configured to cam engage an anvil cam surface of the anvil when the axially movable distal closure tube portion is movable from the starting position to the ending position.

[0206] Example 58 - The surgical instrument according to Example 57, comprising a spine assembly operably coupled to an elongated channel, and a proximal closure tube assembly movably supported to move axially relative to the spine assembly and pivotally coupled to an axially movable distal closure tube portion.

[0207] Example 59 - The surgical instrument according to Example 58, wherein the proximal closure tube assembly is supported by a hand-held housing and operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

[0208] Example 60 - The surgical instrument according to Example 58, wherein the proximal closure tube assembly is operably interconnected with a closure system supported by a housing configured to interconnect with a robotic system. The closure system is configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

[0209] Example 61 - A surgical system including a housing that operably supports a closure system. The surgical system further includes a replaceable surgical tool assembly including an elongate shaft assembly that is operably and removably connectable to the housing such that a proximal closure portion of the elongate shaft assembly is configured to receive an axial closing motion from the closure system. The elongate shaft assembly defines a shaft axis. A surgical end effector is operably connected to the elongate shaft assembly to selectively articulate relative to the elongate shaft assembly about a transverse articulation axis relative to the shaft axis. The surgical end effector includes an elongate channel configured to be connected to the elongate shaft assembly and to operably support a surgical fastening element cartridge therein. An anvil is connected to the elongate channel to selectively pivot relative to the elongate channel about a jaw pivot axis that intersects the shaft axis transversely. The elongate shaft assembly includes a closure member that is axially movable between a starting position corresponding to a fully open position of the anvil and an ending position corresponding to a fully closed position of the anvil. When the closure member is in the starting position, its distal end is located on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is 0.090 inches or less.

[0210] Example 62 - A surgical stapling device including an elongate shaft assembly defining a shaft axis. The surgical end effector is operably coupled to the elongate shaft assembly by a joint configured to facilitate selective articulation of the surgical end effector about an articulation axis transverse to the shaft axis. The surgical end effector includes a surgical staple cartridge operably supporting a plurality of surgical staples therein. The anvil is supported to selectively pivot relative to the surgical staple cartridge between a fully open position and a closed position. The anvil includes a plurality of staple forming pockets corresponding to the surgical staples within the surgical staple cartridge. The surgical stapling device further includes an axially movable firing member including at least one anvil engagement mechanism configured to engage the anvil when the axially movable firing member moves from a proximal position to a distal position, with the anvil in the closed position. The surgical stapling device also includes means for minimizing the joint distance between the articulation axis and the distal end of the anvil engagement mechanism of the axially movable firing member when the axially movable firing member is in the proximal position, while increasing the Joe opening distance between the most distal staple within the surgical staple cartridge and the corresponding one of the staple forming pockets of the anvil.

[0211] Example 63 - The means for increasing includes a closure member configured to apply a closing motion to the anvil, the closure member being axially movable between a starting position corresponding to the fully open position of the second end effector jaw and an end position corresponding to the fully closed position of the anvil, of the surgical stapling device according to Example 62. When the closure member is in the starting position and the axially movable firing member is in the proximal position, the distal end of the closure member is distally spaced a horizontal distance within the range of 0.4 to 0.9 inches from the distal end of the anvil engagement mechanism.

[0212] Example 64 - The surgical stapling device according to Example 63, wherein the horizontal distance is measured along a horizontal line parallel to or coinciding with the shaft axis.

[0213] Example 65 - A surgical stapling device according to Example 62, 63, or 64, comprising an axially movable distal closure tube portion including a closure cam surface configured to cam engage a cam surface of an anvil when the axially movable distal closure tube portion is movable from a starting position to an end position.

[0214] Example 66 - A surgical stapling device according to Example 62, 63, 64, or 65, wherein a surgical fastening element cartridge is removably supported within an elongated channel operably coupled to an elongated shaft assembly by a joint.

[0215] Example 67 - A surgical stapling device according to Example 66, comprising an anvil including an anvil body and an anvil attachment portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of the anvil cam surface and the elongated channel.

[0216] Example 68 - A surgical stapling device according to Example 63, 64, 65, 66, or 67, wherein the elongated shaft assembly includes an axially movable proximal closure tube assembly, and the closure member includes an axially movable distal closure tube portion operably coupled to the axially movable proximal closure tube assembly.

[0217] Example 69 - A surgical stapling device according to Example 68, wherein the axially movable distal closure tube portion includes a closure cam surface configured to cam engage an anvil cam surface of the anvil when the axially movable distal closure tube portion is movable from a starting position to an end position.

[0218] Example 70 - A surgical stapling device according to Example 68 or 69, wherein the elongated shaft assembly includes a spine assembly operably coupled to the elongated channel and movably supporting at least a portion of the proximal closure tube assembly, and the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

[0219] Example 71 - The surgical stapling device according to Example 70, wherein the closure system is supported by a handheld housing.

[0220] Example 72 - The surgical stapling device according to Example 70, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

[0221] Example 73 - A surgical instrument comprising an elongated shaft assembly to which an elongated channel is connected, the elongated channel being configured to operably support a surgical fastening element cartridge therein. An anvil is pivotally connected to the elongated channel such that the anvil is selectively pivotally movable relative to the elongated channel between a fully open position and a fully closed position about a fixed jaw pivot axis. A closure member is configured to apply a closing motion to the anvil to move the anvil between the fully open position and the fully closed position when the closure member is moved from a starting position to an ending position. The surgical instrument further includes an axially movable firing member having at least one anvil engagement mechanism configured to apply a further closing motion to the anvil when the axially movable firing member is movable from a proximal most position to a distal most position within the elongated channel. When the closure member is in the starting position and the axially movable firing member is in the proximal most position, a distal end of the closure member is located distally relative to a distal end of the anvil engagement mechanism.

[0222] Example 74 - The surgical instrument according to Example 73, wherein when the closure member is in the starting position and the axially movable firing member is in the proximal most position, a distal end of the closure member is spaced distally by a horizontal distance within a range of 0.4 to 0.9 inches from a distal end of the anvil engagement mechanism.

[0223] Example 75 - The surgical instrument according to Example 74, wherein the elongated shaft assembly defines a shaft axis and the horizontal distance is measured along a horizontal line that is parallel to the shaft axis or coincides with the shaft axis.

[0224] Example 76 - A surgical instrument according to Example 73, 74, or 75, comprising an axially movable distal closure tube portion having a closure cam surface configured to cam engage an anvil cam surface of an anvil when the closure member moves the axially movable distal closure tube portion from a starting position to an end position.

[0225] Example 77 - A surgical instrument according to Example 76, wherein the elongate shaft assembly includes a spine assembly operably coupled to an elongate channel. The proximal closure tube assembly is movably supported to move axially relative to the spine assembly and is pivotally coupled to the axially movable distal closure tube portion.

[0226] Example 78 - A surgical instrument according to Example 77, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing motion to the proximal closure tube assembly.

[0227] Example 79 - A surgical instrument according to Example 78, wherein the closure system is supported by a handheld housing.

[0228] Example 80 - A surgical instrument according to Example 78, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

[0229] Example 81 - A surgical system including a housing that operably supports a closure system. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly that is operably and removably connectable to the housing such that a proximal closure portion of the elongate shaft assembly is configured to receive an axial closing motion from the closure system. The elongate shaft assembly defines a shaft axis. The surgical tool assembly further includes a surgical end effector operably coupled to the elongate shaft assembly for selectively articulating relative to the elongate shaft assembly about a transverse articulation axis relative to the shaft axis. The surgical end effector includes an elongate channel configured to be coupled to the elongate shaft assembly and to operably support a surgical fastening element cartridge therein. An anvil is coupled to the elongate channel for selectively pivoting relative to the elongate channel between a fully open position and a fully closed position about a transverse jaw pivot axis relative to the shaft axis. The elongate shaft assembly includes a distal closure member operably coupled to the proximal closure portion and configured to apply a closing motion to the anvil to move the anvil between the fully open position and the fully closed position as the distal closure member is moved from a starting position to an ending position. The axially movable firing member includes at least one anvil engagement mechanism configured to apply an additional closing motion to the anvil as the axially movable firing member is movable from a proximalmost position to a distalmost position within the elongate channel. When the distal closure member is in the starting position and the axially movable firing member is in the proximalmost position, a distal end of the distal closure member is located distally of a distal end of the anvil engagement mechanism.

[0230] Surgical instrument comprising a surgical end effector including a first jaw defining a first tissue contact surface and a second jaw pivotally coupled to the first jaw. The second jaw is selectively movable between a fully open position and a fully closed position about a fixed jaw pivot axis. The second jaw includes a second tissue contact surface facing the first tissue contact surface. At least one tissue positioning element is in the second jaw and extends downwardly beyond the second tissue contact surface and is configured to prevent tissue received between the first tissue contact surface and the second tissue contact surface when the second jaw is in the fully closed position from extending proximally beyond the distal end portion of the at least one tissue positioning element. When the second jaw is in the fully open position, the distal end portion of each tissue positioning element is positioned to prevent a gap therebetween with respect to a corresponding portion of the first tissue contact surface. When the second jaw is in the fully open position, the jaw opening angle between the first tissue contact surface and the second tissue contact surface is greater than 12.25°.

[0231] Surgical instrument according to Example 82, wherein when the second jaw is in the fully closed position, the distal end portion of each tissue positioning element is located at a distance less than 0.750 inches from the fixed jaw pivot axis.

[0232] Surgical instrument according to Example 82 or 83, wherein the first jaw includes an elongated channel configured to operably support a surgical fastening element cartridge therein, and the first tissue contact surface includes the deck surface of the surgical fastening element cartridge.

[0233] Surgical instrument according to Example 82, 83 or 84, wherein the second jaw includes an anvil, and the second tissue contact surface includes fastening elements forming a lower surface of a part of the anvil.

[0234] Surgical instrument according to Example 85, wherein the anvil includes an anvil body portion, and at least one tissue positioning element is formed in a proximal portion of the anvil body portion.

[0235] Example 87 - A surgical instrument according to Example 82, 83, 84, 85, or 86, wherein the surgical end effector is sized to pass through a trocar cannula when the second jaw is in the fully closed position.

[0236] Example 88 - A surgical instrument according to Example 82, 83, 84, 85, 86, or 87, further comprising means for applying an opening and closing movement to the second jaw.

[0237] Example 89 - A surgical instrument according to Example 88, wherein the means for applying an opening and closing movement includes an axially movable closing tube. The closing tube includes a closing cam surface at the distal end of the closing tube configured to cam engage the jaw cam surface of the second jaw to apply a closing movement to the second jaw, and at least one jaw opening mechanism configured to apply a jaw opening movement to the second jaw when the axially movable closing tube is moved in the proximal direction.

[0238] Surgical instrument including a surgical end effector including a surgical fastener cartridge having a cartridge body that operably supports a plurality of surgical fasteners therein. The cartridge body defines a tissue contact surface against which the surgical fasteners are ejected. An anvil is pivotally supported relative to the surgical fastener cartridge such that the anvil is selectively pivotally movable relative to the surgical fastener cartridge between a fully open position and a fully closed position about a fixed jaw pivot axis. The anvil ...

Claims

1. A surgical instrument, comprising a surgical end effector for clamping, cutting, and ligating lung tissue, said surgical end effector comprising a staple cartridge defining a staple cartridge tissue contact surface, an anvil pivotally coupled to the staple cartridge and selectively movable between a fully open position and a fully closed position about a fixed jaw pivot axis, the anvil extending in a longitudinal axis direction and comprising an anvil tissue contact surface facing the staple cartridge tissue contact surface, at least one tissue positioning element on the anvil, extending downwardly beyond the anvil tissue contact surface and configured to prevent the lung tissue received between the staple cartridge tissue contact surface and the anvil tissue contact surface when the anvil is in the fully closed position from extending proximally beyond the distal end portion of the at least one tissue positioning element, at least one tissue positioning element; a first upper surface extending in the longitudinal axis direction across the upper surface opposite the anvil tissue contact surface, at the attachment portion of the anvil, a second upper surface extending proximally and downwardly relative to the first upper surface from the proximal end of the first upper surface, a third upper surface located proximally of the second upper surface and extending upwardly proximally and towards the height of the first upper surface, and an anvil opening tab; when the anvil is in the fully open position, the distal end portions of each of the at least one tissue positioning element are arranged to prevent a gap therebetween with respect to the corresponding portion of the staple cartridge tissue contact surface, and when the anvil is in the fully open position, the jaw opening angle between the staple cartridge tissue contact surface and the anvil tissue contact surface is greater than 12.25°, the surgical instrument further comprising means for applying an opening and closing movement to the anvil, The means for applying the opening and closing movement includes a closure tube movable in the axial direction, and the closure tube movable in the axial direction includes a closure cam surface at the distal end and a positive jaw opening mechanism on the proximal side and a positive jaw opening mechanism on the distal side that are axially offset and configured to apply a Joe opening movement to the anvil when the closure tube movable in the axial direction is moved proximally. A surgical instrument configured such that the second upper surface of the anvil makes cam contact with the closure cam surface and the positive jaw opening mechanism on the distal side, then the positive jaw opening mechanism on the proximal side makes cam contact with the third upper surface, then the positive jaw opening mechanism on the distal side contacts the anvil opening tab, and the positive jaw opening mechanism on the proximal side moves away from the third upper surface, thereby applying an opening movement to the anvil. **Claim 2** The surgical instrument according to claim 1, wherein when the anvil is in the fully closed position, the distal end portion of each of the at least one tissue positioning element is located at a distance less than 19.05 mm (0.750 inches) from the fixed jaw pivot axis. **Claim 3** The surgical instrument according to claim 1, wherein the staple cartridge includes an elongated channel configured to operably support the staple cartridge therein, and the staple cartridge tissue contact surface includes the deck surface of the staple cartridge. **Claim 4** The surgical instrument according to claim 3, wherein the anvil tissue contact surface includes a staple forming lower surface of a part of the anvil. **Claim 5** The surgical instrument according to claim 4, wherein the anvil includes an anvil body portion, and the at least one tissue positioning element is formed in a proximal portion of the anvil body portion. **Claim 6** The surgical end effector is sized to pass through a trocar cannula when the anvil is in the fully closed position. The surgical instrument according to claim 1, wherein when the anvil is in the fully open position, the jaw opening angle is 12.25° to 18°.

7. A surgical instrument, comprising a surgical end effector for clamping, cutting, and fastening lung tissue, said surgical end effector comprising a staple cartridge having a cartridge body that operably supports a plurality of staples therein, said cartridge body defining a tissue contact surface against which the plurality of staples are ejected, and an anvil pivotally supported with respect to said staple cartridge so as to selectively pivotally move with respect to said staple cartridge between a fully open position and a fully closed position about a fixed jaw pivot axis, said anvil extending in a longitudinal axis direction and comprising an anvil body defining a staple forming surface including a plurality of staple forming formations, each of said plurality of staple forming formations corresponding to one of the plurality of staples within said staple cartridge, said staple forming surface facing said tissue contact surface of said staple cartridge, and at least one tissue engaging portion protruding from said anvil body and extending downwardly beyond said staple forming surface, said at least one tissue engaging portion being configured to prevent the lung tissue received between said tissue contact surface and said staple forming surface when said anvil is in said fully closed position from extending proximally beyond a distal end portion of said at least one tissue engaging portion, and a first upper surface extending in said longitudinal axis direction across an upper surface on an opposite side of said staple forming surface, and at an attachment portion of said anvil, a second upper surface extending proximally from a proximal end of said first upper surface and downwardly with respect to said first upper surface, a third upper surface located proximally of said second upper surface and extending upwardly proximally and toward a height of said first upper surface, and an anvil opening tab. When the anvil is in the fully closed position, the distal end portion of each of the at least one tissue engagement portion is spaced an axial distance of less than 19.05 mm (0.750 inches) from the fixed jaw pivot axis, and when the anvil is in the fully open position, the vertical distance between the most distal one of the plurality of staples in the staple cartridge and the corresponding one of the plurality of staple forming formations on the staple forming surface is at least 22.86 mm (0.900 inches). The surgical instrument further includes means for applying an opening and closing movement to the anvil. The means for applying the opening and closing movement includes an axially movable closure tube, the axially movable closure tube including a distal closure cam surface and axially offset proximal and distal positive jaw opening mechanisms configured to apply a jaw opening movement to the anvil when the axially movable closure tube is moved proximally. The second upper surface of the anvil cam contacts the closure cam surface and the distal positive jaw opening mechanism, then the proximal positive jaw opening mechanism cam contacts the third upper surface, then the distal positive jaw opening mechanism contacts the anvil opening tab, and the proximal positive jaw opening mechanism moves away from the third upper surface, thereby configuring the anvil to apply an opening movement. Surgical instrument.

8. The surgical instrument according to claim 7, wherein when the anvil is in the fully open position, the jaw opening angle between the staple forming surface and the tissue contact surface is greater than 12.25°.

9. The surgical end effector is sized to pass through a trocar cannula when the anvil is in the fully closed position. The surgical instrument according to claim 7, wherein when the anvil is in the fully open position, the jaw opening angle between the staple forming surface and the tissue contact surface is between 12.25° and 18°.

10. The surgical instrument according to claim 7, wherein the surgical end effector is operably coupled to an elongate shaft assembly defining a shaft axis. **Claim 11** The surgical instrument according to claim 10, wherein the tissue contact surface of the cartridge body is parallel to the shaft axis, and the vertical distance is measured along a line perpendicular to the shaft axis extending from the most distal staple and the corresponding staple forming formation. **Claim 12** The surgical instrument according to claim 7, wherein when the anvil is in the fully open position, the distal end portion of each of the at least one tissue engaging portion is arranged to prevent a gap therebetween with respect to the corresponding portion of the tissue contact surface. **Claim 13** The surgical instrument according to claim 7, wherein when the anvil is in the fully open position, a part of each of the at least one tissue engaging portion is at the same height as the tissue contact surface or extends below the tissue contact surface, thereby preventing the lung tissue on the tissue contact surface from extending proximally beyond the at least one tissue engaging portion.

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