Surgical instrument comprising a flexible circuit

Abstract

A surgical instrument comprising a flexible circuit is disclosed.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62 / 955,306, filed on December 30, 2019, entitled "SURGICAL INSTRUMENT SYSTEMS", the entire disclosure of which is incorporated herein by reference.

Background Art

[0002] The present invention relates to surgical instruments, and more particularly to surgical stapling and cutting instruments designed to staple and cut tissue in various situations, as well as staple cartridges for use therewith.

Brief Description of the Drawings

[0003] 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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[0004] Throughout the several views, corresponding reference numerals indicate corresponding parts. The examples described herein, as one form, illustrate particular embodiments of the present invention, and such examples should not be construed as limiting the scope of the present invention in any sense.

DETAILED DESCRIPTION OF THE INVENTION

[0005] The applicant of the present application owns the following U.S. patent applications filed on the same day as the present application, each of which is hereby incorporated by reference in its entirety. - Attorney Docket No. END9235USNP1 / 190718-1M, Title of Invention "METHOD FOR OPERATING A SURGICAL INSTRUMENT", - Attorney Docket No. END9235USNP2 / 190718-2, Title of Invention "SURGICAL INSTRUMENT COMPRISING AN ADJUSTMENT SYSTEM", - Attorney Docket No. END9235USNP3 / 190718-3, Title of Invention "SURGICAL INSTRUMENT COMPRISING A CONTROL SYSTEM RESPONSIVE TO SOFTWARE CONFIGURATIONS", - Attorney Docket No. END9235USNP4 / 190718-4, Title of Invention "SURGICAL INSTRUMENT COMPRISING AN ORIENTATION DETECTION SYSTEM", - Attorney Docket No. END9235USNP5 / 190718-5, Invention Title "SURGICAL INSTRUMENT COMPRISING A SIGNAL INTERFERENCE RESOLUTION SYSTEM", - Attorney Docket No. END9235USNP6 / 190718-6, Invention Title "SURGICAL INSTRUMENT COMPRISING A FEEDBACK CONTROL CIRCUIT", - Attorney Docket No. END9235USNP8 / 190718-8, Invention Title "SURGICAL INSTRUMENT COMPRISING A SENSING SYSTEM", and - Attorney Docket No. END9235USNP9 / 190718-9, Invention Title "SURGICAL INSTRUMENT COMPRISING A FLEX CIRCUIT INCLUDING A SENSOR SYSTEM".

[0006] The applicant of this application owns the following U.S. patent applications filed on May 29, 2020, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 887,499, Invention Title "USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATION ENERGY MODALITY END-EFFECTOR", - U.S. Patent Application No. 16 / 887,493, Invention Title "METHOD OF OPERATING A COMBINATION ULTRASONIC / BIPOLAR RF SURGICAL DEVICE WITH A COMBINATION ENERGY MODALITY END-EFFECTOR", - U.S. Patent Application No. 16 / 887,506, Invention Title "DEFLECTABLE SUPPORT OF RF ENERGY ELECTRODE WITH RESPECT TO OPPOSING ULTRASONIC BLADE", - U.S. Patent Application No. 16 / 887,515, titled "NON-BIASED DEFLECTABLE ELECTRODE TO MINIMIZE CONTACT BETWEEN ULTRASONIC BLADE AND ELECTRODE", - U.S. Patent Application No. 16 / 887,519, titled "DEFLECTABLE ELECTRODE WITH HIGHER DISTAL BIAS RELATIVE TO PROXIMAL BIAS", - U.S. Patent Application No. 16 / 887,532, titled "DEFLECTABLE ELECTRODE WITH VARIABLE COMPRESSION BIAS ALONG THE LENGTH OF THE DEFLECTABLE ELECTRODE", - U.S. Patent Application No. 16 / 887,554, titled "ASYMMETRIC SEGMENTED ULTRASONIC SUPPORT PAD FOR COOPERATIVE ENGAGEMENT WITH A MOVABLE RF ELECTRODE", - U.S. Patent Application No. 16 / 887,561, titled "VARIATION IN ELECTRODE PARAMETERS AND DEFLECTABLE ELECTRODE TO MODIFY ENERGY DENSITY AND TISSUE INTERACTION", - U.S. Patent Application No. 16 / 887,568, titled "TECHNIQUES FOR DETECTING ULTRASONIC BLADE TO ELECTRODE CONTACT AND REDUCING POWER TO ULTRASONIC BLADE", - U.S. Patent Application No. 16 / 887,576, titled "CLAMP ARM JAW TO MINIMIZE TISSUE STICKING AND IMPROVE TISSUE CONTROL", and - U.S. Patent Application No. 16 / 887,579, titled "PARTIALLY CONDUCTIVE CLAMP ARM PAD TO ENABLE ELECTRODE WEAR THROUGH AND MINIMIZE SHORT CIRCUITING".

[0007] The applicant of the present application owns the following U.S. patent applications filed on May 28, 2020, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 885,813, titled "METHOD FOR AN ELECTROSURGICAL PROCEDURE", - U.S. Patent Application No. 16 / 885,820, titled "ARTICULATABLE SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 885,823, titled "SURGICAL INSTRUMENT WITH JAW ALIGNMENT FEATURES", - U.S. Patent Application No. 16 / 885,826, titled "SURGICAL INSTRUMENT WITH ROTATABLE AND ARTICULATABLE SURGICAL END EFFECTOR", - U.S. Patent Application No. 16 / 885,838, titled "ELECTROSURGICAL INSTRUMENT WITH ASYNCHRONOUS ENERGIZING ELECTRODES", - U.S. Patent Application No. 16 / 885,851, titled "ELECTROSURGICAL INSTRUMENT WITH ELECTRODES BIASING SUPPORT", - U.S. Patent Application No. 16 / 885,860, titled "ELECTROSURGICAL INSTRUMENT WITH FLEXIBLE WIRING ASSEMBLIES", - U.S. Patent Application No. 16 / 885,866, titled "ELECTROSURGICAL INSTRUMENT WITH VARIABLE CONTROL MECHANISMS", - U.S. Patent Application No. 16 / 885,870, titled "ELECTROSURGICAL SYSTEMS WITH INTEGRATED AND EXTERNAL POWER SOURCES", - U.S. Patent Application No. 16 / 885,873, titled "ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING ENERGY FOCUSING FEATURES", - U.S. Patent Application No. 16 / 885,879, titled "ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING VARIABLE ENERGY DENSITIES", - U.S. Patent Application No. 16 / 885,881, titled "ELECTROSURGICAL INSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES", - U.S. Patent Application No. 16 / 885,888, titled "ELECTROSURGICAL END EFFECTORS WITH THERMALLY INSULATIVE AND THERMALLY CONDUCTIVE PORTIONS", - U.S. Patent Application No. 16 / 885,893, titled "ELECTROSURGICAL INSTRUMENT WITH ELECTRODES OPERABLE IN BIPOLAR AND MONOPOLAR MODES", - U.S. Patent Application No. 16 / 885,900, titled "ELECTROSURGICAL INSTRUMENT FOR DELIVERING BLENDED ENERGY MODALITIES TO TISSUE", - U.S. Patent Application No. 16 / 885,917, titled "CONTROL PROGRAM ADAPTATION BASED ON DEVICE STATUS AND USER INPUT", - U.S. Patent Application No. 16 / 885,923, titled "CONTROL PROGRAM FOR MODULAR COMBINATION ENERGY DEVICE", and - U.S. Patent Application No. 16 / 885,931, titled "SURGICAL SYSTEM COMMUNICATION PATHWAYS".

[0008] The applicant of this application owns the following U.S. provisional patent applications filed on December 30, 2019, each of which is incorporated by reference in its entirety. - U.S. Provisional Patent Application No. 62 / 955,294, titled "USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATION ENERGY MODALITY END-EFFECTOR", - U.S. Provisional Patent Application No. 62 / 955,292, titled "COMBINATION ENERGY MODALITY END-EFFECTOR", and - U.S. Provisional Patent Application No. 62 / 955,299, titled "ELECTROSURGICAL INSTRUMENTS FOR COMBINATION ENERGY DELIVERY".

[0009] The applicant of this application owns the following U.S. patent applications filed on December 19, 2019, each of which is incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 720,766, titled "METHOD FOR OPERATING A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 720,706, titled "STAPLE CARTRIDGE COMPRISING A SEATING CAM", - U.S. Patent Application No. 16 / 720,731, titled "SURGICAL INSTRUMENT COMPRISING A RAPID CLOSURE MECHANISM", - U.S. Patent Application No. 16 / 720,735, titled "SURGICAL INSTRUMENT COMPRISING A CLOSURE SYSTEM INCLUDING A CLOSURE MEMBER AND AN OPENING MEMBER DRIVEN BY A DRIVE SCREW", - U.S. Patent Application No. 16 / 720,747, titled "SURGICAL INSTRUMENT COMPRISING A NESTED FIRING MEMBER", - U.S. Patent Application No. 16 / 720,751, titled "STAPLE CARTRIDGE COMPRISING A DEPLOYABLE KNIFE", - U.S. Patent Application No. 16 / 720,769, titled "STAPLE CARTRIDGE COMPRISING A DETACHABLE TISSUE CUTTING KNIFE", - U.S. Patent Application No. 16 / 720,730, titled "STAPLING SYSTEM COMPRISING A CLAMP LOCKOUT AND A FIRING LOCKOUT", - U.S. Patent Application No. 16 / 720,742, titled "STAPLE CARTRIDGE COMPRISING A LATCH LOCKOUT", - U.S. Patent Application No. 16 / 720,776, titled "SURGICAL INSTRUMENT COMPRISING A POWERED ARTICULATION SYSTEM", - U.S. Patent Application No. 16 / 720,781, titled "MOTOR DRIVEN SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 720,789, titled "STAPLING INSTRUMENT COMPRISING INDEPENDENT JAW CLOSING AND STAPLE FIRING SYSTEMS", - U.S. Patent Application No. 16 / 720,725, titled "STAPLE CARTRIDGE COMPRISING DRIVER RETENTION MEMBERS", - U.S. Patent Application No. 16 / 720,740, titled "STAPLE CARTRIDGE COMPRISING DRIVER RETENTION MEMBERS", - U.S. Patent Application No. 16 / 720,788, titled "STAPLE CARTRIDGE COMPRISING PROJECTIONS EXTENDING FROM A CURVED DECK SURFACE", and - U.S. Patent Application No. 16 / 720,806, titled "STAPLE CARTRIDGE COMPRISING A CURVED DECK SURFACE".

[0010] The applicant of the present application owns the following U.S. patent applications filed on September 5, 2019, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 562,123, titled "METHOD FOR CONSTRUCTING AND USING A MODULAR SURGICAL ENERGY SYSTEM WITH MULTIPLE DEVICES", - U.S. Patent Application No. 16 / 562,135, titled "METHOD FOR CONTROLLING AN ENERGY MODULE OUTPUT", - U.S. Patent Application No. 16 / 562,144, titled "METHOD FOR CONTROLLING A MODULAR ENERGY SYSTEM USER INTERFACE", and - U.S. Patent Application No. 16 / 562,125, titled "METHOD FOR COMMUNICATING BETWEEN MODULES AND DEVICES IN A MODULAR SURGICAL SYSTEM".

[0011] The applicant of the present application owns the following U.S. patent applications filed on March 25, 2019, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 363,070, entitled "FIRING DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS", - U.S. Patent Application No. 16 / 363,051, entitled "FIRING DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS", - U.S. Patent Application No. 16 / 363,045, entitled "ARTICULATION DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS", and - U.S. Patent Application No. 16 / 363,062, entitled "FIRING DRIVE ARRANGEMENTS FOR SURGICAL SYSTEMS".

[0012] The applicant of the present application owns the following U.S. patent applications filed on June 30, 2019, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 458,104, entitled "METHOD FOR AUTHENTICATING THE COMPATIBILITY OF A STAPLE CARTRIDGE WITH A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 458,108, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN RFID SYSTEM", - U.S. Patent Application No. 16 / 458,111, entitled "SURGICAL INSTRUMENT COMPRISING AN RFID SYSTEM FOR TRACKING A MOVABLE COMPONENT", - U.S. Patent Application No. 16 / 458,114, entitled "SURGICAL INSTRUMENT COMPRISING AN ALIGNED RFID SENSOR", - U.S. Patent Application No. 16 / 458,105, titled "SURGICAL STAPLING SYSTEM HAVING AN INFORMATION DECRYPTION PROTOCOL", - U.S. Patent Application No. 16 / 458,110, titled "SURGICAL STAPLING SYSTEM HAVING AN INFORMATION ENCRYPTION PROTOCOL", - U.S. Patent Application No. 16 / 458,120, titled "SURGICAL STAPLING SYSTEM HAVING A LOCKOUT MECHANISM FOR AN INCOMPATIBLE CARTRIDGE", - U.S. Patent Application No. 16 / 458,125, titled "SURGICAL STAPLING SYSTEM HAVING A FRANGIBLE RFID TAG", and - U.S. Patent Application No. 16 / 458,103, titled "PACKAGING FOR A REPLACEABLE COMPONENT OF A SURGICAL STAPLING SYSTEM".

[0013] The applicant of the present application owns the following U.S. patent applications filed on June 30, 2019, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 458,107, titled "METHOD OF USING MULTIPLE RFID CHIPS WITH A SURGICAL ASSEMBLY", - U.S. Patent Application No. 16 / 458,109, titled "MECHANISMS FOR PROPER ANVIL ATTACHMENT SURGICAL STAPLING HEAD ASSEMBLY", - U.S. Patent Application No. 16 / 458,119, titled "MECHANISMS FOR MOTOR CONTROL ADJUSTMENTS OF A MOTORIZED SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 458,115, titled "SURGICAL INSTRUMENT WITH BATTERY COMPATIBILITY VERIFICATION FUNCTIONALITY", - U.S. Patent Application No. 16 / 458,117, titled "SURGICAL SYSTEM WITH RFID TAGS FOR UPDATING MOTOR ASSEMBLY PARAMETERS", - U.S. Patent Application No. 16 / 458,121, titled "SURGICAL SYSTEMS WITH MULTIPLE RFID TAGS", - U.S. Patent Application No. 16 / 458,122, titled "RFID IDENTIFICATION SYSTEMS FOR SURGICAL INSTRUMENTS", - U.S. Patent Application No. 16 / 458,106, titled "RFID IDENTIFICATION SYSTEMS FOR SURGICAL INSTRUMENTS", - U.S. Patent Application No. 16 / 458,112, titled "SURGICAL RFID ASSEMBLIES FOR DISPLAY AND COMMUNICATION", - U.S. Patent Application No. 16 / 458,116, titled "SURGICAL RFID ASSEMBLIES FOR COMPATIBILITY DETECTION", and - U.S. Patent Application No. 16 / 458,118, titled "SURGICAL RFID ASSEMBLIES FOR INSTRUMENT OPERATIONAL SETTING CONTROL".

[0014] The applicant of the present application owns the following U.S. patent applications filed on December 4, 2018, and the disclosure of each of them is hereby incorporated by reference in its entirety into this specification. - U.S. Patent Application No. 16 / 209,385, titled "METHOD OF HUB COMMUNICATION,PROCESSING,STORAGE AND DISPLAY", - U.S. Patent Application No. 16 / 209,395, titled "METHOD OF HUB COMMUNICATION", - U.S. Patent Application No. 16 / 209,403, titled "METHOD OF CLOUD BASED DATA ANALYTICS FOR USE WITH THE HUB", - U.S. Patent Application No. 16 / 209,407, titled "METHOD OF ROBOTIC HUB COMMUNICATION, DETECTION, AND CONTROL", - U.S. Patent Application No. 16 / 209,416, titled "METHOD OF HUB COMMUNICATION, PROCESSING, DISPLAY, AND CLOUD ANALYTICS", - U.S. Patent Application No. 16 / 209,423, titled "METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS", - U.S. Patent Application No. 16 / 209,427, titled "METHOD OF USING REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLE SENSORS TO OPTIMIZE PERFORMANCE OF RADIO FREQUENCY DEVICES", - U.S. Patent Application No. 16 / 209,433, titled "METHOD OF SENSING PARTICULATE FROM SMOKE EVACUATED FROM A PATIENT, ADJUSTING THE PUMP SPEED BASED ON THE SENSED INFORMATION, AND COMMUNICATING THE FUNCTIONAL PARAMETERS OF THE SYSTEM TO THE HUB", - U.S. Patent Application No. 16 / 209,447, titled "METHOD FOR SMOKE EVACUATION FOR SURGICAL HUB", - U.S. Patent Application No. 16 / 209,453, titled "METHOD FOR CONTROLLING SMART ENERGY DEVICES", - U.S. Patent Application No. 16 / 209,458, titled "METHOD FOR SMART ENERGY DEVICE INFRASTRUCTURE", - U.S. Patent Application No. 16 / 209,465, titled "METHOD FOR ADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORK CONTROL AND INTERACTION", - U.S. Patent Application No. 16 / 209,478, titled "METHOD FOR SITUATIONAL AWARENESS FOR SURGICAL NETWORK OR SURGICAL NETWORK CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASED ON A SENSED SITUATION OR USAGE", - U.S. Patent Application No. 16 / 209,490, titled "METHOD FOR FACILITY DATA COLLECTION AND INTERPRETATION", and - U.S. Patent Application No. 16 / 209,491, titled "METHOD FOR CIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENT BASED ON SITUATIONAL AWARENESS".

[0015] The applicant of the present application owns the following U.S. patent applications filed on June 26, 2019, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 16 / 453,273, titled "METHOD FOR PROVIDING AN AUTHENTICATION LOCKOUT IN A SURGICAL STAPLER WITH A REPLACEABLE CARTRIDGE", - U.S. Patent Application No. 16 / 453,283, titled "SURGICAL STAPLING ASSEMBLY WITH CARTRIDGE BASED RETAINER CONFIGURED TO UNLOCK A FIRING LOCKOUT", - U.S. Patent Application No. 16 / 453,289, titled "SURGICAL STAPLING ASSEMBLY WITH CARTRIDGE BASED RETAINER CONFIGURED TO UNLOCK A CLOSURE LOCKOUT", - U.S. Patent Application No. 16 / 453,302, titled "UNIVERSAL CARTRIDGE BASED KEY FEATURE THAT UNLOCKS MULTIPLE LOCKOUT ARRANGEMENTS IN DIFFERENT SURGICAL STAPLERS", - U.S. Patent Application No. 16 / 453,310, titled "STAPLE CARTRIDGE RETAINERS WITH FRANGIBLE RETENTION FEATURES AND METHODS OF USING SAME", - U.S. Patent Application No. 16 / 453,330, titled "STAPLE CARTRIDGE RETAINER WITH FRANGIBLE AUTHENTICATION KEY", - U.S. Patent Application No. 16 / 453,335, titled "STAPLE CARTRIDGE RETAINER WITH RETRACTABLE AUTHENTICATION KEY", - U.S. Patent Application No. 16 / 453,343, titled "STAPLE CARTRIDGE RETAINER SYSTEM WITH AUTHENTICATION KEYS", - U.S. Patent Application No. 16 / 453,355, titled "INSERTABLE DEACTIVATOR ELEMENT FOR SURGICAL STAPLER LOCKOUTS", - U.S. Patent Application No. 16 / 453,369, titled "DUAL CAM CARTRIDGE BASED FEATURE FOR UNLOCKING A SURGICAL STAPLER LOCKOUT", - U.S. Patent Application No. 16 / 453,391, titled "STAPLE CARTRIDGES WITH CAM SURFACES CONFIGURED TO ENGAGE PRIMARY AND SECONDARY PORTIONS OF A LOCKOUT OF A SURGICAL STAPLING DEVICE", - U.S. Patent Application No. 16 / 453,413, titled "SURGICAL STAPLE CARTRIDGES WITH MOVABLE AUTHENTICATION KEY ARRANGEMENTS", - U.S. Patent Application No. 16 / 453,423, titled "DEACTIVATOR ELEMENT FOR DEFEATING SURGICAL STAPLING DEVICE LOCKOUTS", and - U.S. Patent Application No. 16 / 453,429, titled "SURGICAL STAPLE CARTRIDGES WITH INTEGRAL AUTHENTICATION KEYS".

[0016] The applicant of the present application owns the following U.S. design patent applications filed on June 25, 2019, each of which is hereby incorporated by reference in its entirety. - U.S. Design Patent Application No. 29 / 696,066, titled "SURGICAL STAPLE CARTRIDGE RETAINER WITH FIRING SYSTEM AUTHENTICATION KEY", - U.S. Design Patent Application No. 29 / 696,067, titled "SURGICAL STAPLE CARTRIDGE RETAINER WITH CLOSURE SYSTEM AUTHENTICATION KEY", and - U.S. Design Patent Application No. 29 / 696,072, titled "SURGICAL STAPLE CARTRIDGE".

[0017] The applicant of the present application owns the following U.S. patent applications filed on February 21, 2019, each of which is hereby incorporated by reference in its entirety. - U.S. Provisional Patent Application No. 16 / 281,658, titled "METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS", - U.S. Patent Application No. 16 / 281,670, titled "STAPLE CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING MEMBER", - U.S. Patent Application No. 16 / 281,675, titled "SURGICAL STAPLERS WITH ARRANGEMENTS FOR MAINTAINING A FIRING MEMBER THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE HAS BEEN INSTALLED THEREIN", - U.S. Patent Application No. 16 / 281,685, titled "SURGICAL INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES", - U.S. Patent Application No. 16 / 281,693, titled "SURGICAL STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT", - U.S. Patent Application No. 16 / 281,704, titled "SURGICAL STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN", - U.S. Patent Application No. 16 / 281,707, titled "SURGICAL INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT", - U.S. Patent Application No. 16 / 281,741, titled "SURGICAL INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT", - U.S. Patent Application No. 16 / 281,762, titled "SURGICAL STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING LOCKOUT ARRANGEMENTS", - U.S. Patent Application No. 16 / 281,660, titled "SURGICAL STAPLE CARTRIDGE WITH FIRING MEMBER DRIVEN CAMMING ASSEMBLY THAT HAS AN ONBOARD TISSUE CUTTING FEATURE", - U.S. Patent Application No. 16 / 281,666, titled "SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS", - U.S. Patent Application No. 16 / 281,672, titled "SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES", - U.S. Patent Application No. 16 / 281,678, titled "ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND FRAME ENGAGEMENT FEATURES", and, - U.S. Patent Application No. 16 / 281,682, titled "SURGICAL STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING".

[0018] The applicant of the present application owns the following U.S. provisional patent applications filed on March 28, 2018, each of which is hereby incorporated by reference in its entirety. - U.S. Provisional Patent Application No. 62 / 649,302, titled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES", - U.S. Provisional Patent Application No. 62 / 649,294, titled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD", - U.S. Provisional Patent Application No. 62 / 649,300, titled "SURGICAL HUB SITUATIONAL AWARENESS", - U.S. Provisional Patent Application No. 62 / 649,309, titled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER", - U.S. Provisional Patent Application No. 62 / 649,310, titled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS", - U.S. Provisional Patent Application No. 62 / 649,291, titled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT", - U.S. Provisional Patent Application No. 62 / 649,296, titled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES", - U.S. Provisional Patent Application No. 62 / 649,333, titled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER", - U.S. Provisional Patent Application No. 62 / 649,327, titled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES", - U.S. Provisional Patent Application No. 62 / 649,315, titled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK", - U.S. Provisional Patent Application No. 62 / 649,313, titled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES", - U.S. Provisional Patent Application No. 62 / 649,320, titled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", - U.S. Provisional Patent Application No. 62 / 649,307, titled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", and - U.S. Provisional Patent Application No. 62 / 649,323, titled "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS".

[0019] The applicant of the present application owns the following U.S. Provisional Patent Applications filed on March 30, 2018, the entire contents of which are incorporated herein by reference. - U.S. Provisional Patent Application No. 62 / 650,887, titled "SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES".

[0020] The applicant of the present application owns the following U.S. Patent Application filed on December 4, 2018, the entire contents of which are incorporated herein by reference. - U.S. Patent Application No. 16 / 209,423, titled "METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS".

[0021] The applicant of the present application owns the following U.S. Patent Applications filed on August 20, 2018, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 16 / 105,101, titled "METHOD FOR FABRICATING SURGICAL STAPLER ANVILS", - U.S. Patent Application No. 16 / 105,183, titled "REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL", - U.S. Patent Application No. 16 / 105,150, titled "SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE STABILITY FEATURES", - U.S. Patent Application No. 16 / 105,098, titled "FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS", - U.S. Patent Application No. 16 / 105,140, titled "SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH", - U.S. Patent Application No. 16 / 105,081, titled "METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 105,094, titled "SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS", - U.S. Patent Application No. 16 / 105,097, titled "POWERED SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS", - U.S. Patent Application No. 16 / 105,104, titled "POWERED ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A FIRING DRIVE SYSTEM", - U.S. Patent Application No. 16 / 105,119, titled "ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS", - U.S. Patent Application No. 16 / 105,160, titled "SWITCHING ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL INSTRUMENTS", and - U.S. Design Patent Application No. 29 / 660,252, titled "SURGICAL STAPLER ANVILS".

[0022] The applicant of the present application owns the following U.S. patent applications filed on August 3, 2017, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 15 / 668,324, titled "SURGICAL SYSTEM SHAFT INTERCONNECTION", - U.S. Patent Application No. 15 / 668,301, titled "SURGICAL SYSTEM BAILOUT", and - U.S. Patent Application No. 15 / 668,319, titled "SURGICAL SYSTEM COMPRISING AN ARTICULATION BAILOUT".

[0023] The applicant of the present application owns the following U.S. patent applications filed on June 28, 2017, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 15 / 635,693, titled "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT", - U.S. Patent Application No. 15 / 635,729, titled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", - U.S. Patent Application No. 15 / 635,785, titled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", - U.S. Patent Application No. 15 / 635,808, titled "SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS", - U.S. Patent Application No. 15 / 635,837, titled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", - U.S. Patent Application No. 15 / 635,941, titled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM", - U.S. Patent Application No. 15 / 636,029, titled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT", - U.S. Patent Application No. 15 / 635,958, titled "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS", - U.S. Patent Application No. 15 / 635,981, titled "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES", - U.S. Patent Application No. 15 / 636,009, titled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE", - U.S. Patent Application No. 15 / 635,663, titled "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT", - U.S. Patent Application No. 15 / 635,530, titled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS", - U.S. Patent Application No. 15 / 635,549, titled "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", - U.S. Patent Application No. 15 / 635,559, titled "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", - U.S. Patent Application No. 15 / 635,578, titled "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS", - U.S. Patent Application No. 15 / 635,594, titled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT AXIS", - U.S. Patent Application No. 15 / 635,612, titled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW", - U.S. Patent Application No. 15 / 635,621, titled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES", - U.S. Patent Application No. 15 / 635,631, titled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER", - U.S. Patent Application No. 15 / 635,521, titled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", - U.S. Design Patent Application No. 29 / 609,083, titled "SURGICAL INSTRUMENT SHAFT", - U.S. Design Patent Application No. 29 / 609,087, titled "SURGICAL FORMING ANVIL", - U.S. Design Patent Application No. 29 / 609,093, titled "SURGICAL FASTENER CARTRIDGE", - U.S. Design Patent Application No. 29 / 609,121, titled "SURGICAL INSTRUMENT", - U.S. Design Patent Application No. 29 / 609,125, titled "SURGICAL INSTRUMENT", - U.S. Design Patent Application No. 29 / 609,128, titled "SURGICAL INSTRUMENT", and - U.S. Design Patent Application No. 29 / 609,129, titled "DISPLAY SCREEN PORTION OF A SURGICAL INSTRUMENT HAVING A GRAPHICAL USER INTERFACE".

[0024] The applicant of the present application owns the following U.S. patent applications filed on June 27, 2017, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 15 / 634,024, titled "SURGICAL ANVIL MANUFACTURING METHODS", - U.S. Patent Application No. 15 / 634,035, titled "SURGICAL ANVIL ARRANGEMENTS", - U.S. Patent Application No. 15 / 634,046, titled "SURGICAL ANVIL ARRANGEMENTS", - U.S. Patent Application No. 15 / 634,054, titled "SURGICAL ANVIL ARRANGEMENTS", - U.S. Patent Application No. 15 / 634,068, titled "SURGICAL FIRING MEMBER ARRANGEMENTS", - U.S. Patent Application No. 15 / 634,076, titled "STAPLE FORMING POCKET ARRANGEMENTS", - U.S. Patent Application No. 15 / 634,090, titled "STAPLE FORMING POCKET ARRANGEMENTS", - U.S. Patent Application No. 15 / 634,099, titled "SURGICAL END EFFECTORS AND ANVILS", and - U.S. Patent Application No. 15 / 634,117, titled "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS".

[0025] The applicant of the present application owns the following U.S. patent applications filed on December 21, 2016, each of which is hereby incorporated by reference in its entirety. - 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".

[0026] The applicant of the present application owns the following U.S. patent applications filed on June 24, 2016, each of which is hereby incorporated by reference in its entirety. - 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".

[0027] The applicant of the present application owns the following U.S. patent applications filed on June 24, 2016, each of which is hereby incorporated by reference in its entirety. - 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".

[0028] The applicant of the present application owns the following patent applications filed on April 1, 2016, each of which is hereby incorporated by reference in its entirety. - 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".

[0029] The applicant of the present application also owns the following U.S. patent applications filed on December 31, 2015, each of which is hereby incorporated by reference in its entirety. - 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".

[0030] The applicant of the present application also owns the following U.S. patent applications filed on February 9, 2016, each of which is hereby incorporated by reference in its entirety. - 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, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT", - U.S. Patent Application No. 15 / 019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY", - U.S. Patent Application No. 15 / 019,215, entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS", - U.S. Patent Application No. 15 / 019,227, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS", - U.S. Patent Application No. 15 / 019,235, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS", - U.S. Patent Application No. 15 / 019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS", and - U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

[0031] The applicant of the present application also owns the following U.S. patent applications identified below, filed on February 12, 2016, each of which is hereby incorporated by reference in its entirety. - 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".

[0032] The applicant of the present application owns the following patent applications filed on June 18, 2015, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 14 / 742,925, titled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS" (currently, U.S. Patent No. 10,182,818), - U.S. Patent Application No. 14 / 742,941, titled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES" (currently, U.S. Patent No. 10,052,102), - U.S. Patent Application No. 14 / 742,914, titled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 10,405,863), - 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" (currently, U.S. Patent No. 10,335,149), - U.S. Patent Application No. 14 / 742,885, titled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 10,368,861), and - U.S. Patent Application No. 14 / 742,876, titled "PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 10,178,992).

[0033] The applicant of the present application owns the following patent applications filed on March 6, 2015, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 14 / 640,746, titled "POWERED SURGICAL INSTRUMENT" (currently, U.S. Patent No. 9,808,246), - U.S. Patent Application No. 14 / 640,795, titled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 10,441,279), - U.S. Patent Application No. 14 / 640,832, titled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES", (currently, 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" (currently, 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" (currently, U.S. Patent No. 9,985,148), - U.S. Patent Application No. 14 / 640,859, titled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES" (currently, U.S. Patent No. 10,052,044), - U.S. Patent Application No. 14 / 640,817, titled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 9,924,961), - U.S. Patent Application No. 14 / 640,844, titled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE" (currently, U.S. Patent No. 10,045,776), - U.S. Patent Application No. 14 / 640,837, titled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING" (currently, U.S. Patent No. 9,993,248), - 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 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 U.S. Patent No. 9,901,342), and - U.S. Patent Application No. 14 / 640,780, titled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING" (now U.S. Patent No. 10,245,033).

[0034] The applicant of the present application owns the following patent applications filed on February 27, 2015, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 14 / 633,576, titled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION" (now U.S. Patent No. 10,045,779), - 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 U.S. Patent No. 10,180,463), - U.S. Patent Application No. 14 / 633,560, titled "SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES" (now 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" (currently, U.S. Patent No. 10,182,816), - U.S. Patent Application No. 14 / 633,555, titled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED" (currently, U.S. Patent No. 10,321,907), - U.S. Patent Application No. 14 / 633,542, titled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT" (currently, U.S. Patent No. 9,931,118), - U.S. Patent Application No. 14 / 633,548, titled "POWER ADAPTER FOR A SURGICAL INSTRUMENT" (currently, U.S. Patent No. 10,245,028), - U.S. Patent Application No. 14 / 633,526, titled "ADAPTABLE SURGICAL INSTRUMENT HANDLE" (currently, U.S. Patent No. 9,993,258), - U.S. Patent Application No. 14 / 633,541, titled "MODULAR STAPLING ASSEMBLY" (currently, U.S. Patent No. 10,226,250), and - U.S. Patent Application No. 14 / 633,562, titled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER" (currently, U.S. Patent No. 10,159,483).

[0035] The applicant of the present application owns the following patent applications filed on December 18, 2014, each of which is hereby incorporated by reference in its entirety. - 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" (currently, U.S. Patent No. 9,844,374), - U.S. Patent Application No. 14 / 574,483, titled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS" (currently, U.S. Patent No. 10,188,385), - U.S. Patent Application No. 14 / 575,139, titled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 9,844,375), - U.S. Patent Application No. 14 / 575,148, titled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS" (currently, U.S. Patent No. 10,085,748), - 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" (currently, U.S. Patent No. 10,245,027), - U.S. Patent Application No. 14 / 575,143, titled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS" (currently, U.S. Patent No. 10,004,501), - 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 No. 9,943,309), - 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 No. 9,968,355), - U.S. Patent Application No. 14 / 574,493, titled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM" (now U.S. Patent No. 9,897,000), and - U.S. Patent Application No. 14 / 574,500, titled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM" (now U.S. Patent No. 10,117,649).

[0036] The applicant of the present application owns the following patent applications filed on March 1, 2013, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 13 / 782,295, titled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION" (now U.S. Patent No. 9,700,309), - U.S. Patent Application No. 13 / 782,323, titled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS" (now U.S. Patent No. 9,782,169), - U.S. Patent Application No. 13 / 782,338, titled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS" (currently, U.S. Patent Application Publication No. 2014 / 0249557), - U.S. Patent Application No. 13 / 782,499, titled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT" (currently, U.S. Patent No. 9,358,003), - U.S. Patent Application No. 13 / 782,460, titled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 9,554,794), - U.S. Patent Application No. 13 / 782,358, titled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 9,326,767), - U.S. Patent Application No. 13 / 782,481, titled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR" (currently, 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" (currently, 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" (currently, U.S. Patent No. 9,398,911), and - U.S. Patent Application No. 13 / 782,536, titled "SURGICAL INSTRUMENT SOFT STOP" (currently, U.S. Patent No. 9,307,986).

[0037] The applicant of the present application also owns the following patent applications filed on March 14, 2013, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 13 / 803,097, titled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE" (currently, U.S. Patent No. 9,687,230), - U.S. Patent Application No. 13 / 803,193, titled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT" (currently, U.S. Patent No. 9,332,987), - U.S. Patent Application No. 13 / 803,053, titled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT" (currently, U.S. Patent No. 9,883,860), - U.S. Patent Application No. 13 / 803,086, titled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (currently, U.S. Patent Application Publication No. 2014 / 0263541), - U.S. Patent Application No. 13 / 803,210, titled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 9,808,244), - U.S. Patent Application No. 13 / 803,148, titled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT" (currently, U.S. Patent No. 10,470,762), - U.S. Patent Application No. 13 / 803,066, titled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 9,629,623), - U.S. Patent Application No. 13 / 803,117, titled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 9,351,726), - U.S. Patent Application No. 13 / 803,130, titled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS" (currently, 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" (currently, U.S. Patent No. 9,888,919).

[0038] 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" (currently, U.S. Patent No. 9,629,629).

[0039] The applicant of the present application also owns the following patent applications filed on March 26, 2014, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 226,106, titled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS" (currently, U.S. Patent Application Publication No. 2015 / 0272582), - U.S. Patent Application No. 14 / 226,099, titled "STERILIZATION VERIFICATION CIRCUIT" (currently, U.S. Patent No. 9,826,977), - U.S. Patent Application No. 14 / 226,094, titled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT" (currently, 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, U.S. Patent No. 10,013,049), - U.S. Patent Application No. 14 / 226,075, titled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES" (currently, U.S. Patent No. 9,743,929), - U.S. Patent Application No. 14 / 226,093, titled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 10,028,761), - U.S. Patent Application No. 14 / 226,116, titled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION" (currently, 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, U.S. Patent No. 9,690,362), - U.S. Patent Application No. 14 / 226,097, titled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS" (currently, U.S. Patent No. 9,820,738), - U.S. Patent Application No. 14 / 226,126, titled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS" (currently, U.S. Patent No. 10,004,497), - U.S. Patent Application No. 14 / 226,133, titled "MODULAR SURGICAL INSTRUMENT SYSTEM" (currently, 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" (currently, U.S. Patent No. 9,804,618), - U.S. Patent Application No. 14 / 226,076, titled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION" (currently, U.S. Patent No. 9,733,663), - U.S. Patent Application No. 14 / 226,111, titled "SURGICAL STAPLING INSTRUMENT SYSTEM" (currently, U.S. Patent No. 9,750,499), and - U.S. Patent Application No. 14 / 226,125, titled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT" (currently, U.S. Patent No. 10,201,364).

[0040] The applicant of the present application also owns the following patent applications filed on September 5, 2014, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 14 / 479,103, titled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE" (currently, U.S. Patent No. 10,111,679), - U.S. Patent Application No. 14 / 479,119, titled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION" (currently, U.S. Patent No. 9,724,094), - U.S. Patent Application No. 14 / 478,908, titled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION" (currently, U.S. Patent No. 9,737,301), - U.S. Patent Application No. 14 / 478,895, titled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR’S OUTPUT OR INTERPRETATION" (currently, U.S. Patent No. 9,757,128), - U.S. Patent Application No. 14 / 479,110, titled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE" (currently, U.S. Patent No. 10,016,199), - U.S. Patent Application No. 14 / 479,098, titled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION" (currently, U.S. Patent No. 10,135,242), - U.S. Patent Application No. 14 / 479,115, titled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE" (currently, U.S. Patent No. 9,788,836), and - U.S. Patent Application No. 14 / 479,108, titled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION" (currently, U.S. Patent Application Publication No. 2016 / 0066913).

[0041] The applicant of the present application also owns the following patent applications filed on April 9, 2014, each of which is hereby incorporated by reference in its entirety. - U.S. Patent Application No. 14 / 248,590, titled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS" (currently, U.S. Patent No. 9,826,976), - 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" (currently, 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", currently U.S. Patent No. 9,844,368, - U.S. Patent Application No. 14 / 248,588, titled "POWERED LINEAR SURGICAL STAPLE / FASTENER" (currently, U.S. Patent No. 10,405,857), - U.S. Patent Application No. 14 / 248,591, titled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT" (currently, U.S. Patent No. 10,149,680), - 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" (currently, U.S. Patent No. 9,801,626), - U.S. Patent Application No. 14 / 248,587, titled "POWERED SURGICAL STAPLE / FASTENER" (currently, U.S. Patent No. 9,867,612), - U.S. Patent Application No. 14 / 248,586, titled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT" (currently, U.S. Patent No. 10,136,887), and - U.S. Patent Application No. 14 / 248,607, titled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS" (currently, U.S. Patent No. 9,814,460).

[0042] The applicant of the present application also owns the following patent applications filed on April 16, 2013, each of which is hereby incorporated by reference in its entirety. - 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".

[0043] In order to provide a complete understanding of the overall structure, function, manufacture, and use of the embodiments, numerous specific details are set forth in this specification and illustrated 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".

[0044] The terms "comprise", "have", "include", and "contain" (and any word forms of comprise such as "comprises" and "comprising", any word forms of have such as "has" and "having", any word forms of include such as "includes" and "including", and any word forms of contain such as "contains" and "containing") are unrestricted linking 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.

[0045] 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.

[0046] 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 surgical procedures. By reading the "Detailed Description of the Invention" 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 pre-existing opening or through an incision or puncture formed in the tissue. The working portion, i.e., the end effector portion, of these instruments may 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.

[0047] 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 a joint axis extending through the joint. Other embodiments not including a joint are also contemplated.

[0048] 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 is moved toward the staple cartridge to 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 staples cavity defined therein and the staples are removably stored within the staples cavity. The staples cavities are arranged in six longitudinal rows. Three rows of staples cavities are positioned on a first side of a longitudinal slot and three rows of staples cavities are positioned on a second side of the longitudinal slot. Other arrangements of the staples cavities and staples are possible.

[0049] 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 retained within the cartridge body by a retainer extending 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 to the proximal end and a distal position adjacent to the distal end. The thread includes a plurality of inclined surfaces configured to slide under the driver and lift the driver and the staple supported thereon toward the anvil.

[0050] In addition to the above, the thread is moved distally by a firing member. The firing member is configured to contact the thread and push the thread toward the distal end. A longitudinal slot defined within the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam engaging a first jaw and a second cam engaging 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.

[0051] Figures 1 and 2 depict a surgical instrument assembly 1000 that includes a sensing system configured to sense parameters such as displacement of an operating member of the surgical instrument assembly. The surgical instrument assembly 1000 includes a shaft assembly 1010 and an end effector assembly 1030 attached to the shaft assembly 1010 by a joint 1020. The shaft assembly 1010 includes an attachment portion 1011 configured to be attached to an attachment interface. Such an attachment interface may include, for example, a surgical robot and / or a hand-held surgical device. The shaft assembly 1010 further includes a body portion 1013 configured to house internal components of the surgical instrument assembly. The end effector assembly 1030 includes a proximal frame portion 1031 attached to the shaft assembly 1011 by the joint 1020. The end effector assembly 1030 further includes a first jaw 1032 and a second jaw 1033. The end effector assembly 1030 includes a surgical stapling end effector, however, other types of surgical end effectors are contemplated as well.

[0052] The surgical instrument assembly 1000 further comprises an actuation system 1050 configured to actuate the functions of the end effector assembly 1030. The actuation system 1050 includes a first actuation member 1051 configured to be operably coupled to an actuation driver of the attachment interface for actuating the functions of the end effector assembly 1030. The actuation system 1050 further includes a second actuation member 1055 coupled to the first actuation member 1051 such that the first actuation member 1051 is capable of moving the second actuation member 1055. The second actuation member 1055 includes a proximal end 1056 that includes a tab 1057 extending within a slot 1053 of the first actuation member 1051. The second actuation member 1055 extends through the articulation joint 1020 into the end effector assembly 1030. The second actuation member 1055 includes a knife body 1059 configured to be actuated through the end effector assembly 1030 during a firing stroke. The second actuation member 1055 includes a flexible configuration such that the second actuation member 1055 can be actuated when the surgical instrument assembly 1000 is in an articulated configuration. Although a surgical stapling actuation member is depicted, other longitudinally translatable surgical actuation members are contemplated.

[0053] The surgical instrument assembly 1000 further includes a sensing system 1060 configured to sense parameters of the actuation system 1050. The sensing system 1060 includes a stretchable optical waveguide 1061 that includes a proximal end 1063 fixed to the shaft 1013 relative to the actuation system 1050 and a distal end 1065 fixed to a tab 1058 of the second actuation member 1055. The stretchable optical waveguide 1061 extends across the articulation joint 1020. The stretchable optical waveguide 1061 is configured to elongate as the second actuation member 1055 moves distally through a firing stroke. The tab 1058 is configured to pull on the stretchable optical waveguide 1061 to elongate the stretchable optical waveguide as the second actuation member 1055 advances distally through a firing stroke. In at least one instance, the stretchable optical waveguide 1061 is held in tension at its home position.

[0054] The sensing system 1060 further includes an attachment point 1064. The stretchable optical waveguide 1061 includes a PDMS optical waveguide attached to the attachment point 1064. The stretchable optical waveguide 1061 includes an optical sensor that utilizes light emission within the optical waveguide and the optical measurement device to measure the transmission of light through the waveguide as the waveguide stretches. In at least one instance, the light is provided by a vertical cavity surface emitting laser. Such an optical measurement device may include, for example, a photodiode. As the stretchable optical waveguide 1061 is stretched, the loss of light transmission within the stretchable optical waveguide 1061 increases. This difference in light transmission within the stretchable optical waveguide 1061 can be detected by the photodiode. Similarly, when the stretchable optical waveguide 1061 returns to its non-stretched or home position, the amount of light transmitted within the stretchable optical waveguide 1061 increases.

[0055] The surgical instrument assembly 1000 further includes a control circuit configured to monitor the light transmission through the stretchable optical waveguide 1061 by monitoring the signal transmitted by the photodiode. In at least one instance, the stretchable optical waveguide 1061 includes a single output corresponding to the elongation length of the stretchable optical waveguide 1061. The control circuit is configured to determine a parameter, such as the displacement of the knife body 1059, based on the monitored light transmission within the stretchable optical waveguide 1061. In such an instance, the signal received from the photodiode corresponds to the position of the knife body 1059. The position of the knife body 1059 can be determined by comparing the monitored signal to a predetermined data set and / or a predetermined algorithm. In addition to the above, monitoring the signal of the photodiode over time can enable the tracking of time-involved parameters. Such parameters include, for example, acceleration and velocity.

[0056] In at least one instance, the control circuit is configured to measure light transmission or light loss in the extensible optical waveguide 1061 when the operating system 1050 is in the un-fired configuration. The control circuit may then compare the measured light transmission in the extensible optical waveguide 1061 with the light transmission measured in the un-fired configuration to determine the position of the knife body 1059 relative to its un-fired position. The position of the knife body 1059 may then be determined based on a change in light transmission in the extensible optical waveguide 1061 as a function of the elongation length of the extensible optical waveguide 1061.

[0057] In at least one instance, the control circuit is configured to compare the determined displacement of the knife body 1059 with the expected displacement of the knife body 1059 as estimated by a motor encoder on the motor that drives the operating system 1050. In at least one instance, the control circuit is configured to adjust the control program of the operating system 1050 if there is a discrepancy between the motor encoder data and the displacement sensed by the sensing system 1060. A discrepancy between the two systems may indicate, for example, that there is system backlash between the motor and the knife body 1059. Such detected variations may be corrected by the control circuit, for example, to ensure a full firing stroke.

[0058] In at least one instance, the surgical instrument may comprise a plurality of extensible optical waveguides. For example, the joint system may include an extensible optical waveguide and / or a separate closure system may include an extensible optical waveguide. The waveguide may be attached at any suitable location on the drive member and at any suitable location on the shaft. In at least one instance, the extensible optical waveguide is attached at two non-fixed attachment locations. For example, the waveguide may be attached to the knife body and the joint drive rod. In such an instance, the difference in the operating lengths of the respective members may vary substantially enough to enable the use of an extensible optical waveguide in such a manner.

[0059] A control system that receives data regarding the actual positions of the staple firing drive, closure drive, and / or articulation drive may modify the operating stroke of these drives after evaluating the data. For example, if the control system detects that the staple firing drive is further distally located than expected, the control system may shorten the operating stroke of the staple firing drive.

[0060] FIG. 3 depicts a surgical instrument assembly 1100 comprising a sensing system configured to sense parameters of an operating member of the surgical instrument assembly 1100. The surgical instrument assembly 1100 is similar in many respects to the surgical instrument assembly 1000 discussed above. The surgical instrument assembly 1100 comprises a sensing system 1160 configured to sense parameters of the operating system 1050. The sensing system 1160 includes a stretchable optical waveguide 1161 including a proximal end 1163 fixed to the shaft 1013 relative to the operating system 1050 and a distal end 1165 fixed directly to the knife body 1059. The stretchable optical waveguide 1161 extends across the articulation joint 1020. The stretchable optical waveguide 1161 is configured to elongate as the second operating member 1055 is moved through a firing stroke. The knife body 1059 is configured to pull on the stretchable optical waveguide 1161 and elongate the stretchable optical waveguide 1161 as the second operating member 1055 advances distally through a firing stroke. In at least one instance, the stretchable optical waveguide 1161 is held in tension in its home position.

[0061] Referring to FIG. 3, in addition to the above, distances 1171, 1173, 1175 are marked and correspond to various positions of the knife body 1059 along its staple firing stroke. Distance 1171 corresponds to the home position of the knife body 1059, distance 1173 corresponds to the intermediate position of the knife body 1059, and distance 1175 corresponds to the end position of the stroke of the knife body 1059. These distances 1171, 1173, 1175 correspond to the magnitude of light transmission sensed within the extensible optical waveguide 1161. When the light sensed within the optical waveguide 1161 matches the expected light within the optical waveguide 1161 for a given position of the knife body 1059, the control system does not correct the stroke length of the knife body 1059. However, when the light sensed within the optical waveguide 1161 does not match the expected light within the optical waveguide 1161, the control system may shorten or extend the stroke length of the knife body 1069 so that the knife body 1059 stops at the correct location at the end of the firing stroke. In addition to or instead of the above, the control system may correct another parameter of the firing stroke based on the light sensed within the optical waveguide 1161. For example, the control system may change the speed and / or acceleration of the knife body 1059 when the sensed light intensity within the optical waveguide 1161 does not match the expected light intensity. For example, the control system can reduce the maximum speed of the knife body 1059 and / or reduce the maximum acceleration of the knife body 1059 when the sensed and expected light intensities do not match. In many cases, a slower knife body 1059 is less likely to cause unexpected damage to the stapling system that may be caused by the shifted knife body 1059. Also, for example, the control system may reduce the maximum current that can be drawn by the electric motor when the sensed and expected light intensities do not match. In such cases, the force transmitted through the knife body 1059 is reduced, reducing the likelihood of unexpected damage to the stapling system. In certain cases, the control system may correct the time between operating steps or pause when a discrepancy is detected.In at least one instance, the control system can increase a pause between, for example, clamping an end effector and performing a staple firing stroke.

[0062] FIGS. 4-6 depict a surgical instrument assembly 1200 comprising a sensing system configured to sense parameters of an operating member of the surgical instrument assembly 1200. The surgical instrument assembly 1200 is similar in many respects to the surgical instrument assemblies 1000, 1100 discussed above. The surgical instrument assembly 1200 comprises a sensing system 1260 configured to sense parameters of the operating system 1050. The sensing system 1260 includes a proximal end 1263 fixed to a proximal frame portion 1031 (distal of the articulation joint 1020) of the end effector assembly 1030 relative to the operating system 1050, and a distal end 1265 fixed directly to the knife body 1059, and includes a stretchable optical waveguide 1261. The sensing system 1260 further includes an electrical connection 1280 attached to the sensing system 1260 configured to transmit a signal to a control circuit. The stretchable optical waveguide 1261 does not extend across the articulation joint 1020. The stretchable optical waveguide 1261 is configured to extend as the knife body 1059 is moved through a firing stroke. The knife body 1059 is configured to pull on the stretchable optical waveguide 1261 and extend the stretchable optical waveguide 1261 as the second operating member 1055 advances distally through a firing stroke.

[0063] FIG. 4 illustrates the extensible optical waveguide 1261 in its home configuration, indicating that the knife body 1059 is in its home position 1271. In at least one instance, the extensible optical waveguide 1261 is held under tension in its home configuration. FIG. 5 illustrates the extensible optical waveguide 1261 in its extended configuration, indicating that the knife body 1059 is in its stroke end position 1275. FIG. 6 illustrates the surgical instrument assembly 1200 in an articulating motion configuration where electrical connections are bent around the joint to accommodate the articulating motion. As seen in FIG. 6, the extensible optical waveguide 1261 is not affected by the joints of the end effector assembly 1030.

[0064] In at least one instance, the control circuit is configured to determine when the knife body 1059 reaches position 1273 (FIG. 4). Once the knife body 1059 reaches position 1273, the control circuit may dynamically shut off the motor driving the knife body 1059 to prevent the knife body 1059 from colliding with the end of the end effector assembly 1030. Such a collision can cause damage to the knife body 1059 and / or components within the surgical instrument assembly 1200, and can cause it to suddenly stop and / or become inoperable. In at least one instance, the control system may dynamically brake the knife body 1059 using a pulse width modulation (PWM) circuit that shortens the voltage pulses applied to the electric motor. In other instances, for example, a frequency modulation (FM) circuit may be used. In a particular instance, the magnitude of the voltage applied to the electric motor decreases. In some instances, the control system may apply reverse polarity pulses to the electric motor to slow down the firing stroke. In any case, the information provided to the control system by the waveguide 1261 enables the control system to determine when to initiate the braking process. In at least one instance, the staple firing stroke is 60 mm in length, and for example, the control system is configured to initiate its braking routine at the 50 mm location of the staple firing stroke. If the control system detects that the light intensity detected by the waveguide 1261 does not match the predicted light intensity for a given distance within the staple firing stroke, the control system may initiate its braking process earlier than, for example, 50 mm.

[0065] In addition to the above, the control system may be configured to evaluate whether the measured light within the waveguide is within a particular tolerance range. In such an instance, the control system will determine, based at least on this type of measurement, that a match has occurred and that the firing stroke characteristics will not be changed. However, if the measured light is outside the tolerance range, the control system may modify the firing strike as described herein.

[0066] The extensible optical waveguide 1261 is configured to extend within the channel in the first jaw 1032 as the knife body 1059 is advanced. Embodiments are contemplated where the extensible optical waveguide 1261 is positioned to extend within the second jaw 1033. In at least one instance, the extensible optical waveguide 1261 can be used to determine the position of the first jaw 1032 relative to the second jaw 1033. For example, in a surgical stapling end effector assembly, the knife body 1059 is used to clamp the first jaw 1032 relative to the second jaw 1033. In such an assembly, the longitudinal movement of the knife body 1059 can also determine the clamped state of the end effector assembly 1030. Another example can involve a separate clamp actuator, however, when the end effector assembly is clamped, the knife body 1059 is slightly pulled and / or pushed forward to a position ready for firing. This movement caused by the clamp actuator can be detected by the extensible optical waveguide 1261.

[0067] Figures 7A and 7B depict a surgical instrument assembly 1300 configured to detect parameters of an operating member of the surgical instrument assembly 1300. The surgical instrument assembly 1300 includes a hollow shaft 1310, an operating member 1320 such as a firing member, and a sensing system 1330 configured to sense parameters such as the movement of the operating member 1320. The sensing system 1330 includes a plurality of optical emitters 1331 oriented perpendicular or at least substantially perpendicular to the operating member 1320 and mounted to the hollow shaft 1310, and a plurality of windows 1321 defined in the operating member 1320 configured to allow light emitted by the optical emitters 1331 to pass therethrough and a plurality of optical sensors or receivers 1333 mounted to the hollow shaft 1310 and configured to detect the light emitted by the optical emitters 1331.

[0068] When the actuating member 1320 translates within the hollow shaft 1310, the optical sensor 1333 detects a change in the presence of light caused by the window 1321. This change in the presence of light corresponds to the movement of the actuating member 1320. Providing a plurality of optical sensors 1333 longitudinally along the shaft 1310 enables detection of changes in the presence of light along the length within the shaft 1310. The control circuit can monitor the signals of each optical sensor and determine the exact position of the actuating member 1320. The control circuit can further monitor these signals over time to determine other parameters such as, for example, the speed and acceleration of the actuating member 1320.

[0069] In at least one instance, the optical sensor 1333 includes a photodiode. In at least one instance, the light emitter 1331 includes an LED. Any suitable optical sensor and / or light emitter can be used. Further, any suitable combination of optical sensors and light emitters can be used. In at least one instance, detection of the presence of light is used alone to determine the position of the actuating member 1320. In at least one instance, detection of light intensity is used to determine the position of the actuating member 1320. The light intensity can be varied by arranging the plurality of windows 1321 in a specific pattern, with some patterns allowing a first amount of light to pass through and other patterns allowing a second amount of light different from the first amount of light to pass through. Such a sensing system that utilizes light can provide a higher degree of reliability in an aqueous environment. For example, detection of the presence of light can be more reliable when body fluids and / or debris may be present within the range of the sensing system 1330.

[0070] Referring further to FIGS. 7A and 7B, the control circuit can compare the position of the actuating member 1320 detected by the sensing system 1330 with the expected position of the actuating member 1320 detected by a motor encoder that drives the actuating member 1320. Adjustments to the motor control program can be made and / or a warning indicating that there is a variation between the outputs of each detection system can be sent to the user.

[0071] In various instances, one or more parameters of a drive member within a surgical instrument assembly can be sensed using a resistive material that is stretchable in a manner similar to the stretchable optical waveguide discussed above.

[0072] FIG. 8 depicts a surgical instrument assembly 1400 including a shaft 1410, an actuating member 1420, and a sensing system 1430 configured to sense a parameter such as displacement of the actuating member 1420. The sensing system 1430 includes a first Hall effect sensor 1431 positioned with the shaft 1410, a second Hall effect sensor 1433 positioned with the shaft 1410, and a magnet 1435 attached to the actuating member 1420. The first Hall effect sensor 1431 is proximal to the second Hall effect sensor 1433. The magnet 1435 is configured to alter a magnetic field surrounding the first Hall effect sensor 1431 and the second Hall effect sensor 1433 such that a control circuit can determine the position of the actuating member 1420.

[0073] FIG. 9 is a graph 1401 of the position of the actuating member 1420 relative to the motor position. The motor position can be detected, for example, using an encoder. FIG. 10 is a graph 1402 of the expected voltages of the Hall effect sensors 1431, 1433 relative to the motor position. FIG. 11 is a graph 1403 that includes graphs 1401, 1402, and the actual readings of the Hall effect sensors 1431, 1433 during the actuation stroke. The actual readings of the Hall effect sensors 1431, 1433 are different from the expected readings of the Hall effect sensors 1431, 1433. This can be due to, for example, wear of the components. Since the actual readings of the Hall effect sensors 1431, 1433 are different from the expected readings of the Hall effect sensors 1431, 1433, the control circuit can detect this difference and adjust the motor control program that actuates the actuating member 1420 to correct the position of the actuating member 1420 relative to the sensing system 1430 and / or otherwise modify the operation of the motor control program. In various cases, the motor control program can slow down the actuating member 1420, shorten the stroke of the actuating member 1420, and / or reduce, for example, the maximum current that can be drawn by the electric motor. In certain cases, the control system can correct the time between operating steps or pause when a discrepancy is detected. In at least one case, the control system can increase the pause between, for example, clamping the end effector and performing the staple firing stroke. In addition to or instead of the above, the control circuit can ignore the sensing system 1430 and rely only on the motor encoder when the expected reading is different from the actual reading.

[0074] In various embodiments, in addition to the above, the distance between Hall effect sensors 1431 and 1433 is fixed and known to the control system of the surgical instrument. In many cases, magnet 1435 will simultaneously disrupt the magnetic fields generated by Hall effect sensors 1431 and 1433. If magnet 1435 is closer to Hall effect sensor 1431 than to Hall effect sensor 1433, for example, the disruption detected by Hall effect sensor 1431 can be greater than the disruption detected by Hall effect sensor 1433. In at least one case, the relative disruptions detected by Hall effect sensors 1431 and 1433 can be used by the control system to determine and verify the position of the actuating member 1420. If one or both of these sensors produce an output that does not match the expected output for a given output of the electric motor, the control system can enter a correction state in which the data input stream is prioritized.

[0075] In at least one instance, the control circuit is configured to monitor the movement of the motor and the movement of an actuator configured to be actuated by the motor. The control circuit is configured to compare the monitored movements and take measures accordingly. FIG. 12 is a graph illustrating the relationship between the motor and an actuator configured to be actuated by the motor. The control circuit is configured to move the actuator through a stroke of, for example, 60 mm, although any suitable stroke length may be used. For example, a stroke of 30 mm or 45 mm may be used. The movement of motor 1510 is directly monitored by a motor encoder. The movement of actuator 1520 is directly monitored by any suitable sensing system, such as those discussed herein. In this instance, the movement of the actuator is sensed by a stretchable optical waveguide. Graph 1510 illustrates the sensed movement of the motor by the motor encoder over time. This measurement is local to the motor. Graph 1520 illustrates the sensed movement of the actuator by the stretchable optical waveguide over time. This measurement is local to the actuator. In at least one instance, the actuator is downstream of one or more modular attachment locations within a modular surgical instrument system. For example, a first measurement value may be obtained at a first component of the modular instrument system, while a second measurement value may be obtained at a second component attached to the first component, and the attachment between the first and second components is direct or indirect.

[0076] The control circuit is configured to operate a motor to actuate an actuator. At position A, the control circuit determines that the motor has been actuated by a specific amount corresponding to an expected 50 mm movement of the actuator. As seen at position A, since the extensible optical waveguide does not further sense the 50 mm movement, the actuator has not moved the expected 50 mm. At position B, the actuator is sensed to have moved 50 mm by the extensible optical waveguide, and the motor has been actuated more than a specific amount corresponding to the expected 50 mm movement of the actuator. This new amount seen at position D is recorded by the control circuit and can be used to calibrate the motor control program so that this new amount of motor movement corresponds to the expected 50 mm movement of the actuator from this point forward. This data can also simply be recorded and considered in subsequent operations.

[0077] Once the actual movement of the actuator is sensed at the 50 mm location (B), the control circuit is configured to extrapolate a new 60 mm target (E). At such a point, the control circuit is configured to recalibrate the 50 mm and 60 mm targets for motor movement. Once the new targets D and E are recorded, the control circuit can operate the motor until the sensed movement of both the motor and the actuator reaches the targets (C, E). This calibration can be performed for each modular fixture and for each operation of the surgical instrument fixture. The control circuit is configured to compensate for variable operation that may be caused, for example, by drive train slop, backlash, and / or wear.

[0078] In at least one instance, for example, the motor's default parameters, such as the inertia of the rotor, can be measured and / or calibrated as part of the initial assembly of the modular fixture to the motor. Such parameters can be measured during a dynamic shutoff event, which decelerates the motor to prevent unintended excessive stress on components as the actuating member approaches a stroke end position (such as the start or end of a stroke). Such parameters can also be measured during motor acceleration (such as the start of a stroke and / or resumption of a stroke). During such events, the control circuit can utilize the motor encoder to monitor the inertia of the rotor and the local sensing system within the shaft to determine the corresponding inertia of the rotor. If a difference is detected between the inertia value determined based on the motor encoder and the local sensing system within a given shaft with the given parameters, the system can adjust the dynamic braking and / or acceleration (speed, start trigger, magnitude) of the motor to have more efficient motor control by the attached surgical instrument.

[0079] In various instances, for example, a surgical instrument fixture configured to be attached to a surgical instrument control interface, such as a surgical robot, includes built-in electronics. The built-in electronics can include any suitable circuit elements, such as sensors, printed circuit boards, processors, and / or batteries. Referring now to FIGS. 13-15, a surgical instrument assembly 2000 is depicted. The surgical instrument assembly 2000 includes a shaft 2010, a joint 2011, and an end effector 2020 attached to the shaft 2010 by the joint 2011. The end effector 2020 is configured to be articulately moved relative to the shaft 2010 about the joint 2011. The surgical instrument assembly 2000 further includes a joint actuator 2013 configured to articulately move the end effector 2020.

[0080] Referring further to FIGS. 13 - 15, the surgical instrument assembly 2000 further includes, for example, a first flex circuit 2030 attached to the joint actuator 2013 and a second flex circuit 2040 attached to another actuator of the surgical instrument assembly 2000 such as a firing member. The first flex circuit 2030 extends through the shaft 2010 from a proximal end where the first flex circuit 2030 can be electrically coupled to the contacts of the surgical control interface. The second flex circuit 2040 extends through the shaft 2010 from a proximal end where the second flex circuit 2040 can also be electrically coupled to the contacts of the surgical control interface.

[0081] The first flex circuit 2030 includes a non - stretchable zone 2031 and a stretchable zone 2035. The stretchable zone 2035 includes stretchable printed copper attached to the printed circuit board 2033 at both ends of the stretchable zone 2035. The printed circuit board 2033 can be attached to the first flex circuit 2030 at a proximal location and to the joint actuator 2013 at a distal location. The non - stretchable zone 2031 is configured to act as a normal flex circuit, and the stretchable zone 2035 is configured to elastically extend within the shaft 2010. The first flex circuit 2030 can be connected to various sensors positioned on, for example, the joint actuator 2013 and configured to measure parameters of the joint actuator 2013. The stretchable zone 2035 is configured to be elongated as the joint actuator 2013 is moved through its joint stroke, while maintaining the electrical connection between the sensors of the joint actuator and the upstream electrical circuitry.

[0082] The second flexible circuit 2040 includes a non-stretchable zone 2041 and a stretchable zone 2045. The stretchable zone 2045 includes stretchable printed copper attached to the printed circuit board 2043 at both ends of the stretchable zone 2045. The printed circuit board 2043 is attached to the second flexible circuit 2040 at a proximal location and is attached to the firing member at a distal location across the articulation joint 2011. The non-stretchable zone 2041 is configured to act as a normal flexible circuit, and the stretchable zone 2045 is configured to elastically extend within the shaft 2010 across the articulation joint 2011. In this instance, the stretchable zone 2045 may be referred to as the articulation section of the second flexible circuit 2040. The second flexible circuit 2040 may be connected to various sensors positioned on and / or within the end effector 2020 that are configured to measure one or more parameters of the end effector, for example. The stretchable zone 2045 is configured to extend as the end effector 2020 is articulated about the articulation joint 2011, while maintaining an electrical connection between the sensors of the end effector 2020 and / or the firing member and the upstream electrical circuitry. The stretchable zone 2045 is also configured to stretch or elongate as the firing member is advanced within the end effector 2020, since the second flexible circuit 2040 is to be attached directly to the firing member.

[0083] In at least one instance, the first flexible circuit 2030 and the second flexible circuit 2040 are elastically recombined and configured to elastically assume a neutral non-extended configuration. Once in the neutral configuration, the first flexible circuit 2030 and the second flexible circuit 2040 can be extended again upon actuation of various actuators within the surgical instrument assembly 2000.

[0084] In at least one instance, the stretchable zone includes a flexible conductive ink and the non-stretchable zone includes a conductive metal trace.

[0085] In at least one instance, a configuration is provided that ensures that after a load that has extended the stretchable zone is relaxed, the stretchable zone returns to its proper neutral configuration. FIGS. 16-18 depict a flex circuit 2100 that includes a non-stretchable zone 2110 and a stretchable zone 2120 positioned between non-stretchable zones 2110. The stretchable zone 2120 includes a plurality of elastic struts, or connection, members 2130 that attach portions of the flex circuit 2100 within the stretchable zone 2120 together. FIG. 16 illustrates the stretchable zone 2120 in a relaxed state. In such a state, the elastic strut members 2130 of the flex circuit 2100 and the stretchable zone 2120 are in a neutral unloaded state. In at least one instance, the elastic strut members 2130 are configured to be in tension in the neutral unloaded state. Once the stretchable zone 2120 is extended (FIG. 17), the elastic strut members 2130 also extend in the same direction and orientation as the stretchable zone 2120 is extended. In this extended state, the elastic strut members 2130 can carry at least some of the force load and ensure the integrity of the stretchable zone 2120 by controlling the relative positioning of the zones. When the load extending the stretchable zone 2120 is relaxed, the stretchable zone 2120 can be urged by the elastic strut members 2130 back to its original neutral unloaded state (FIG. 18). In at least one instance, the elastic strut members 2130 can be used to ensure that the stretchable zone 2120 is not overextended.

[0086] As seen in FIGS. 16-18, the elastic strut members 2130 are oriented in the same direction along a predetermined elongation direction. The elastic strut members 2130 can include materials and structures designed to extend only in the elongation direction intended to enhance the predictability of the elastic strut members 2130. In at least one instance, the elastic strut members 2130 are oriented in a cross configuration. Such a configuration can increase the tensile force provided by the elastic strut members 2130.

[0087] In at least one instance, as described in more detail herein, a stretchable zone of a flex circuit can be used to measure parameters of an actuator. For example, the stretchable zone can be attached to a fixed location and the actuator such that when the actuator is actuated, the actuator extends the stretchable zone. For example, a sensor arrangement such as a Hall effect sensor positioned on a fixed fixture, or graduations, locations, and magnets positioned at an actuator attachment location can be used to measure, for example, displacement of the actuator as the actuator moves through its actuation stroke.

[0088] In various instances, a surgical instrument assembly includes a flex circuit attached to a fixed location of a shaft of the surgical instrument assembly and one or more locations of an operating member of the surgical instrument assembly. The flex circuit can include one or more segments extending from a portion fixed to the shaft that wrap around the shaft in a coiled pattern. One segment wrapped around the shaft is wrapped around the shaft one-half turn more than the other segment such that it extends in an opposite direction from the other segment. The flex circuit is spring-biased in the coiled pattern. The flex circuit is configured to be pulled by an actuator to unwind relative to the shaft and extend along the length of the shaft. When the load on the flex circuit is relaxed, the flex circuit is configured to re-wrap itself around the shaft in its coiled pattern. In at least one instance, the shaft is configured to translate to operate the function of the surgical instrument assembly. In various instances, the shaft is rotatable and / or articulable, and in other instances, the shaft is fixed.

[0089] In various instances, joints within a surgical instrument assembly, such as articulating joints and / or rotational joints where multiple drive members are interconnected, include means for protecting wiring harnesses and / or flex circuits that extend through and / or around the joint. The wiring harness is protected from stresses and strains induced throughout the full range of motion of the joint. In at least one instance, the wiring harness includes a pre-bent section that extends through the articulating joint. In such an instance, the pre-bent section is formed in a manner that anticipates how the wiring harness will react as the end effector is articulated about the articulating joint.

[0090] Figures 19 and 20 depict a surgical instrument assembly 2200 comprising a shaft 2201 and a flex circuit, or wiring harness 2210, that extends through the shaft 2201. The flex circuit 2210 includes a pre-bent section 2220 configured to be positioned near a joint within the surgical instrument assembly 2200. In at least one instance, the pre-bent configuration of the pre-bent section 2220 provides slack in a manner that accommodates bending of components around the joint near which the pre-bent section 2220 is positioned. In at least one instance, the pre-bent section 2220 provides space for components. In at least one instance, the pre-bent section 2220 includes one or more portions secured to components of the surgical instrument assembly 2200 at and / or near the joint. In at least one instance, the pre-bent section 2220 is configured to be bent or flexed by the components to which it is attached as the components are actuated within the surgical instrument assembly 2200.

[0091] As shown in FIG. 20, the pre-bent section 2220 of the flex circuit 2210 is within a plurality of flex circuit profile planes 2221. The flex circuit profile planes are considered to be planes defined by the substrate layer of the flex circuit itself. In at least one instance, the flex circuit 2210 is configured to bend substantially only within the flex circuit bending plane. As shown in FIGS. 19 and 20, the pre-bent section 2220 of the flex circuit 2210 includes a plurality of bends within the flex circuit bending plane. In at least one instance, the flex circuit 2210 may bend slightly outside of the flex circuit bending plane.

[0092] FIGS. 21 and 22 depict a surgical instrument assembly 2300 comprising a shaft 2301 and a flex circuit or wiring harness 2310 extending through the shaft 2301. The flex circuit 2310 includes a pre-bent section 2320 configured to be positioned near a joint within the surgical instrument assembly 2300. In at least one instance, the pre-bent configuration of the pre-bent section 2320 provides slack in a manner that accommodates bending of components around the joint near which the pre-bent section 2320 is positioned. In at least one instance, the pre-bent section 2320 provides space within the shaft for other components within the shaft. In at least one instance, the pre-bent section 2320 includes one or more portions fixed to components of the surgical instrument assembly 2300 at and / or near the joint. In at least one instance, the pre-bent section 2320 is configured to be bent or flexed by the component to which it is attached when the component is actuated within the surgical instrument assembly 2200.

[0093] As seen in FIG. 22, the pre-bent section 2320 of the flex circuit 2310 lies within a plurality of flex circuit profile planes 2321. The flex circuit profile planes are considered to be planes defined by the substrate layer of the flex circuit itself. In at least one instance, the flex circuit 2310 is configured to bend substantially only within the flex circuit bending plane. As seen in FIGS. 21 and 22, the pre-bent section 2320 of the flex circuit 2310 includes a plurality of bends within the flex circuit bending plane. In at least one instance, the flex circuit 2310 may bend slightly outside of the flex circuit bending plane.

[0094] Referring further to FIGS. 21 and 22, the flex circuit 2310 includes an off-centered section 2323 that includes a section of the flex circuit that is laterally off-center from the shaft axis. Such an orientation may provide space within the shaft for other shaft components in a particular area. In this instance, the pre-bent section 2320 is offset from the shaft axis to bypass the on-centered driver 2303. For example, various surgical instrument systems, such as a surgical stapling end effector, require an on-centered drive system due to the high operating loads required to fire the surgical stapling end effector. In such a system, the off-centered flex circuit 2310 may provide space for such an on-centered drive system.

[0095] Figures 23 and 24 depict a surgical instrument assembly 2400 that includes a shaft 2401 and a flex circuit or wiring harness 2410 that extends through the shaft 2401. The flex circuit 2410 includes a pre-curved section 2420. In at least one instance, the pre-curved section 2420 is configured to be positioned near a joint within the surgical instrument assembly 2400. In at least one instance, the pre-curved section 2420 provides space within the shaft for other components. In at least one instance, the pre-curved section 2420 is attached to the inner surface of the shaft 2401 such that the pre-curved section 2420 conforms to the tubular shape of the shaft 2401.

[0096] As seen in FIG. 24, the pre-curved section 2420 of the flex circuit 2410 lies within a single flex circuit profile plane 2421. In at least one instance, this single flex circuit profile plane 2421 conforms to the tubular shape of the shaft 2401. The flex circuit profile plane is considered to be the plane defined by the substrate layer of the flex circuit itself. In at least one instance, the flex circuit 2410 is configured to bend substantially only in the flex circuit bending plane. As seen in FIGS. 23 and 24, the pre-curved section 2420 of the flex circuit 2410 is shaped to bend in a flex circuit bending plane that follows the tubular shape of the shaft 2401 and crosses the flex circuit profile plane 2421. Such bending can be advantageous near a joint to control movement of the flex circuit 2410 within the shaft.

[0097] Referring further to FIGS. 23 and 24, the flex circuit 2410 includes an off-center section 2423 that includes a section of the flex circuit that is laterally offset from the center with respect to the longitudinal axis of the shaft. Such positioning can provide space for other shaft components in a particular area. In this case, the pre-curved section 2420 is offset with respect to the shaft axis to bypass the on-center driver 2403. For example, various surgical instrument systems, such as a surgical stapling end effector, often require an on-center drive system, i.e., a drive system oriented along the longitudinal axis of the shaft, due to the high operating loads required to fire a surgical stapling end effector. The flex circuit 2410 can provide space for such an on-center drive system. In at least one case, a flex circuit for use in a shaft of a surgical instrument assembly is configured to bend in multiple planes and directions corresponding to the bending planes of the joints and / or components of the surgical instrument assembly.

[0098] In at least one case, the flex circuit is fabricated with pre-bent and / or pre-curved sections such that the pre-bent and / or pre-curved sections do not need to be bent or curved into this configuration during use. In various cases, the pre-curved section includes a portion of the flex circuit that is in a curved configuration when the flex circuit is not under load. Under load, the pre-curved section can further curve and / or straighten.

[0099] Figures 25-27 depict a surgical instrument assembly 2500 comprising a shaft 2510, an articulation joint 2530, and an end effector 2520 attached to the shaft 2510 by the articulation joint 2530. The end effector 2520 is configured to articulate relative to the shaft 2510 having an articulation link 2533 coupled to an articulation driver 2531. The articulation link is connected to the shaft 2510, the end effector 2520, and the articulation driver 2531. When the articulation driver 2531 is actuated, the end effector 2520 is rotated about an articulation axis AA by the articulation link 2533.

[0100] The surgical instrument assembly 2500 further comprises a flex circuit 2540 that extends within the end effector 2520 through the articulation joint 2530. The flex circuit 2540 can be used for any suitable electrical connection distal to the articulation joint 2530. In at least one instance, the flex circuit 2540 includes attachment points secured within the shaft 2510 and the end effector 2520. In various instances, the flex circuit includes a substantial width and needs to be routed through various moving components. The flex circuit 2540 includes a pre-bent section 2541 routed through the articulation joint 2530 of the surgical instrument assembly 2500. The flex circuit 2540 extends through the articulation link 2533 and includes an attachment portion 2543 attached to the articulation driver 2531. When the end effector 2520 articulates about the articulation axis AA, the pre-bent section 2541 conforms to the movement of the articulation link 2533, the end effector 2520, the articulation driver 2531, and the shaft 2510. The articulation driver 2531 is configured to guide the pre-bent section 2541 into a suitable configuration by the attachment portion 2543 when the end effector 2520 articulates about the articulation axis AA. The pre-bent section 2541 allows slack or slop proximal and distal to the attachment portion 2543 to prevent any possible strain on the flex circuit 2540.

[0101] In at least one instance, the flex circuit 2540 includes one or more S-shaped portions. In at least one instance, one or more bends of each S-shaped portion are secured to a moving component of the surgical instrument assembly 2500. In at least one instance, the flex circuit 2540 includes a plurality of resilient strut members configured to bias a pre-bent section 2541 to its neutral pre-bent configuration as seen in FIG. 27 when the end effector 2520 is not in an articulated position. A flex circuit having an integrated moving component support location can provide a higher degree of stability through regions of the surgical instrument assembly that include moving regions such as hinge joints, for example.

[0102] FIGS. 28-30 depict a surgical instrument assembly 3000 that includes an end effector 3001, a firing member 3010, and a sensing system 3030 configured to sense parameters of the firing member 3010. The end effector 3001 includes a staple cartridge 3020 that includes a plurality of staples stored therein. The staple cartridge 3020 includes a longitudinal slot 3021 configured to receive the firing member 3010 therein, a tissue support surface, or deck 3023, a proximal end 3025, and a distal end 3027. The firing member 3010 is configured to eject staples and cut patient tissue compressed against the deck 3023 during a staple firing stroke as the firing member is advanced from the proximal end 3025 to the distal end 3027. The firing member 3010 includes a cutting edge 3011, a lower cam member 3013 configured to engage a lower jaw of the end effector 3001, and an upper cam member 3014 configured to engage an upper jaw of the end effector 3001.

[0103] The sensing system 3030 is configured to sense parameters such as, for example, the displacement of the firing member 3010 as the firing member 3010 moves within the end effector 3001. The sensing system 3030 includes a magnet 3031, a proximal sensor 3033 positioned on the tissue support surface 3023 at the proximal end 3025 of the staple cartridge 3020, and a distal sensor 3035 positioned on the tissue support surface 3023 at the distal end 3027 of the staple cartridge 3020, and a plurality of sensors. The sensors 3033, 3035 include Hall effect sensors, although any suitable sensors may be used. The magnet 3031 is positioned at the front portion of the firing member 3010. As the firing member moves through the firing stroke, the signals of the sensors 3033, 3035 are configured to vary as the magnet 3031 moves toward and away from the sensors 3033, 3035. These signals can be used by a control circuit to interpret parameters of the firing member 3010 such as, for example, displacement, velocity, and / or acceleration. The magnet 3031 includes a proximal limit 3041 (FIG. 29) adjacent to the sensor 3033 and a distal limit 3043 (FIG. 30) adjacent to the sensor 3035.

[0104] In at least one instance, the threads of a surgical stapling assembly are monitored using, for example, Hall effect sensors and magnets. Any suitable movable actuating member can be sensed within a surgical instrument assembly using the sensing system 3033. For example, a translational member within a bipolar energy surgical instrument can be sensed using the sensing system 3033. In at least one such embodiment, the translational member includes, for example, a tissue cutting knife.

[0105] In at least one instance, the sensing system 3033 is utilized in conjunction with a control circuit configured to adjust the motor control program. For example, the sensing system 3033 may detect that the firing member 3010 has not moved the expected distance as compared to the monitored movement of the motor while the surgical instrument assembly 3000 is in an articulating configuration. This may be due to an increased stroke length of an actuating member configured to move the firing member 3010, caused by the actuating member being articulated around a joint. In such an instance, the control circuit is configured to adjust the motor control program to compensate for the increased stroke length caused by the articulation of the surgical instrument assembly 3000. In at least one instance, wear of components may cause a loss of stroke length within the actuation system. In such an instance, the control circuit is configured to adjust the motor control program to compensate for the loss of stroke length such that a complete staple firing stroke may ultimately be completed.

[0106] Figures 31-33 depict a surgical instrument assembly 3100 including an end effector jaw 3101 that includes a staple cartridge channel 3110 configured to receive a staple cartridge 3140 therein and a sensing system 3130 configured to measure parameters of the surgical instrument assembly 3100. The staple cartridge channel 3110 includes a proximal end 3113, a distal end 3115, and a slot 3111 extending between the proximal end 3113 and the distal end 3115 configured to receive a portion of a firing member therein. The staple cartridge channel 3110 further includes a bottom 3117 configured to support the bottom of the staple cartridge 3140.

[0107] The sensing system 3130 is configured to monitor the pressure applied to the staple cartridge 3140. The sensing system 3130 includes a first set 3131A of sensors positioned on a first side of the slot 3111 on the bottom 3117 of the cartridge channel 3110 and a second set 3131B of sensors positioned on a second side of the slot 3111 on the bottom 3117 of the cartridge channel 3110, the plurality of pressure sensors including. In at least one instance, the pressure sensors can be positioned on both sides of the cartridge channel, in addition to or instead of, sensors positioned on the bottom 3117 of the cartridge channel 3110. In at least one instance, the anvil jaw can include a pressure sensor configured to detect the pressure applied to the anvil jaw. In at least one instance, a pressure-sensitive cloth and / or conductive thread can be placed on the bottom 3117 of the cartridge channel 3110. In at least one instance, a Velostat sensor can be used, although any suitable sensor may be used.

[0108] The sensing system 3130 is configured to detect the pressure between the staple cartridge 3140 and the cartridge channel 3110. The sensors 3131A, 3131B are connected to a flex circuit 3120 configured to communicate the signals of the sensors 3131A, 3131B to the control circuit of the surgical instrument assembly 3100. The sensing system 3130 is configured to measure the pressures corresponding to each side of the staple cartridge 3140, as well as the pressures corresponding to the proximal end 3141 and the distal end 3143 of the staple cartridge 3140. The control circuit is configured to monitor the pressures sensed by the sensors 3131A, 3131B. In at least one instance, the control circuit is configured to geographically map the pressure profile sensed by the sensing system 3130 to the user in real time. Such a pressure profile can be, for example, displayed to the user. In at least one instance, the control circuit is configured to automatically adjust the motor control program of the firing member based on the signals received from the pressure sensors 3131A, 3131B. In many cases, the tissue compressed between the anvil jaw and the staple cartridge 3140 is not uniformly compressed, creating a non-uniform pressure profile within the tissue, which in some instances can affect the staple formation process. The sensors 3131A, 3131B are positioned and arranged to provide data regarding the pressure profile within the tissue to the control system. For example, the control system can evaluate whether the tissue is thicker on the first side of the end effector compared to the second side of the end effector. In at least one such instance, the control system is configured to decelerate the staple firing stroke when the difference between the pressure on the first side and the pressure on the second side exceeds a threshold value. In such an instance, a slower staple firing stroke can result in better staple formation.

[0109] Figures 34 - 37 illustrate a surgical instrument assembly 3200 comprising a handle 3210, a shaft assembly 3220 extending from the handle 3210, and an end effector 3240 extending from the shaft assembly 3220. The handle 3210 includes a plurality of actuators 3213 configured to be actuated by a user and a holdable portion 3211 configured to be held by a user. The actuators 3213 are configured to actuate one or more actuating members within the shaft assembly 3220 to actuate the functions of the end effector 3240.

[0110] The surgical instrument assembly 3200 further comprises a sensing system configured to detect parameters of a shaft component 3230 extending through an outer shaft 3221 of the shaft assembly 3220. The shaft component 3230 has a plurality of apertures 3231 defined therein and configured to slidably receive actuating members therein. In at least one instance, the shaft component 3230 is configured to receive a load during operation of one or more actuation systems within the surgical instrument assembly 3200. Any suitable component may be sensed by the sensing system. For example, a firing actuator, a closure actuator, and / or an articulation actuator may be sensed by such a sensing system. The sensing system includes a flex circuit 3250 and a sensor 3253 extending from a sensor region 3251 of the flex circuit 3250. The sensor 3253 may include, for example, a strain gauge, although any suitable sensor may be used. In at least one instance, the flex circuit 3250 extends to the end effector 3240 where additional sensors are positioned and connected to the flex circuit 3250. The shaft component 3230 includes a channel 3233 defined therein and within which the flex circuit 3250 is positioned.

[0111] In many cases, measurements of the tensile and compressive forces and / or strains transmitted through the drive member are more reliable when measured towards the central axis of the drive member as opposed to the outer periphery of the drive member. Stated another way, the necking of the shaft component can also provide more localized stress and strain concentrations. For this purpose, sensor 3253 is mounted on the necked portion 3235 of shaft component 3230. The region including such necking will result in amplified strain at the necked portion 3235 even with a small load applied to the shaft component 3230, thus providing a more reliable region for the sensor to measure the load applied to the shaft component 3230. As seen in FIG. 35, the shaft component 3230 is unloaded and the necked portion 3235 includes a first width, and the shaft component 3230 includes a first length. In FIG. 36, a load is applied to the shaft component 3230 and the necked portion 3235 elongates, resulting in a necked portion 3235 that includes a second width greater than the first width and a shaft component 3230 that includes a second length greater than the first length. In at least one case, the elongation of the shaft component 3230 can be determined by a control circuit that interprets the change in the strain value received from the sensor 3253 when the shaft component 3230 is loaded and unloaded.

[0112] In various cases, the sensor 3253 does not change the overall shape and / or characteristics of the shaft component 3230. In at least one case, the flex circuit and / or the sensor 3253 is embedded in a recess of the shaft component 3230 such that the overall dimensions of the shaft component 3230 are not changed by the flex circuit and / or the sensor 3253. For example, the thickness of the flex circuit and / or the sensor 3253 is less than or equal to the depth of the recess. Such an arrangement allows the structural component to maintain its integrity while its characteristics are locally monitored within the shaft assembly 3220.

[0113] In at least one instance, strain gauges extending from a flex circuit are attached to several different components within a shaft assembly. In at least one instance, a portion of the flex circuit extending through the shaft assembly is primarily inextensible, and another portion of the flex circuit is extensible. In various instances, the primarily inextensible portion has a higher modulus of elasticity than other portions of the flex circuit. In at least one instance, the modulus of elasticity of the primarily inextensible portion is, for example, 10 times higher than the modulus of elasticity of other portions of the flex circuit. In at least one instance, the modulus of elasticity of the primarily inextensible portion is, for example, 100 times higher than the modulus of elasticity of other portions of the flex circuit. In at least one instance, the extensible portion of the flex circuit is used to sense parameters of components of the shaft assembly. In at least one instance, the extensible portion of the flex circuit includes a substrate material that is thinner than the substrate material forming the inextensible portion. In at least one instance, the substrate material used for the extensible portion of the flex circuit is different from the substrate material of the inextensible portion of the flex circuit. In at least one instance, conductors within the flex circuit are used as resistance elements for sensing elongation. Such conductors can be used, for example, to measure parameters of structural components within the shaft assembly and / or end effector. In at least one instance, the force received by the sensed structural member is proportional to the strain received by the sensed structural member and can be detected using any of the methods disclosed herein.

[0114] In at least one instance, the stretchable portion of the flex circuit used to detect parameters of a structural member within a shaft assembly includes a length that extends over the entire length of the structural member itself so as to maintain a uniform elongation along the length of the structural member. For example, if only a portion of the structural member is in contact with the stretchable portion of the flex circuit, that portion can be reinforced by additional material of the stretchable portion of the flex circuit, which can unintentionally vary the sensor readings within that region relative to regions not in contact with the stretchable portion of the flex circuit. In at least one instance, this is avoided by covering the entire length of the structural member with a stretchable flex circuit portion. In at least one instance, the stretchable flex circuit portion is used to reinforce a portion of the structural member that will be sensed.

[0115] In at least one instance, the structural member that will be sensed includes features for concentrating the forces received by the structural member, for directing the forces received by the structural member in a particular direction, and / or for amplifying the loads received by the structural member over its length. In various instances, directing and / or amplifying the flow of strain through a drive member can be achieved by a change in the cross-section and / or geometric shape of the drive member.

[0116] In at least one instance, the strain received by a structural component of a shaft assembly due to bending can be sensed by a strain gauge positioned at a location farthest from the axis of bending. Positioning such an integrated flex circuit strain gauge can amplify the detectable stress on the bending structural component. In at least one instance, this location is created artificially. Artificially created fins can extend from the structural component, and the fins create a location farther from the axis of bending of the structural component than any portion of the structural component itself.

[0117] In at least one instance, the control circuit is configured to monitor parameters of structural components that will be sensed by a sensing system within the shaft assembly and is configured to adjust the operation of the surgical instrument assembly in any suitable manner, including those disclosed herein.

[0118] In various instances, sensing of local displacements of shaft components within the shaft assembly of a surgical instrument assembly can be used to determine the start and end of the stroke of the sensed component. FIGS. 38-40 depict a surgical instrument assembly 3300 comprising a shaft 3310, an articulation joint 3330, and an end effector 3320 pivotally coupled to the shaft 3310 about the articulation joint 3330. The surgical instrument assembly 3300 further comprises a sensing system 3340 configured to monitor the displacement of an articulation actuator 3311 configured to articulate the end effector 3320 relative to the shaft 3310 about an articulation axis AA.

[0119] The articulation joint 3330 includes a first articulation link 3331 connected to the articulation actuator 3311 and the shaft 3310, and a second articulation link 3333 connected to the first articulation link 3331 and the end effector 3320. The articulation actuator 3311 is configured to be advanced and retracted longitudinally within the shaft 3310 to pivot the end effector 3320 about the articulation axis AA. The first articulation link 3331 is pivotally coupled to the shaft 3310, the articulation actuator 3331, and the second articulation link 3333. The second articulation link 3333 is pivotally coupled to the first articulation link 3331 and the end effector 3320.

[0120] The sensing system 3340 includes a sensor 3341 positioned on the distal end 3313 of the joint actuator 3311, a first magnet 3343 positioned on the shaft 3310, and a second magnet 3345 positioned on the second joint link 3333. The sensor 3341 comprises a Hall effect sensor, although any suitable sensor and trigger arrangement may be used. For example, an inductive sensor arrangement may be used. The control circuit is configured to monitor the signal received by the sensor 3341 to determine the exact joint motion position of the end effector 3320 relative to the shaft 3310. As the joint actuator 3311 is moved through its joint stroke, the sensor 3341 is moved within the magnetic field altered by the magnets 3343, 3345, thereby resulting in a variation in the signal of the sensor 3341. This variation in the signal can be interpreted by comparing the signal to the expected range of signals and joint motion positions to determine the exact joint motion position of the end effector 3320 relative to the shaft 3310.

[0121] FIG. 38 illustrates the end effector 3320 in a first joint motion position where the joint actuator 3331 is actuated in a fully proximal position. In this configuration, the first magnet 3343 is at a first distance d 21 from the sensor 3341, and the second magnet 3345 is at a second distance d 11 from the sensor 3341. The control circuit is configured to determine the positions of the magnets 3343, 3345 by interpreting the signal from the Hall effect sensor 3341. This can be accomplished by comparing the signal to the expected range of signals corresponding to known operating positions as discussed above. FIG. 39 illustrates the end effector 3320 in a second joint motion position where the joint actuator 3331 is actuated in a fully proximal position. In this configuration, the first magnet 3343 is at a first distance d 22 from the sensor 3341, and the second magnet 3345 is at a second distance d 12It is. The control circuit is configured to determine the positions of the magnets 3343 and 3345 by interpreting the signals from the Hall effect sensor 3341. FIG. 40 illustrates the end effector 3320 in a non-articulated motion position. In this configuration, the first magnet 3343 is at a first distance d from the sensor 3341 23 and the second magnet 3345 is at a second distance d from the sensor 3341 13 It is. The control circuit is configured to determine the positions of the magnets 3343 and 3345 by interpreting the signals from the Hall effect sensor 3341.

[0122] The sensing system 3340 does not need to monitor the output of the joint drive system motor and can be used by the control circuit to determine the actual position of the end effector 3320 relative to the shaft 3310. In at least one instance, the control circuit is configured to automatically adjust a motor control program configured to operate the joint actuator 3311 according to a desired result based on the monitored position of the end effector 3320. For example, the user may instruct the instrument to position the end effector 3320 in a non-articulated motion configuration. The sensing system 3340 can be used to determine the actual position of the end effector 3320. If the end effector 3320 does not fully reach the desired position, the control circuit can be configured to warn the user and / or automatically adjust the motor control program to operate the joint actuator 3311 until the sensing system 3340 detects the end effector 3320 at the desired position.

[0123] For example, a sensing system such as sensing system 3340 that measures the most distal movable actuating component may provide higher accuracy compared to a sensing system that measures intermediate movable actuating components. For example, when measuring a movable actuating component upstream of the most distal movable actuating component, the sensing system may not be able to detect any slop or backlash within the system downstream of the sensed intermediate component. Measuring the most distal movable actuating component of the drive system ensures that all variations within the drive system are detected and can thus, for example, be compensated for. In at least one instance, the second magnet 3345 is positioned on the end effector 3320 itself.

[0124] In at least one instance, the inertia and / or friction of the kinematic system within the surgical instrument assembly is configured to be monitored. In at least one instance, the control circuit is configured to adjust a motor control program corresponding to the monitored kinematic system. In at least one instance, the adjustment can be implemented, for example, to minimize an excessive load on the drive member, to eliminate an impact event of the drive member, and / or to ensure a full actuation stroke of the drive member.

[0125] In at least one instance, the control circuit is configured to monitor the local displacement and velocity of the drive member and the motor current of a motor configured to actuate the drive member. These parameters can be monitored during acceleration and / or braking events of the drive member to determine the inertia of the system. The control circuit can then determine whether the determined inertia is different from the expected inertia. As a result, inertia detection can be used to adjust the control program of the motor to more accurately perform such cutoff and / or acceleration events of the drive member. In at least one instance, the control circuit is configured to change the start timing of the braking cycle of the drive member based on the determined inertia of a previous braking cycle of the drive member.

[0126] In at least one instance, the control circuit is configured to prevent a high-load impact event within a surgical stapling end effector based on the monitored inertia of a firing system within the surgical stapling end effector. The control circuit may be further configured to ensure a complete operating cycle of the firing system even after adjustments to a braking cycle have been made to prevent a high-load impact event. In at least one instance, the retraction stroke also has a risk of a high-load impact event at the proximal end of the retraction stroke. In at least one instance, the control circuit is also configured to prevent a proximal-end high-load impact event.

[0127] In at least one instance, the control circuit is configured to monitor a braking start trigger event, such as, for example, a determined stroke location and / or a maximum force threshold. Both events may require braking of the drive system. The control circuit is configured to learn the braking start trigger and may prevent the drive system from reaching the braking start trigger in a subsequent firing of the drive system. In at least one instance, the braking timing is increased to avoid the braking start trigger. In at least one instance, the braking timing is decreased to avoid the braking start trigger. In at least one instance, a first test actuation may be performed within the surgical instrument assembly to determine an inertia difference within the surgical instrument assembly compared to the nominal inertia of the surgical instrument assembly.

[0128] In various instances, a control circuit is provided to monitor friction within a drive system and adjust a motor control program accordingly. For example, the closure member of a surgical instrument can be monitored as the closure member clamps a jaw within an end effector. The acceleration, velocity, and / or displacement of the closure member can be monitored to map a closure event profile each time the closure member is actuated. The control circuit is configured to adjust a motor control program to ensure that the closure event profile is as consistent as possible throughout the life of the closure member during all closure strokes. The closure system can be subject to parasitic losses and wear over time that result in variations in the closure stroke of the system. The control circuit is configured to compensate for this. In at least one instance, the control circuit is configured to adjust the closure stroke based on differences in the thickness and / or compressibility of tissue that can be monitored.

[0129] Figures 41-43 depict a stretchable sensing cloth 3400 configured to sense one or more parameters of a surgical instrument assembly. The stretchable sensing cloth 3400 includes a body portion 3410 and a plurality of sensing material locations within the body portion 3410. The plurality of sensing materials includes a plurality of sensing fibers 3420, 3430, 3440 configured to sense one or more parameters of the surgical instrument assembly. In at least one instance, the sensing fibers 3420, 3430, 3440 are configured to measure pressure, bending stress, elongation, and / or shear force. The sensing fibers 3420, 3430, 3440 include a conductive material. In at least one instance, the fibers 3420, 3430, 3440 are woven into the body portion 3410 of the stretchable sensing cloth 3400. In at least one instance, the body portion 3410 includes, for example, elastic silicone. In at least one instance, the fibers 3420, 3430, 3440 are disposed within a mold for the body portion 3410 and the fibers 3420, 3430, 3440 are surrounded by the material of the body portion 3410. In any ratio, the fibers 3420, 3430, 3440 are configured to stretch, twist, and / or bend with the body portion 3410. FIG. 42 illustrates the stretchable sensing cloth 3400 in a relaxed configuration and FIG. 43 illustrates the stretchable sensing cloth 3400 in a stretched configuration. The fibers 3420, 3430, 3440 are configured to be connected to an electrical circuit such that a control circuit can monitor the resistance of the fibers 3420, 3430, 3440 as the fibers 3420, 3430, 3440 change shape.

[0130] In at least one instance, the resistance of fibers 3420, 3430, 3440 can be amplified or suppressed by connecting the fibers 3420, 3430, 3440 in parallel or in series. In at least one instance, each of the fibers 3420, 3430, 3440 comprises a different material. In at least one instance, the material of each of the fibers 3420, 3430, 3440 is selected based on its resistance characteristics. For example, when sensing a system with very little movement, such as a closure member that may move only slightly through a closed stroke as an example, materials and configurations including a wide range of resistance variations with very little elongation can be selected.

[0131] In at least one instance, the fibers 3420, 3430, 3440 can be interconnected by weaving the fibers 3420, 3430, 3440 together, for example, to increase the available stretchable length of each of the fibers 3420, 3430, 3440. In at least one instance, the stretchable sensing cloth 3400 is attached by an adhesive only to the structural members that are to be sensed. In at least one instance, the stretchable sensing cloth 3400 is attached to a shaft and, for example, to a structural member that is to be sensed, such that the stretchable sensing cloth 3400 elongates relative to the shaft to which it is attached when the structural member moves relative to the shaft. In at least one instance, an auxiliary spring is provided to increase or decrease the sensitivity of the stretchable sensing cloth 3400.

[0132] In at least one instance, the fibers 3420, 3430, 3440 are oriented in a plurality of different directions and / or positioned in a plurality of different planes. In at least one instance, the stretchable sensing cloth 3400 comprises a full-bridge strain gauge configuration. In at least one instance, the stretchable sensing cloth 3400 comprises a half-bridge strain gauge configuration. In at least one instance, the stretchable sensing cloth 3400 comprises a quarter-bridge strain gauge configuration.

[0133] In at least one instance, the stretchable sensing cloth 3400 is used to monitor displacement, stress, and / or strain. Such parameters can be determined by a control circuit configured to interpret monitored resistance signals from the fibers within the sensing cloth 3400.

[0134] In at least one instance, the body portion 3410 includes material properties that affect how the fibers 3420, 3430, 3440 stretch. In such an instance, the load applied to the body portion 3410 can be directly detected by the fibers 3420, 3430, 3440. In at least one instance, the stretchable sensing cloth 3400 includes EeonTex conductive textile. In at least one instance, the stretchable sensing cloth 3400 includes SHIELDEX metallized conductive cloth.

[0135] In at least one instance, a transparent portion is provided within the surgical instrument drive system. The drive member itself can include the transparent portion. In at least one instance, the transparent portion is an auxiliary component integrated into the drive system. Optical light diffraction can be used to detect the load applied to the transparent portion by measuring changes in the light within the transparent portion due to changes in the transmittance and / or reflectance of the material as the material is loaded and unloaded.

[0136] In at least one instance, the stretchable sensing fabric 3400 can be used in conjunction with any movable drive member within a surgical instrument system. FIGS. 44 and 45 depict a surgical instrument assembly 3500 comprising a surgical stapling drive member 3510 configured to be used with a surgical stapling instrument and a plurality of stretchable sensing fabrics 3400 positioned on the surgical stapling drive member 3510. The surgical stapling drive member 3510 includes a plurality of bands 3511 laminated together, which are coupled to a firing member 3520 configured to cut tissue and deploy staples during a staple firing stroke. As the bands 3511 are displaced around a joint, the bands 3511 bend around the joint and spread apart relative to each other. This bending can be detected by the stretchable sensing fabric 3400 and correlated by a control system to the extent that the end effector is articulating.

[0137] The stretchable sensing fabric 3400 is positioned on top 3517 of each band 3511. In at least one instance, the stretchable sensing fabric 3400 is attached to each band 3511, for example, with an adhesive. In at least one instance, the attachment means for the stretchable sensing fabric 3400 to each band 3511 does not affect the conductive fibers within the stretchable sensing fabric 3400. The surgical instrument assembly 3500 further comprises electrical contacts 3531 configured to be coupled to the fabric 3400 such that, for example, an electrical connection can be made using a flex circuit. Each band 3511 further includes a proximal engagement mechanism 3513 comprising a window 3514 configured to receive a firing drive system for actuating the surgical stapling drive member 3510. The fabrics 3400 can each stretch relative to each other to separately monitor one or more parameters of each band 3511. Such a configuration can be used to monitor various parameters of the joints of the end effector. Such a configuration can also be used to detect the load applied to the firing member 3520 as the firing member 3520 is advanced through a staple firing stroke.

[0138] Figures 46 and 47 depict a surgical instrument assembly 3600 comprising a shaft 3310, an end effector 3320, and a joint coupler 3330 of FIGS. 38-40, and a sensing system 3620 configured to detect parameters of a joint actuator 3311. The surgical instrument assembly 3600 further comprises a firing actuator 3610 including a flexible member configured to extend into the end effector 3320 through the joint coupler 3330 to operate functions of the end effector 3320, such as closing the end effector 3320 and / or performing a staple firing stroke.

[0139] The sensing system 3620 includes a flex circuit 3630, a non-extensible printed circuit board 3640 coupled to the flex circuit 3630, and an extensible sensing cloth 3650 coupled to the printed circuit board 3640. The flex circuit 3630 extends through the shaft 3310 and can be connected to a surgical control interface such as, for example, a handle and / or a surgical robot. The printed circuit board 3640 is attached to the joint actuator 3311 and moves with the joint actuator 3311. In certain instances, the printed circuit board 3640 is attached to a fixed location such as, for example, the shaft 3310. The extensible sensing cloth 3650 includes an electrical circuit connected to electrical contacts on the printed circuit board 3640. Similarly, the flex circuit 3630 includes an electrical circuit connected to another set of contacts on the printed circuit board 3640. As a result, signals can be transmitted between the sensing cloth 3650, the printed circuit board 3640, the flex circuit 3630, and the surgical control interface.

[0140] The stretchable sensing fabric 3650 is configured to extend when the end effector 3320 is articulately moved by the joint actuator 3311. More specifically, the distal end of the stretchable fabric 3650 is attached to the second joint link 3333 such that the stretchable sensing fabric 3650 extends when the end effector 3320 is articulately moved. When the stretchable sensing fabric 3650 changes shape as it extends, the conductive fibers within the stretchable sensing fabric 3650 also change shape, for example, generating a change in resistance. This change in the resistance of the conductive fibers within the stretchable sensing fabric 3650 can be detected by a control circuit to determine parameters such as the orientation and / or position of the joint actuator 3311, the joint coupling 3320, and / or the end effector 3320. In various instances, the control circuit is within the printed circuit board 3640 and / or the surgical control interface.

[0141] In at least one instance, the stretchable sensing fabric 3650 is used to determine the exact position of the joint actuator based on a predetermined known extension characteristic of the stretchable sensing fabric 3650. In at least one instance, the stretchable sensing fabric 3650 is used to determine the degree of articulation of the end effector 3320 relative to the shaft 3310. In at least one instance, the stretchable sensing fabric 3650 is used to determine the speed and / or acceleration of the joint actuator 3311. In at least one instance, the stretchable sensing fabric 3650 is used to directly measure one or more rotational characteristics of the joint motion link 3333, such as, for example, rotational speed and / or rotational displacement.

[0142] FIG. 47 depicts a sensing system 3620 in which a non- extensible printed circuit board 3640 is fixed to a shaft 3310. The extensible sensing cloth 3650 includes a first extensible portion 3651 and a second extensible portion 3653. In at least one instance, a portion of the extensible sensing cloth 3650 is fixed to an articulation actuator 3311 between the first extensible portion 3651 and the second extensible portion 3653. In such an instance, multiple regions of extension can be sensed and each can be used to determine one or more parameters of the surgical instrument assembly 3600. As seen in FIG. 47, multiple positions of the second articulation link 3333 are illustrated showing different lengths of extension of the second extensible portion 3653 when in each position. These different lengths can include different corresponding resistance profiles of conductive fibers within the extensible sensing cloth 3650. These different corresponding resistance profiles can be evaluated by a control circuit as described herein. The control circuit can then determine one or more parameters, such as, for example, the degree of rotation and / or the end effector position, based on the detected resistance profiles.

[0143] Figures 48 and 49 depict graphs 3701, 3703 associated with a control circuit configured to determine a load profile and adjust an operating control program of a surgical instrument assembly based on the determined load profile for use with the surgical instrument assembly. Graph 3701 illustrates a plurality of different load profiles within a tissue cutting knife that, in at least one instance, define an acceptable range of load for the tissue cutting knife. As another example, an acceptable range of the load profile is illustrated in graph 3703 relative to an actual load profile 3704 detected by the control circuit using any suitable sensing system such as those disclosed herein. As seen in the example of FIG. 49, the detected actual load profile 3704 exceeds the range of acceptable load profiles. The control circuit may then take corresponding measures. In at least one instance, the control circuit is configured to automatically adjust the control program of the surgical instrument assembly to reduce the load profile, such as by, for example, slowing down a drive member and / or temporarily stopping the operation of the drive member. In a particular instance, the control circuit is configured to reduce the maximum current available to an electric motor to reduce the load profile. In a particular instance, the control system may correct the time between operating steps or pause when a discrepancy is detected. In at least one instance, the control system may increase the pause between, for example, clamping an end effector and performing a staple firing stroke. In at least one instance, the control circuit is configured to warn the user that the load profile is outside the acceptable range and request an input from the user on how to proceed. In at least one instance, the control circuit is configured to lock out a staple firing drive system when a load profile outside the range of acceptable load profiles is detected. In such an instance, for example, other drive systems may be operated to retract the staple firing drive, open the end effector, and / or straighten the end effector.

[0144] In at least one instance, the control circuit is configured to determine the tissue thickness within the end effector and, based on the determined tissue thickness, define a range of acceptable load profiles. If the measured load profile is outside the defined range of acceptable load profiles, the user may be warned that irregularities occurred during the actuation stroke. For example, foreign objects such as surgical clips may be present within the end effector, causing the load profile to exceed the defined range of acceptable load profiles based on the determined tissue thickness.

[0145] In at least one instance, the load profile is monitored over time and adjustments may be made and / or recommended by the control circuit based on, for example, multiple actuations of the surgical instrument assembly. The control circuit may determine a steadily increasing load profile during each subsequent actuation of the surgical instrument assembly and warn the user of the increasing load profile. In at least one such instance, multiple load profiles must be measured and evaluated before measures are taken by the control circuit. In at least one instance, the force required to drive the end effector function with worn components may increase over time. In such an instance, the user may be instructed to replace the surgical instrument assembly with a different one based on the detected wear. In at least one instance, the control circuit is configured to adjust the motor control program to compensate for the worn components in order to use up any remaining life of the worn components. For example, once a particular threshold of wear is detected, the control circuit may use a predetermined usage profile to determine that the surgical instrument assembly may be actuated up to a maximum of five times before, for example, locking out the surgical instrument assembly and / or taking another measure.

[0146] In addition to the above, the load profile of a surgical stapling assembly can be measured and monitored over time, i.e., throughout the life of the surgical stapling assembly. In various cases, the surgical stapling assembly is configured to use a replaceable staple cartridge, and after each firing of the replaceable staple cartridge, the load profile can be recorded in the memory of the surgical instrument control system. In at least one case, adjustments to the operating characteristics of the surgical stapling attachment assembly can be made for each subsequent replaceable staple cartridge installed within the surgical stapling attachment assembly. In at least one case, the control circuit can determine batch-specific load characteristics of a batch of staple cartridges. In such a case, a batch-specific control program can be created and implemented based on the load profile measured when using the staple cartridges from the batch of staple cartridges. In at least one case, the control circuit is configured to utilize manufacturing data communicated to the control circuit by the staple cartridge itself, for example, using an RFID chip. In such a case, the control circuit can record each event along with matching manufacturing data in the grouping of firings and determine a suitable control program for the staple cartridges having the matching manufacturing data. The matching manufacturing data can include, for example, the same serial number, similar serial numbers, and / or serial numbers within a range of serial numbers, for example.

[0147] In various instances, a surgical instrument includes a shaft, an end effector, and one or more drive systems configured to operate the shaft and / or the end effector. The end effector includes a first jaw and a second jaw rotatable relative to the first jaw between an open clamp release position and a closed clamp position. One of the drive systems includes a jaw closing system configured to close the second jaw. The surgical instrument may further include a articulation joint rotatably connecting the end effector to the shaft and an articulation drive system configured to articulate the end effector relative to the shaft. The surgical instrument may also include a tissue cutting knife movable distally during a firing stroke and a knife drive system configured to drive the tissue cutting knife distally and retract the tissue cutting knife proximally. The surgical instrument further includes a housing, such as a handle, that rotatably supports the shaft such that the shaft is rotatable about a longitudinal axis relative to the housing. The surgical instrument may further include a drive system configured to rotate the shaft in clockwise and counterclockwise directions about the longitudinal axis.

[0148] Each of the drive systems of the surgical instruments discussed above is driven by an electric motor. In various cases, each of the drive systems includes its own electric motor that is separately and independently controlled by a controller or control circuit. In other cases, at least two or more than two of the drive systems are driven by a single electric motor that is controlled by a controller. In such cases, the surgical instrument comprises a shifter or transmission that enables the electric motor to drive different drive systems separately and independently. In any case, the controller responds to user input, sensor input from within the surgical instrument, and / or sensor input external to the surgical instrument. In various cases, the controller includes a control system that includes a processor and memory device within the housing, a processor and memory device within the shaft, and / or a wiring harness that connects and / or communicates with various components of the control system, including, for example, sensors. In at least one case, the control system includes a flex circuit that extends within the shaft and communicates with a control system processor, such as a microprocessor. The flex circuit is flexible enough to extend between the shaft and the end effector and may include a flexible substrate that accommodates the joints of the end effector discussed above, and electrical traces defined on and / or housed within the flexible substrate.

[0149] In at least one instance, in addition to the above, the flexible circuit includes a plurality of polyimide layers and metal circuits positioned in the middle of the polyimide layer. In at least one instance, the metal circuit includes a copper frame, but in some instances, the metal circuit includes, for example, conductive ink. For example, a particular circuit within the flexible circuit may be wider, thicker, and / or have a higher conductivity than other circuits and may be more suitable for conducting a power load, whereas a particular circuit that is thinner, thinner, and / or has a lower conductivity may be more suitable for conducting a data communication signal. In various instances, the power load may generate a magnetic field and / or an electric field that can interfere with the data communication signal, and as a result, the power circuit may be separated and / or isolated from the communication circuit. In at least one instance, the power circuit is disposed within a power backbone within the flexible circuit, while the communication circuit is disposed within a communication backbone within the flexible circuit. In various instances, the power backbone includes a first segment within the flexible circuit, while the communication backbone includes a second segment within the flexible circuit. In at least one instance, the second, or communication segment, may be further sub-segmented. Whether or not a segment is called a sub-segment, they may be called segments and will be so called herein for convenience.

[0150] In various cases, in addition to the above, the flexible circuit includes a plurality of segments that communicate with the controller. In at least one case, the segment includes a sensor segment. For example, the flexible circuit may include a first segment including a first sensor, a second segment including a second sensor, and a third segment including a third sensor. The first sensor is configured to detect the state of a component of the surgical instrument at a first location, the second sensor is configured to detect the state of a component of the surgical instrument at a second location, and the third sensor is configured to detect the state of a component of the surgical instrument at a third location. That is, the flexible circuit may include any suitable number of sensors and sensor circuit segments. In various cases, each sensor circuit segment is configured to evaluate the state of a different component, while in other cases, two or more sensor circuit segments may be used to evaluate the same component. Referring to FIGS. 51 and 52, the surgical instrument assembly 3000 includes a staple cartridge 3020 and a firing member 3010 that is moved from the proximal end 3025 to the distal end 3027 of the staple cartridge 3020 during a firing stroke. In various cases, the firing member 3010 includes one or more inclined surfaces configured to eject staples from the staple cartridge 3020, while in some cases, the firing member 3010 includes a tissue cutting edge. In any event, the magnet 3031 is attached to the firing member 3010 that is tracked by a sensing system 3030 that includes a proximal sensor 3033 positioned at the proximal end 3025 of the staple cartridge and a distal sensor 3035 positioned at the distal end 3027. The magnet 3031 includes any suitable magnetic element including, for example, one or more magnetic poles and may be composed of iron and / or nickel. The sensors 3033 and 3035 include, for example, Hall effect sensors, but may include any suitable type of sensor. Referring to graph 4120 of FIG. 52, the proximal sensor 3033 generates a magnetic field that is distorted or affected by the magnet 3031 when the firing member 3010 is in its proximal position.When the firing member 3010 advances distally during its firing stroke, the magnet 3031 moves away from the proximal sensor 3033, and as a result, the effect that the magnet 3031 has on the magnetic field generated by the proximal sensor 3033 decreases. This change in the magnetic field is detected by the controller and interpreted by the controller when the firing stroke is initiated. Similarly, referring to graph 4130 of FIG. 52, the magnet 3031 begins to distort and affect the magnetic field generated by the distal sensor 3035 as the firing member 3010 is moved distally during the firing stroke, which is also detected by the controller that interprets this distortion when the firing stroke is completed.

[0151] The proximal sensor 3033 is part of a proximal sensor flex circuit segment, and the distal sensor 3035 is part of a distal sensor flex circuit segment. The proximal sensor segment and the distal sensor segment communicate with a control circuit defined on the flex circuit. In various instances, the control circuit includes, for example, a microchip mounted on the flex circuit. The proximal sensor 3033 is configured to provide or transmit data to the control circuit via the proximal sensor segment, and the distal sensor 3035 is configured to provide or transmit data to the control circuit via the distal sensor circuit. In addition to the above, in various instances, the proximal sensor 3033 generates and detects a magnetic field. The presence of the magnet 3031 distorts the magnetic field, and the proximal sensor 3033 generates an analog signal, the voltage of which is proportional in magnitude to the detected magnetic field. The distal sensor 3035 functions in the same way. In such instances, as a result, the control circuit receives a constant analog data stream from the proximal sensor 3033 and the distal sensor 3035. In various instances, the microchip of the control circuit may be configured to intermittently sample the data streams provided by the sensors 3033 and 3035. Alternatively, the proximal sensor 3033 and / or the distal sensor 3035 may comprise a digital Hall effect sensor. In either case, the controller microchip may include inputs dedicated to each sensor segment. In various instances, the control circuit may comprise a multiplexer or MUX configured to receive, for example, multiple data streams and merge the data streams into a signal output signal. In any case, the control circuit utilizes the data received from the sensors to alter the operation of the surgical instrument, as described in more detail below.

[0152] As discussed above, the surgical instrument includes a proximal sensor circuit for detecting movement of the firing member 3010 at the start of the staple firing stroke, and a distal sensor circuit for detecting movement of the firing member 3010 at the end of the staple firing stroke. In at least one embodiment, the control circuit actively monitors the proximal sensor circuit and the distal sensor circuit throughout the staple firing stroke. Similarly, in at least one embodiment, the control circuit actively monitors the proximal sensor circuit and the distal sensor circuit throughout the retraction stroke of the firing member 3010. Thus, the control circuit requires an overall or total data bandwidth that can adapt to the first data bandwidth consumed by the proximal sensor segment and the second data bandwidth consumed by the distal sensor segment. Further, in such cases, the control circuit requires sufficient power to simultaneously power the proximal sensor segment and the distal sensor segment. However, in various cases, it may be desirable for a greater portion of the total available bandwidth and / or power to be dedicated to one sensor segment over another at a given time. For example, the control circuit may be configured to allocate a greater data bandwidth and power to the proximal sensor segment than to the distal sensor segment at the start of the staple firing stroke, and then allocate a greater data bandwidth and power to the distal sensor segment than to the proximal sensor segment at the end of the staple firing stroke. In such cases, the control circuit can focus on its sensing ability where the firing member 3010 is located. Such an arrangement can be well-suited for actively monitoring the initial acceleration of the firing member 3010 and the deceleration of the firing member 3010 at the end of the staple firing stroke. In other words, allocating equal sharing of the data bandwidth to the distal sensor segment at the start of the staple firing stroke is not an efficient use of the control circuit's data bandwidth when the distal sensor segment does not monitor the firing member 3010 at the start of the staple firing stroke or when the distal sensor segment is not as accurate as the proximal sensor segment in such cases.Similarly, applying an equal share of the data bandwidth to the proximal sensor segment at the end of the staple firing stroke is not an efficient use of the control circuit's data bandwidth when the proximal sensor segment does not monitor the firing member 3010 at the end of the staple firing stroke or when the proximal sensor segment is not as accurate as the distal sensor segment in such cases.

[0153] In various embodiments, the control circuit may be configured to selectively power and de-power the sensor segments of the flex circuit. In at least one such embodiment, the control circuit can apply sufficient voltage to the proximal sensor segment to power the proximal Hall effect sensor 3033 at the start of the staple firing stroke, such that the proximal sensor 3033 sufficiently emits and detects its magnetic field as discussed above, while at the same time not applying sufficient voltage to the distal sensor segment to sufficiently power the distal Hall effect sensor 3035. In such a case, the data bandwidth applied to the distal sensor segment can be minimized or eliminated such that the control circuit can focus on that bandwidth of the proximal sensor segment. In other words, the control circuit may place the distal sensor segment in sleep mode at the start of the staple firing stroke. However, as the firing member 3010 moves distally, the control circuit can activate the distal sensor segment by applying sufficient voltage to the distal sensor segment and apply a sufficient portion of its data bandwidth to the distal sensor segment. Further, the control circuit may then place the proximal sensor segment in sleep mode, while the control circuit focuses on that data bandwidth on the distal sensor segment. Such an arrangement may, for example, enable the control circuit to accurately brake or slow down the firing member 3010 at an appropriate time and / or stroke length.

[0154] The teachings of the examples discussed above can be used in any suitable system within a surgical instrument. For example, such an arrangement can be used in connection with an articulation system that includes a first sensor for detecting articulation movement of an end effector in a first direction and a second sensor for detecting articulation movement of the end effector in a second direction. Also, for example, such an arrangement can be used in connection with a closure drive system. Further, such an arrangement can be adapted for use with a rotatable drive member.

[0155] In various embodiments, in addition to the above, the control circuit may be configured to intermittently request to provide data to the sensor segment. For example, the sensor may be in a sleep mode in which it does not actively supply a voltage signal above a threshold value, such as a noise threshold, to the control circuit until the control circuit selectively supplies a ping or activation signal to one or more of the sensor segments. In such cases, the activated sensor segment(s) may supply a voltage signal to the control circuit above the noise threshold. In at least one embodiment, each sensor segment includes a processor and a signal transmitter that communicates with a sensor activated by a request signal from the control circuit. In such embodiments, each sensor segment is configured to provide at least some preprocessing of the data before being transmitted to the control circuit. In at least one case, the segment processor is configured to convert an analog signal to a digital signal and then transmit the digital signal to the control circuit. In various cases, the segment processor is configured to modulate the byte size of the data transmitted from the sensor segment to the control circuit. For example, when the control circuit powers a sensor segment having a voltage magnitude within a first range, the sensor segment supplies data to the control circuit having a first byte size, and when the control circuit powers a sensor segment having a voltage magnitude within a second range different from the first range, the sensor segment supplies data to the control circuit having a second byte size different from the first byte size. In at least one case, the sensor segment processor supplies data having a smaller byte size when the voltage magnitude is smaller and supplies data having a larger byte size when the voltage magnitude is larger. In such cases, the sensor segment processor is configured to interpret the reception of a lower voltage magnitude as an instruction to operate in a low power / low bandwidth mode and the reception of a higher voltage magnitude as an instruction to operate in a high power / high bandwidth mode. Any suitable arrangement may be used.

[0156] In various embodiments, in addition to the above, the control circuit is configured to issue commands to the sensor segment to provide data with a specific byte width. In at least one embodiment, the control circuit compares the total data bandwidth with the currently consumed data bandwidth and issues commands to the sensor segment to provide their data at a bandwidth that will not overload or exceed the remaining available bandwidth. With more and / or less available data bandwidth available, the control circuit may modify its commands to the sensor segment. In at least one instance, each sensor segment includes a signal receiver configured to receive a signal from the control circuit, including data or a plurality of commands, to deliver sensor data to the control circuit, for example, with a desired voltage magnitude, bandwidth, and / or byte size. When the sensor segment receives a first set of commands, the sensor segment delivers the sensor data in a first format, and when the sensor segment receives a second set of commands, the sensor segment delivers the sensor data in a second format.

[0157] In various instances, in addition to the above, the control circuit can activate a sensor when the drive component reaches a particular position in its movement. For example, the control circuit can activate the distal sensor segment when the firing member 3010 reaches a position that is 5 mm from the end of the staple firing stroke. In at least one such instance, the distal sensor segment does not transmit data to the control circuit until the distal sensor segment is activated when the firing member 3010 reaches the remaining 5 mm position, and at such a point, the distal sensor segment transmits data to the control circuit with a high bandwidth. To achieve this, the control circuit monitors the movement of the firing member 3010 during the firing stroke. In at least one instance, the control circuit uses data from the proximal sensor segment to evaluate the position of the firing member 3010, but the firing member 3010 is no longer adjacent to the proximal sensor 3033, and the accuracy of the data from the proximal sensor 3033 may not be reliable enough to trust. Thus, the control circuit can comprise one or more sensor systems that can more reliably measure the movement of the firing member 3010. For example, the control circuit can comprise a sensor system that monitors another drive component of the staple firing system, such as, for example, the output shaft of the electric motor of the staple firing drive and / or a translatable shaft driven by the electric motor. Various other arrangements are described in more detail below.

[0158] In various embodiments, in addition to the above, the surgical instrument comprises a wiring harness, such as a flex circuit, which is positioned and arranged locally, i.e., adjacent to the component being monitored, to measure the movement of the component and comprises one or more integrated sensors. In various cases, as discussed above, the component is rotatable. In at least one such case, an array of magnetic elements is mounted, attached, and / or integrated with a rotatable component that generates a magnetic field detected by an array of coil sensors mounted to the shaft of the surgical instrument. The magnetic elements are arranged in a circular pattern, and the coil sensors are arranged in a circular pattern that coincides with the circular pattern of the magnetic elements such that the magnetic field generated by the coil sensors is affected by the magnetic field generated by the magnetic elements. Each of the magnetic elements includes at least one negative pole and at least one positive pole, and the magnetic elements are arranged in an alternating pattern such that the positive pole of a first magnetic element faces proximally and adjacent magnetic elements are arranged such that their negative poles face proximally. Alternatively, the rotatable component includes two magnetic elements mounted to a cylinder, the first magnetic element is positioned on a first side of the cylinder, and the second magnetic element is positioned on a second or opposite side of the cylinder, i.e., the two magnetic elements are positioned 180 degrees apart. In this embodiment, the flex circuit includes coil sensors mounted to sequentially detect the first and second magnetic elements in an alternating pattern. The positive pole of the first magnetic element generally faces the coil sensor, while the negative pole of the second magnetic element generally faces the coil sensor, resulting in the sensing system having a resolution for each half rotation of the cylinder. Higher resolution can be achieved with more magnetic elements and / or more coil sensors.

[0159] In various embodiments, in addition to the above, the surgical instrument comprises a wiring harness, such as a flex circuit, which is positioned and arranged locally, i.e., adjacent to the component being monitored, to include one or more integrated sensors that measure movement of the component. In various cases, as discussed above, the component is translatable. In at least one such case, the flex circuit includes a Hall effect sensor and the translatable component includes a magnetic element attached thereto. In use, the translatable component is moved through its entire range of motion between a first position and a second position. The Hall effect sensor emits a magnetic field that is coextensive with the entire range of motion of the magnetic element, such that the Hall effect sensor can monitor the component through its entire range of motion.

[0160] In various embodiments, in addition to the above, the flex circuit includes a first Hall effect sensor and a second Hall effect sensor, and the translatable component includes a first magnetic element and a second magnetic element. In at least one embodiment, the second Hall effect sensor is positioned distal or longitudinally with respect to the first Hall effect sensor. Similarly, the second magnetic element is positioned distal or longitudinally with respect to the first magnetic element. In use, the translatable component is moved distally from a proximal un-fired position to a distal fired position during a firing stroke. During the initial movement of the translatable component, the first magnetic element is detectable by the first Hall effect sensor but not by the second Hall effect sensor, and further, the second magnetic element is not detectable by either the first Hall effect sensor or the second Hall effect sensor. When the first magnetic element moves out of the range of the first Hall effect sensor during the firing stroke, the second magnetic element moves into the range of the second Hall effect sensor. In particular, the first magnetic element does not enter the range of the second Hall effect sensor in this embodiment. Thus, the entire movable range of the translatable component can be collectively monitored by the first and second Hall effect sensors. In at least one instance, there is a small amount of overlap during the firing stroke where the first Hall effect sensor can detect the first magnetic element and the second Hall effect sensor can detect the second magnetic element. In other embodiments, such overlap does not exist and the monitoring of the first and second Hall effect sensors is between lines. The arrangements described above are useful for low-stroke operations such as energy devices or gripper / incisors (e.g., 0.250 inches total stroke), and the stroke resolution is highly correlated with the change in tissue clamp load for small increments of change in stroke location. A 5 mm gripper / incisor jaw actuator is typically ±0.05 inches at 0.1 inches to 0.3 inches, e.g., equal to a few pounds difference in jaw tissue compression once closed on tissue.

[0161] A surgical instrument 4000 with a clamp jaw as described above is illustrated in FIG. 50. The surgical instrument 4000 includes a shaft 4010 and an end effector 4030. The end effector 4030 includes a non-translating blade 4031 configured to apply vibrational energy to a patient's tissue and, in addition, a clamp jaw 4033 rotatable between an open position and a closed position by a closure driver 4020. The clamp jaw 4033 is rotatably pinned to the shaft 4010 such that the clamp jaw 4033 rotates about a fixed axis, and the closure driver 4020 is pinned to the clamp jaw 4033 such that when the closure driver 4020 is pulled proximally, the closure driver 4020 rotates the clamp jaw 4033 toward the stationary jaw 4031. In response, the closure driver 4020 is moved distally to drive the clamp jaw 4033 toward its open position. The surgical instrument 4000 further includes a sensing system 4040 configured to detect movement of the closure driver 4020 and, thus, movement of the clamp jaw 4033. The sensing system 4040 includes a first, or proximal, magnetic element 4043 attached to the closure driver 4020, a second, or distal, magnetic element 4045 attached to the closure driver 4020, and a sensor 4047 attached to the shaft 4010 configured to detect movement of the magnetic elements 4043 and 4045. In particular, the first magnetic element 4043 generally includes a negative pole facing the sensor 4047, and the second magnetic element 4045 generally includes a positive pole facing the sensor 4047.

[0162] In addition to the above, the sensing system 4040 includes a controller that communicates with a sensor 4047 configured to interpret the output of the sensor 4047 and evaluate the position of the closure driver 4020. Due to the opposite polarities of the first magnetic element 4043 and the second magnetic element 4045, the movement of the closure driver 4020 has a high degree of resolution. In various cases, the sensor 4047 and the controller cooperate to detect the arrival and departure of the magnetic elements 4043 and 4045 within its magnetic field and use this data to determine the orientation of the clamp jaw 4033. For a first given value of the reading of the sensor 4047, the sensing system 4040 may determine that the clamp jaw 4033 is in the fully open position (a). For a second given value of the reading of the sensor 4047, the sensing system 4040 may determine that the clamp jaw 4033 is in the partially closed position (b). For a third given value of the reading of the sensor 4047, the sensing system 4040 may determine that the clamp jaw 4033 is in the closed position (c) where low pressure is applied to the tissue captured between the jaws 4031 and 4033, and for a fourth given value of the reading of the sensor 4047, the sensing system 4040 may determine that the clamp jaw 4033 is applying high pressure to the tissue at position (c1).

[0163] In various embodiments, the sensing system of the surgical instrument includes a plurality of capacitive plates, such as a first capacitive plate and a second capacitive plate, for example. When a translatable component passes through the capacitive plates, the sensing system can detect a change in the capacitance of the capacitive plates. In various cases, the first and second capacitive plates are arranged in parallel. In a particular case, the translatable component passes through the first capacitive plate and the second capacitive plate. Based on this information, the control circuit can evaluate the position, speed, and / or direction of the translatable component.

[0164] In various embodiments, a sensing system for a surgical instrument includes one or more optical sensors used to track the movement of components. In at least one embodiment, a flex circuit includes the optical sensors, and the components include light emitting diodes, or other light sources. As a component is advanced through its firing stroke, the intensity of light emitted from an LED changes as the LED approaches and / or moves away from an optical sensor. Based on data from the optical sensor, a control circuit of the surgical instrument may determine the position, velocity, and / or direction of a movable component. In various other embodiments, both the LED and the optical sensor may be mounted on a flex circuit within the surgical instrument. In such embodiments, the movable component includes an internally defined through hole that allows light emitted by the LED to be detected by the optical sensor when aligned with the LED. In at least one instance, the control circuit counts pulses of light to evaluate the position, velocity, and / or direction of a movable component. The control circuit may also evaluate partial pulses of light for partial alignment of an opening having the LED and the optical sensor. In at least one instance, partial opacification of light may be calculated to further refine detection of the position of a movable member.

[0165] In various instances, a robotic surgical system is configured to be used with a number of different surgical instrument attachments. In such instances, the different surgical instrument attachments may each include a sensing system that includes a sensor and a corresponding trigger and actuator configured to be sensed by the sensing system. In at least one instance, the trigger of a first surgical attachment may interfere with the sensor readings of a second surgical attachment. For example, the first surgical attachment and the second surgical attachment may each include a sensing system that includes a Hall effect sensor and / or a magnetic system that may affect or interfere with each other. When the surgical instrument attachments are in proximity to each other such that, for example, the magnet of a first surgical instrument attachment interferes with the Hall effect sensor of a second surgical instrument attachment, the control system may utilize an interference resolution system to operate the surgical instrument attachments appropriately, as described below.

[0166] In addition to the above, the control circuit is provided to determine when the Hall effect sensor readings of an attached surgical instrument attachment are caused by and / or affected by an external magnet or magnetic source of an intended trigger of the attached surgical instrument attachment. In at least one instance, a range of Hall effect sensor values may be stored in memory and may correspond to expected values of the attached surgical instrument attachment. If the control circuit sees any value outside of the specified range, then the control circuit will conclude that the sensing system within the attached surgical instrument attachment is being interfered with. In at least one instance, if a signal is received by the control circuit that does not correspond to an expected signal based on monitored parameters of a motor that drives an actuator of the attached surgical instrument attachment, the control circuit will conclude that the sensing system within the attached surgical instrument attachment is being interfered with. Also, for example, if the Hall effect sensor signal fluctuates and a motor encoder that monitors movement of the motor does not detect motor movement, the control circuit will conclude that the sensing system of the attached surgical instrument attachment is being interfered with.

[0167] In at least one instance, the sensor is provided within the shaft of the modular fixture to specifically sense external interference. For example, a Hall effect sensor can be provided within the shaft of an attached surgical instrument fixture to sense an external magnet that can be positioned within the surgical instrument in proximity to the attached surgical instrument fixture. A control circuit can monitor the Hall effect sensor to determine whether a nearby surgical instrument fixture containing a magnet is in proximity to the attached surgical instrument fixture.

[0168] In at least one instance, the control circuit is configured to take measures within the surgical system if external interference is detected. In at least one instance, the control circuit is configured to locally disable the sensing system on the attached surgical instrument fixture, such that any interference with the sensing system does not affect the operation of the attached surgical instrument fixture. In at least one instance, the control circuit is configured to ignore the interference based on its magnitude. For example, the interference may fall below a certain threshold that may not affect the local sensing system. In such an instance, the local sensing system is used and the control circuit continues to monitor for possible increases in interference. In at least one instance, if the interference is determined to be of a certain magnitude, the expected range of the sensors within the sensing system can be adjusted to compensate for the interference of the certain magnitude, thereby allowing the local sensing system to continue to be used. In at least one instance, the certain magnitude of interference can be subtracted out such that the certain magnitude of interference does not affect the local sensing system.

[0169] In at least one instance, a plurality of sensors are configured to be used to detect external interference. In such an instance, the location of the interference can be determined by triangulating the interference signal. In such an instance, the interference can be identified and removed by the user and / or the surgical robot.

[0170] In at least one instance, the plurality of sensing systems within an attached surgical instrument fixture can be configured to trigger and sense one another. Such local interference can be predictable and utilized as an asset in sensing one or more parameters of one or more of the actuators within the attached surgical instrument fixture. For example, a surgical stapling fixture includes an actuator configured to clamp an end effector and eject staples from the end effector. In such an instance, one sensing system including a magnet and a Hall effect sensor is positioned within a closure stroke, and a second sensing system including a magnet and a Hall effect sensor is positioned within a firing stroke. In such a system, the Hall effect sensor within the closure stroke can be affected by the magnet of the sensing system. This overlap can be predictable and can provide a more accurate detection of the parameters of the actuator between both the closure stroke and the firing stroke.

[0171] In at least one instance, sensors of a local sensing system in an attached surgical instrument fixture that is affected by external interference can be temporarily switched to another sensing system if the parameters sensed by the sensing system are important for proper operation of the attached surgical instrument fixture. For example, if the Hall effect sensor of the sensing system is affected by external interference, the control circuit can switch to a different monitoring sensing system already equipped within the surgical instrument fixture. In at least one such instance, the control system can shift from monitoring a position sensor within a shaft to a motor position sensor.

[0172] In at least one instance, external interference to the local sensing system may not be able to be adjusted or compensated for. In such an instance, measures may be taken by the control circuit. In at least one instance, a warning may be sent to the robotic surgical system and / or the user. In at least one instance, the surgical instrument mount may be locked out such that it is locked out by the control circuit until the local sensing system returns to an operable state. In at least one instance, the control circuit may place the surgical instrument mount in a limp mode that activates, for example, a low power operating state. In various instances, when the control system determines that the control system is being interfered with, the control system may, for example, slow down the speed of the drive system, reduce the acceleration of the drive system, and / or reduce the maximum current that may be drawn by the electric motor. In certain instances, the control system may correct the time between operating steps or pause when a discrepancy is detected. In at least one instance, the control system may increase the pause between, for example, clamping the end effector and performing a staple firing stroke.

[0173] FIG. 53 depicts a surgical instrument system 6000 comprising a robotic surgical interface 6010 and a plurality of surgical instrument fixtures 6020 configured to be attached to the robotic surgical interface. The surgical instrument system 6000 comprises a wireless communication network. The surgical instrument fixtures 6020 are configured to communicate with each other before any of the surgical instrument fixtures 6020 are attached to the robotic surgical interface 6010. The surgical instrument fixtures 6020 can communicate with each other the status of each fixture 6020 indicating, for example, which surgical instrument fixture 6020 is ready to be attached to the robotic surgical interface 6010. Such information can be provided by the fixture itself and its current state and / or by the hub based on which fixture has already been indicated by the hub to be attached to the robotic surgical interface 6010. In at least one instance, color-coded light can be used on the surgical instrument fixtures to indicate various things. For example, the fixtures 6020 can communicate with each other's status so that the fixtures 6020 can identify and indicate which fixture 6020 is to be attached to the robotic surgical interface 6010 for a given surgical procedure.

[0174] In various instances, the fixtures 6020 can communicate with each other their proximity to each other. In such an instance, a first fixture 6020 can communicate its proximity to a second fixture 6020 so that the second fixture 6020 can understand the source of interference if the first fixture 6020 detects interference with one or more of its sensors. In at least one such instance, the second fixture 6020 can communicate with the first fixture 6020 and request that the first fixture 6020 power down and / or otherwise modify its system to reduce or eliminate the magnetic field generated by the first fixture 6020. Further, the second fixture 6020 can communicate with the robotic surgical system and / or the user to move the first fixture 6020.

[0175] In various scenarios, a surgical instrument assembly is manipulated by a user and / or a surgical robot such that the surgical instrument assembly is positioned in various orientations that can affect the operation of the surgical instrument assembly. For example, accessing a particular area of a target site within a patient can be difficult and reaching it can result in the surgeon rotating the entire surgical instrument assembly into an upside-down configuration. In such scenarios, a particular operating system of the surgical instrument assembly can be affected by such an orientation reversal. With this in mind, various surgical instrument assemblies are configured to account for such effects. In at least one scenario, the surgical instrument assembly can include an orientation detection system configured to detect the orientation of the surgical instrument assembly and a control circuit configured to adjust an operation control program of the surgical instrument assembly based on the detected orientation of the surgical instrument assembly.

[0176] Figures 54 and 55 depict a handheld surgical instrument assembly 5000 and a user 5010 holding the handheld surgical instrument assembly 5000 in two different orientations. The surgical instrument assembly 5000 includes a handle housing 5020 that includes a grip portion 5030 configured to be held by the user 5010 during use and a shaft assembly 5040 that extends distally from the handle housing 5020. The shaft assembly 5040 includes an end effector configured to treat the tissue of a patient. For example, any suitable end effector can be used, such as a surgical stapling end effector and / or an energy-based surgical end effector. The handle housing 5020 further includes a trigger 5031 configured to activate the function of the end effector of the shaft assembly 5040.

[0177] The surgical instrument assembly 5000 further comprises an orientation detection system configured to detect the orientation of the surgical instrument assembly 5000. Such an orientation detection system may include, for example, a gyroscope sensor. In at least one instance, such an orientation detection system utilizes a camera and / or radar technology to determine the orientation of the surgical instrument assembly. FIG. 54 depicts a surgical instrument assembly 5000 in an upright orientation and a user 5010 holding a handle housing 5020 in a standard configuration where the user's index finger 5010 is configured to pull a trigger 5031. The orientation detection system is configured to detect that the surgical instrument assembly 5000 is in an upright orientation and communicate this information to a control circuit. Various embodiments are envisioned for detecting the orientation of the handle 5020 with respect to gravity. In such instances, the control system may determine that the handle 5020 is in its normal orientation when the grip 5030 extends vertically downward or essentially vertically downward, and that the handle 5020 is in an upside-down orientation when the grip 5030 extends vertically upward or essentially vertically upward. That is, the shaft of the surgical instrument assembly 5000 may be rotatable relative to the handle 5020 in various instances, and the orientation detection system may be configured to determine the relative rotation between the shaft and the handle 5020. In such instances, the control system may be configured to modify the control program in several ways when it determines that the handle 5020 is rotated upside down or essentially upside down relative to the shaft.

[0178] The control circuit is configured to adjust the operating control program of the surgical instrument assembly 5000 based on the detected upright orientation. In at least one instance, the trigger 5031 includes an adjustable component configured to vary the force required to squeeze the trigger 5031 to activate the function of the end effector. In at least one instance, a standard force 5050 is required to squeeze the trigger 5031 to activate the function of the end effector when the surgical instrument assembly 5000 is detected to be in the upright orientation. Referring now to FIG. 55, the surgical instrument assembly 5000 is in an inverted orientation. In the inverted orientation, the user 5010 may have difficulty applying sufficient force 5060 to squeeze the trigger 5031 to activate the function of the end effector and may hold the grip portion 5030 in an awkward configuration. In such an instance, the control circuit is configured to reduce the force required to squeeze the trigger 5031 to activate the function of the end effector. The control circuit is configured to adjust the operating control program of the surgical instrument assembly 5000 based on the ergonomics of the operating surgical instrument assembly 5000 and / or based on the various finger and / or wrist strengths during use of the surgical instrument assembly 5000. In at least one instance, the inverted orientation may reduce the operating ability of the drive system, for example, due to the weight of the drive system. In such an instance, an adjustment may be made to the motor control program to restore the reduced operating ability of the drive train to full operating ability based on the inverted orientation. In various instances, the control system can reduce the speed of the activated drive member, reduce the acceleration, reduce the maximum force, and / or reduce the maximum current that can be drawn by the electric motor driving the drive member when the control system determines that it is in the inverted orientation. In a particular instance, the control system can modify the time between operating steps or pause when a particular orientation is detected. In at least one instance, the control system can increase the pause between, for example, clamping the end effector and performing a staple firing stroke.

[0179] In at least one instance, the control circuit is configured to control a force threshold necessary to activate and deactivate a trigger of a surgical instrument assembly. This enables a user to activate and / or deactivate the trigger, for example, with a finger that is not the dominant hand and / or while the user's hand is in a non-dominant hand configuration.

[0180] In various instances, in addition to the above, the orientation of a surgical stapling end effector can be detected, and the control circuit can adjust an operating control program for the surgical stapling end effector based on the detected orientation. FIGS. 56 and 57 depict an end effector assembly 5100 that includes a shaft 5110 and an end effector 5120 that extends distally from the shaft 5110. The end effector 5120 includes a cartridge jaw 5130 and an anvil jaw 5140 that is movable relative to the cartridge jaw 5130. In this embodiment, the anvil jaw 5140 is movable, although embodiments are contemplated in which the cartridge jaw 5130 is movable in addition to or instead of the anvil jaw 5140. The end effector assembly 5100 further includes an orientation detection system that includes a gyroscope configured to detect the orientation of the end effector assembly 5100 relative to gravity.

[0181] In at least one instance, the position of anvil jaw 5140 is detectable and can be used to determine the orientation of end effector assembly 5100. For example, slop can be intentionally incorporated into the anvil closing drive train to ensure that anvil jaw 5140 drops to an upright unclamping position (FIG. 57) and drops to an inverted unclamping position (FIG. 56) different from the upright unclamping position. In such an instance, the distance between anvil jaw 5140 and cartridge jaw 5130 will be different in both orientations, but both anvil jaw 5140 and cartridge jaw 5130 will be in a fully unclamped configuration. Then, the position of anvil jaw 5140 can be detected to determine the orientation of end effector assembly 5100.

[0182] In at least one instance, a motor is used to rotate end effector assembly 5100 about an end effector axis to cause an inversion of end effector assembly 5100. In such an instance, an encoder can be used on the motor to determine the orientation of end effector assembly 5100.

[0183] In at least one instance, anvil jaw 5140 may require a greater force to open when end effector assembly 5100 is in an upright orientation (FIG. 57), as compared to the force required to open anvil jaw 5140 when end effector assembly 5100 is in an inverted orientation (FIG. 56). This may be due to gravity causing anvil jaw 5140 to tend to pull open relative to cartridge jaw 5130 when end effector assembly 5100 is in an inverted orientation. When end effector assembly 5100 is in an upright orientation, gravity will tend to pull anvil jaw 5140 closed relative to cartridge jaw 5130. In any case, the control circuit is configured to detect the orientation of end effector assembly 5100 and make adjustments to the motion control program based on the forces required to open and / or close anvil jaw 5140 and / or other parameters disclosed herein.

[0184] In at least one instance, the control circuit is configured to automatically adjust the position of the anvil jaw 5140 to compensate for any gravity-based positional variations of the anvil jaw 5140 as the end effector assembly 5100 is moved between various orientations. For example, when the end effector assembly 5100 is in different orientations and the anvil jaw 5140 includes different positions relative to the cartridge jaw 5130, the control circuit is configured to move the anvil jaw 5140 to a predetermined unclamping position that coincides with the unclamping position regardless of the end effector orientation. In such an instance, the control circuit is configured to eliminate differences in the unclamping configuration of the anvil jaw 5140 as a result of the orientation of the end effector assembly 5100. In at least one instance, the control circuit is configured to increase the force applied to the anvil jaw 5140 when the end effector assembly 5100 is in an upright orientation because, at least due to gravity acting against the opening of the anvil jaw 5140, more force may be required for the anvil jaw 5140 to open. In at least one instance, the control circuit is configured to decrease the force applied to the anvil jaw 5140 when the end effector assembly 5100 is in an inverted orientation because, at least due to gravity assisting the opening of the anvil jaw 5140, less force may be required for the anvil jaw 5140 to open.

[0185] Figures 58-61 depict a surgical instrument assembly 5200 comprising an attachment interface 5210, a shaft assembly 5240 that can be attached to and removed from the attachment interface 5210 by a shaft attachment adapter 5220, and a sensing system 5230 configured to detect the orientation of the shaft assembly 5240 relative to the attachment interface 5210. The attachment interface 5210 may comprise any suitable attachment interface, such as, for example, a surgical robot and / or a hand-held surgical housing. The attachment interface 5210 includes electrical contacts 5211 configured to electrically couple the contacts 5221 of the shaft attachment adapter 5220 to the attachment interface 5210.

[0186] The shaft assembly 5240 includes a shaft 5250 and an electrical attachment mechanism 5260 positioned on the proximal end of the shaft assembly 5240. The electrical attachment mechanism 5260 includes an electrical contact 5261 and an electrical lead 5263 extending distally from the electrical contact 5261. The shaft assembly 5240 includes at least one electrical system downstream of the electrical attachment mechanism 5260 to which the electrical contact 5261 is coupled. The shaft assembly 5240 is configured to be physically and electrically coupled to the shaft attachment adapter 5220 by the electrical attachment mechanism 5260, and the sensing system 5230 includes a slip ring assembly arranged to communicate the shaft assembly 5240 with the attachment adapter 5220.

[0187] The sensing system 5230 is configured to determine the orientation of the shaft assembly 5240 relative to the mounting interface 5210. The sensing system 5230 includes an outer slip ring 5231, an intermediate slip ring 5233, and an inner slip ring 5235. The contacts 5261 are configured to be electrically coupled to the mounting interface 5210 through the slip rings 5231, 5233, 5235. The slip rings 5231, 5233, 5235 each include a discontinuity therein. The outer slip ring 5231 includes an outer discontinuity 5232, the intermediate ring 5233 includes an intermediate discontinuity 5234, and the inner slip ring 5235 includes an inner discontinuity 5236. The discontinuities 5232, 5234, 5236 are used to determine the orientation of the end shaft assembly 5240 when the shaft assembly 5240 is rotated relative to the shaft mounting adapter 5220. When the shaft assembly 5240 is rotated, the contacts 5261 pass through the discontinuities 5232, 5234, 5236.

[0188] In at least one instance, the discontinuities 5232, 5234, 5236 include high resistance regions that are detectable within the electrical circuit. When the contacts 5261 pass through the discontinuities 5232, 5234, 5236, a high resistance can be detected. When the shaft assembly 5240 is rotated relative to the shaft mounting adapter 5230, the control circuit is configured to continuously track the number and order in which the contacts 5261 pass through the high resistance regions. The control circuit is configured to determine the orientation of the shaft assembly 5140 relative to the shaft mounting adapter 5220 based on the number of times the contacts 5261 pass through the discontinuities 5232, 5234, 5236.

[0189] Figure 59 depicts a shaft assembly 5240 in an upright orientation. When the shaft assembly 5240 is rotated counterclockwise to the orientation illustrated in Figure 60, the control circuit may determine that the contact 5261 has passed through the outer discontinuity 5232 based on, for example, high resistance detection within a circuit including the outer slip ring 5231. Since the outer discontinuity 5232 is the first to be passed as opposed to the other discontinuities 5234 and 5236, the control circuit may determine the direction in which the shaft assembly 5240 has been rotated. As seen in Figure 60, the shaft assembly 5240 is rotated counterclockwise to an inverted orientation from the orientation illustrated in Figure 59. Rotation to this position will cause the intermediate discontinuity 5234 to be passed. As a result, the control circuit may determine that the shaft assembly 5240 has been inverted based on the fact that the outer discontinuity 5232 was detected first and then the intermediate discontinuity 5234 was detected.

[0190] In at least one instance, the slip ring of a surgical instrument assembly includes a high conductivity region and a low conductivity region. In such an instance, the control circuit is configured to determine when the shaft assembly has rotated into and stopped in the low conductivity region. This can be disadvantageous when attempting to preserve electrical communication between the attachment interface and any electrical systems within the shaft assembly. In such an instance, the control circuit is configured to adjust an operation control program that controls the rotation of the shaft assembly with respect to the attachment interface to which the shaft assembly is attached. In at least one instance, the operation control program is adjusted such that the shaft assembly exits the low conductivity region and immediately rotates into the nearest high conductivity region. In at least one instance, the user is alerted to the low conductivity relationship between the shaft assembly and the attachment interface. In such an instance, the user may manually adjust the shaft assembly and / or ignore the alert regarding the detected low conductivity relationship.

[0191] In at least one instance, the control circuit is configured to record issues with the conductivity of different components and the areas where conductivity issues exist. In at least one instance, after a specific threshold of a low conductivity region is detected, a component can be locked out. In such an instance, when the component is reinstalled within the surgical instrument system, the control circuit can warn the user of the situation and / or lock out the use of the component.

[0192] In at least one instance, such an orientation detection system can be used with an energy-based surgical device. In such an instance, the control circuit is configured to limit the generator power delivered through the component when a low conductivity relationship exists. In at least one instance, an electrical circuit is used for the sensing system. In such an instance, the control circuit is configured to ignore signals transmitted when a low conductivity relationship exists.

[0193] In various instances, the control circuit is provided to adjust the operating control program of the surgical instrument assembly and / or the robot, for example, based on the detected orientation of the patient. FIGS. 62-64 depict a surgical instrument system 5300 that includes a patient 5310 and an operating table 5320 on which the patient 5310 is positioned for surgery. The surgical instrument system 5300 further includes an orientation detection system, such as a gyro sensor, configured to detect the orientation of the patient. The control circuit is provided to adjust the operating control parameters of the surgical instrument assembly and the system used during the surgery based on the detected orientation of the patient. In at least one instance, the adjustment is made such that position limits are placed on the movement of the robotic arm relative to the patient based on the detected orientation of the patient. For example, when the patient is in the orientation depicted in FIG. 62, the control circuit may prevent the robotic arm from moving under the patient, where the robotic arm would be non-useful and / or could potentially harm the patient, by restricting the movement of the robotic arm.

[0194] In various cases, a surgical hub is used within a surgical environment. The surgical hub is configured to communicate with one or more modules within the surgical environment. The modules can include, for example, a shaft assembly, an end effector, a surgical instrument handle, a surgical robot, an operating table, and / or a robot control interface. The surgical hub can be connected to a cloud-based system. The surgical hub is configured to communicate with the modules to determine various characteristics of the modules. The surgical hub is also configured to control the operating capabilities of each module.

[0195] FIG. 65 is a flowchart 7000 depicting a surgical instrument control circuit for use in an environment having modular surgical instrument components and / or a surgical hub. The control circuit is configured to receive a plurality of hardware inputs 7010 including information regarding the modular surgical instrument components and / or the surgical hub. The inputs can include, for example, the capabilities information of each module. The control circuit is also configured to identify various parameters 7020 of the surgical environment. The various parameters 7020 include possible combinations of component assemblies, identification of patient data corresponding to the intended surgery, for example, identification of treatment parameters, and identification of business parameters. In at least one case, the control circuit is further configured to consider which surgeon is performing the surgery, in which operating room the surgery is being performed, and / or in which hospital the surgery is being performed. All such inputs and parameters can affect how the modules and the surgical hub operate.

[0196] The control circuit is further configured to determine a recommended solution 7030 based on all of the inputs received by the control circuit. The recommended solution 7030 may include various modules configured to optimize the sensing capabilities of the sensing system within the module and / or an optimal operation control program for the motor within the sensing control program. In at least one instance, the control circuit is configured to provide an optional solution 7040 to the user. The optional solution 7040 includes a first solution that includes a control program that utilizes the multi-articulated system of the module. The optional solution 7040 also includes a second solution that includes a control program that restricts the multi-articulated system of the module to a single axis. In at least one instance, the user is configured to select (7050) the desired solution. In at least one instance, a manual lockout 7060 is provided. In at least one instance, when the user selects the optional solution 7040 using single-axis joint movement, the control circuit is configured to lock out the multi-articulated joints of the module.

[0197] In various instances, the control circuit is configured to identify all subsystems and / or components within the surgical hub environment. In at least one instance, the modules configured to be used in the surgical hub environment each include means for communicating with the surgical hub or wireless. In at least one instance, the control circuit is configured to identify each module within the surgical hub environment. In at least one instance, the control circuit is configured to define an operation control program for each module identified within the surgical hub environment.

[0198] In various instances, the control circuit is configured to identify all subsystems within the surgical hub environment and automatically evaluate each identified subsystem. The evaluation can include operating an initialization program to operate through all drive systems and / or sensing systems built into each subsystem. In at least one instance, the control circuit is configured to wirelessly connect each subsystem to all other subsystems so that the subsystems can communicate with each other. In at least one instance, the control circuit is configured to connect each subsystem to the surgical hub.

[0199] In at least one instance, the control circuit is configured to operate through each drive system of a combination of connected subsystems. This operation can be used to determine the capabilities of the combination of connected subsystems. In at least one instance, the control circuit is configured to adjust an operation control program based on feedback received during initial operation of a combination of connected subsystems. In at least one instance, the control circuit is configured to compare the received feedback with information collected during previous use of each subsystem. In such an instance, the control circuit can determine which portion of any variation in operation is due to the combination of connected subsystems or due to each subsystem itself. For example, a shaft assembly and an end effector assembly can be attached to each other to form a modular instrument assembly. The modular instrument assembly can then be attached to a hand-held motor-driven attachment interface. The hand-held motorized attachment interface can then automatically operate through an initialization phase to determine the available functions of the modular instrument assembly.

[0200] In various instances, the control circuit identifies each module within the surgical hub environment and is configured to determine all possible combinations and / or partial combinations of the identified modules based on one or more of the identified modules. This can be determined by a predetermined acceptable combination. In at least one instance, the user can be presented with various options of available combinations among all of the identified modules. In at least one instance, the control circuit is configured to recommend a combination of one or more modules based on a predetermined acceptable combination and / or based on other inputs such as, for example, patient data and / or the surgeon's level of expertise.

[0201] In various instances, the surgical instrument system includes a remote server configured to aggregate different combinations of parts, tolerances, assembly modifications, and / or performance statistics from modules within the field. In at least one instance, the control circuit is configured to determine the operating control parameters for any particular combination of modules. In at least one instance, the control circuit is configured to communicate the determined operating control parameters to all other modules. In at least one instance, the control circuit is configured to communicate the determined operating control parameters to other similar combinations of modules within the field. In at least one instance, the aggregation includes an algorithm that is constantly evolving, and more data and / or information is collected to further define the possible combinations, such that the control circuit can continuously iterate through the possible combinations.

[0202] In at least one instance, the iterative process may include providing one possible solution to a first module system and a second possible solution to a second module system having similar variations, and then using the results of the first and second module systems to further refine control parameters for a general population of modules. If a problem is identified with a particular combination identified, the control circuit may notify the user of the problem. In at least one instance, the control circuit is configured to lock out a particular combination of modules when a problem with that particular combination of modules is detected. In at least one instance, the user may override the locked-out combination, and with an understanding of what the identified problem is, the control circuit may unlock the module combination device. In such instances, the control circuit is configured to more closely monitor usage data than is monitored during normal use to enable post-use diagnostics.

[0203] In at least one instance, calibration parameters are stored within each module, for example, built into local memory. In at least one instance, other adjustment factors may be uploaded to the module itself such that the next time the module is connected to another module and / or a surgical hub, the other module and / or surgical hub may recognize a change in the calibration parameters of the module. In various instances, the surgical hub is configured to utilize identification data received from each module, such as a serial number, to look up executable control algorithms and / or operating parameters for a particular module. In at least one embodiment, adjustment factors from two or more attached components are uploaded to the module and / or surgical hub. In such an embodiment, the performance of the system may be changed cooperatively by two or more sets of adjustment parameter sets.

[0204] In at least one instance, the control circuit is configured to adjust various control parameters such as, for example, the pause time during operation of various systems of the module, the time to wait before taking measurements using the built-in sensing system of the module, motor speed and / or energy delivery, for example, the stroke length of the operating system of the module, the operating speed of the operating system of the module, the initial operating force of the module, the rate of change trigger threshold, and / or the magnitude of the rate of change adjustment. In at least one instance, the control parameters are adjusted based on whether a cartridge having an attachment pre-installed thereon is present or a cartridge without an attachment is present. In at least one instance, the control parameters are adjusted based on the size of staples stored within the installed cartridge module.

[0205] FIG. 66 is a schematic view of a surgical instrument system 8000 including a surgical hub 8010, a data cloud 8020, a handheld actuation module 8030, and a shaft assembly module 8040. Each of the modules 8030, 8040 includes an RFID communication device configured to enable mutual communication between the modules 8030, 8040 and the surgical hub 8010. The data cloud 8020 is configured to store software program data, situation recognition data, and / or any suitable hub data therein. The surgical hub 8010 is configured to access the data cloud 8020 to determine whether the various modules being used require reduced functionality for any given data set within the data cloud 8020. In at least one instance, the shaft assembly module 8040 includes a smart battery and / or a smart display.

[0206] In at least one instance, the operating capabilities of the module can include, for example, the degree of end effector joints of the end effector assembly, the energy output level of an energy-based surgical device, and / or the rate of staple firing of a surgical stapling shaft assembly. For example, the end effector joints can be reduced from the full joint range of the end effector assembly, which can be, for example, 90 degrees left and 90 degrees right, to a range of 45 degrees left to 45 degrees right. The energy output level can be reduced to a lower power level than, for example, the level that an energy-based surgical device can deliver to a patient. The rate of staple firing of a surgical stapling shaft assembly can be reduced, for example, by half.

[0207] In various instances, the surgical hub is configured to identify the module within the surgical environment. In at least one instance, the surgical hub is configured to determine the capabilities of the module by interpreting a signal received from the module, which can include data corresponding to the capabilities of the module. The surgical hub is configured to limit the capabilities of the module based on a predetermined control program. The predetermined control program can be defined by the level of a software package purchased for the module. For example, there can be three different levels of software. The levels can include, for example, primary, intermediate, and / or advanced. If the primary level of software is purchased, the capabilities of the module can be reduced to a primary configuration. Such a configuration can include, for example, slowing the firing rate and / or reducing the range of motion of the joints. If the intermediate level of software is purchased, the capabilities of the module can be increased from the primary configuration to an intermediate configuration where the module cannot operate in a full-capability configuration but rather can operate in an intermediate configuration. Such a configuration can include providing the full range of motion of the joints but maintaining a reduced firing rate. If the advanced level of software is purchased, the capabilities of the module can be in a maximum-capability configuration where all features are unlocked and can be used and / or the module can operate in a full-capability configuration.

[0208] Such software-level upgrades can be used in a training environment and it may be safer to restrict a particular surgeon to a more basic level of software. The surgical hub can track the surgeon while using the basic level of software and determine when the surgeon is ready to progress to the next level. The surgical hub can alert the surgeon to upgrades available at the software level and / or automatically upgrade the module for that particular surgeon. Different surgeons may be distinguished by using the login information within the surgical hub such that a more senior surgeon may be able to use the module at a more advanced software level while a more senior surgeon is logged into the surgical hub, and a more junior surgeon may be restricted to using the same module at a more basic software level while a more junior surgeon is logged into the surgical hub.

[0209] In at least one instance, the surgical hub is configured to enable features and / or full capabilities of the running module. For example, an override feature may be provided such that a surgeon can override a system that restricts the surgeon to particular capabilities.

[0210] In at least one instance, the surgical hub is configured to determine an appropriate level of shaft capability based on patient data accessible by the surgical hub from a cloud-based system. For example, a particular patient may not require a high energy level based on the type of tissue expected to be operated on. In such an instance, the surgical hub is configured to limit the energy delivery level of the energy-based surgical instrument module for that patient's surgery. In at least one instance, the available functionality of the energy-based surgical instrument module is defined and / or limited based on the available power in the operating room. For example, a previous generator may be the only power source for an energy-based surgical instrument module that may not be able to deliver enough power to maximize the potential of the energy-based surgical instrument module. In such an instance, the energy-based surgical instrument module is limited to a low power configuration. In at least one instance, the available power in the operating room may be limited and the surgical instrument generator itself may be placed in a low power operating mode based on the availability of power in the operating room.

[0211] In at least one instance, the capabilities of a module configured to be enabled and / or limited may include a sensing system. If a surgeon is unfamiliar with how a more advanced and / or precise sensing system functions within a particular module, for example, the sensing system may be completely disabled for that surgeon. In at least one instance, the sensing system is placed in a training mode that allows the surgeon to learn how the sensing system functions before the sensing system operates at full capacity levels. In at least one instance, the sensing system is operated in a reduced state to simplify the module for the surgeon.

[0212] In at least one instance, the surgical hub is configured to send a test or initialization signal to each module to determine the capabilities and limits of each module. This may also be referred to as, for example, a module interrogation stage. In at least one instance, the surgical hub is also configured to determine any anomalies and / or worn systems within each module, for example, during a test program. In at least one instance, the initialization signal is sent to each module used during the surgery prior to the start of the surgery. In at least one instance, the initialization signal is sent to each module immediately before the module is used during the surgery. In at least one instance, the surgical hub is configured to warn the user, for example, based on a detected anomaly, if any of the modules need to be replaced. The anomalies can be detected by a built-in sensing system of each module. During the initialization stage, for example, the built-in motor is configured to operate through all systems and test all operating and / or sensing systems built into the module. In a module without a motor, such initialization can occur when the module is attached to a motorized operating system. In such an instance, the module can be locked out of normal use during the initialization stage.

[0213] In at least one instance, a motorized operating module, such as a handheld attachment interface to which various shaft assemblies and / or end effectors can be attached, is used to limit the capabilities of the various shaft assemblies and / or end effectors attached to the motorized operating module. For example, a shaft assembly that is to be attached to a motorized operating module may not include communication means for communicating with the hub. In such an instance, the control program of the motorized operating module is defined to limit and / or define the available functions of the shaft assembly.

[0214] In at least one instance, the module functionality can be defined based on the number of times the module has been used. Such data can be locally retained within the module itself. In at least one instance, the surgical hub is configured to track the number of times a particular module has been used. In at least one instance, the module functionality can be defined by the number of years the module has been in use. In at least one instance, the module functionality can be defined by the number of years the power source has been in use. In at least one instance, the module functionality can be defined by events recorded during previous use of the module. In at least one instance, the recorded events can include problematic uses where one or more systems within the module failed during use. For example, during initial use, the joint drive system of a surgical stapling end effector module can break. The surgical hub is configured to record this event. The surgeon can reinstall the surgical stapling end effector module knowing that the joint system has broken. The surgical hub can limit and / or lock out use of the joint drive system, allowing the surgeon to use only the clamp, staple, and / or cut functions.

[0215] In various instances, the module and the surgical hub can include levels of intercommunication that are controllable, for example, based on cost and / or necessity. In at least one instance, various modules include a possible communication array system configured to communicate with the surgical hub and / or other modules having a possible communication array system. In at least one instance, the level of intercommunication between the module and / or the surgical hub can be reduced based on purchased software. In some cases, superior communication software may have to be purchased to unlock full intercommunication.

[0216] The first-level intercommunication level may provide basic communication between each module and the hub. For example, at the first-level intercommunication level, each module may be able to send information to the surgical hub, but at the first-level intercommunication level, the modules cannot communicate with each other, and the surgical hub may not be able to send an upgrade signal to the module, for example. The second-level intercommunication level may provide the surgical hub with the ability to send update signals to updatable modules in addition to the capabilities of the first-level intercommunication level. The third-level intercommunication level may provide complete intercommunication between, for example, all possible modules and the surgical hub, unlocking full access for software updates, module intercommunication, and / or recording of device usage statistics.

[0217] In at least one case, upgrading the system software of various modules may be advantageous when the control program is used multiple times after the initial rollout of the local module. The surgical hub may be configured, for example, to update the operating algorithm of the local module based on the use of the module in a plurality of different hospitals. All of the usage statistics of the use of the module in a plurality of different hospitals may be recorded and used to update the operating algorithm of the module. Periodically updating the software of the local module may update the operating algorithm of the local module, providing a safer and / or more effective operating algorithm for the local module.

[0218] In at least one instance, a plurality of different software programs are present within a surgical hub. The first software program is configured to include all of the information corresponding to the complete functionality of a module, such as a shaft assembly for example. For example, an add-on second software program may be available, such as advanced core kernel processing modes including power limit mode, sleep mode, modes that enable the module to make more precise measurements, take more measurements, react faster, and / or operate faster and / or more efficiently. In at least one instance, the different software programs are selectable by a user. In at least one instance, the cost paid for a module corresponds to the software programs available for that module. In at least one instance, the software programs are easily updatable for a module. In at least one instance, the surgical hub is configured to recommend a software program based on situational awareness data within the hub.

[0219] Many of the surgical instrument systems described herein are driven by an electric motor. However, the surgical instrument systems described herein can be driven in any suitable manner. In various instances, the surgical instrument systems described herein can be driven, for example, by a manually operated trigger. In certain instances, the motors disclosed herein can include one or more portions of a robotic control system. Any of the systems disclosed herein can be used with the surgical instruments being handled. Further, any of the systems disclosed herein can be utilized with a robotic surgical instrument system. U.S. Patent Application No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", and currently U.S. Patent No. 9,072,535, disclose, for example, some examples of robotic surgical instrument systems in more detail, the entirety of which is incorporated herein by reference.

[0220] The surgical instrument system described in this specification has been described in relation to staple deployment and deformation. However, the embodiments described in this specification are not limited thereto. For example, various embodiments are envisioned that deploy fasteners other than staples, such as clamps or tacks. Further, various embodiments are also contemplated that utilize any suitable means for sealing tissue. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Also for example, an end effector according to certain embodiments can apply vibrational energy to seal tissue.

[0221] The various embodiments described herein are described in connection with a linear end effector and / or a linear fastener cartridge. Such embodiments and their teachings can be applied to non-linear end effectors and / or non-linear fastener cartridges, such as, for example, circular and / or contoured end effectors. For example, various end effectors including non-linear end effectors are disclosed in U.S. Patent Application No. 13 / 036,647, filed Feb. 28, 2011, entitled "SURGICAL STAPLING INSTRUMENT", currently published as U.S. Patent Application Publication No. 2011 / 0226837, and currently issued as U.S. Patent No. 8,561,870, which are hereby incorporated by reference in their entirety. Additionally, U.S. Patent Application No. 12 / 893,461, filed Sep. 29, 2012, entitled "STAPLE CARTRIDGE", currently published as U.S. Patent Application Publication No. 2012 / 0074198, is hereby incorporated by reference in its entirety. U.S. Patent Application No. 12 / 031,873, filed Feb. 15, 2008, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", currently issued as U.S. Patent No. 7,980,443, is also hereby incorporated by reference in its entirety. U.S. Patent No. 8,393,514, issued Mar. 12, 2013, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", is also hereby incorporated by reference in its entirety.

[0222] The entire content of the following disclosure is hereby incorporated by reference into this specification. - U.S. Patent No. 5,403,312, issued Apr. 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", - U.S. Patent No. 7,000,818, issued Feb. 21, 2006, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS", - U.S. Patent No. 7,422,139, issued on September 9, 2008, titled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", - U.S. Patent No. 7,464,849, issued on December 16, 2008, titled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", - U.S. Patent No. 7,670,334, issued on March 2, 2010, titled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", - U.S. Patent No. 7,753,245, issued on July 13, 2010, titled "SURGICAL STAPLING INSTRUMENTS", - U.S. Patent No. 8,393,514, issued on March 12, 2013, titled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", - U.S. Patent Application No. 11 / 343,803, titled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES" (now U.S. Patent No. 7,845,537), - U.S. Patent Application No. 12 / 031,573, filed on February 14, 2008, titled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", - U.S. Patent Application No. 12 / 031,873, filed on February 15, 2008, titled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT" (now U.S. Patent No. 7,980,443), - U.S. Patent Application No. 12 / 235,782, titled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT" (currently U.S. Patent No. 8,210,411), - U.S. Patent Application No. 12 / 235,972, titled "MOTORIZED SURGICAL INSTRUMENT" (currently U.S. Patent No. 9,050,083), - U.S. Patent Application No. 12 / 249,117, titled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM" (currently U.S. Patent No. 8,608,045), - U.S. Patent Application No. 12 / 647,100 filed on December 24, 2009, titled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY" (currently U.S. Patent No. 8,220,688), - U.S. Patent Application No. 12 / 893,461 filed on September 29, 2012, titled "STAPLE CARTRIDGE", (currently U.S. Patent No. 8,733,613), - U.S. Patent Application No. 13 / 036,647 filed on February 28, 2011, titled "SURGICAL STAPLING INSTRUMENT", (currently U.S. Patent No. 8,561,870), - U.S. Patent Application No. 13 / 118,241, titled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" (currently U.S. Patent No. 9,072,535), - U.S. Patent Application No. 13 / 524049 filed on June 15, 2012, titled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE" (currently U.S. Patent No. 9,101,358), - U.S. Patent Application No. 13 / 800,025, filed on March 13, 2013, with the title "Staple Cartridge Tissue Thickness Sensor System" (currently, U.S. Patent No. 9,345,481), - U.S. Patent Application No. 13 / 800,067, filed on March 13, 2013, with the title "Staple Cartridge Tissue Thickness Sensor System" (currently, U.S. Patent Application Publication No. 2014 / 0263552), - U.S. Patent Application Publication No. 2007 / 0175955, filed on January 31, 2006, with the title "Surgical Cutting and Fastening Instrument with Closure Trigger Locking Mechanism", and - U.S. Patent Application Publication No. 2010 / 0264194, filed on April 22, 2010, with the title "Surgical Stapling Instrument with an Articulatable End Effector" (currently, U.S. Patent No. 8,308,040).

[0223] Although various devices have been described herein in connection with specific embodiments, modifications and changes may be made to those embodiments. Specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the specific features, structures, or characteristics illustrated or described with respect to one embodiment may be combined in whole or in part with the features, structures, or characteristics of one or more other embodiments without limitation. Also, although materials are disclosed with respect to specific components, other materials may be used. Further, according to various embodiments, a single component may be replaced with a plurality of components, or a plurality of components may be replaced with a single component, to perform a given function. The foregoing description and the following claims are intended to embrace all such modifications and variations.

[0224] The devices disclosed herein can be designed to be discarded after a single use or to be used multiple times. However, in either case, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of disassembling the device, followed by cleaning or replacing specific parts of the device, and then reassembling the device. Specifically, a reconditioning facility and / or surgical team can disassemble the device, clean and / or replace specific parts of the device, and then reassemble the device for subsequent use. One of ordinary skill in the art will understand that various techniques for disassembly, cleaning / replacement, and reassembly can be utilized for reconditioning the device. The use of such techniques, and the resulting reconditioned device, are all within the scope of this application.

[0225] The devices disclosed herein can be processed prior to surgery. First, a new or used instrument can be obtained and optionally cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container such as a plastic bag or TYVEK bag. The container and instrument can then be placed in a radiation field that can penetrate the container, such as gamma rays, x-rays, and / or high-energy electrons. The radiation can kill bacteria on the instrument and within the container. After this, the sterilized instrument can be stored within the sterilization container. The sealed container can keep the instrument in a sterile state until it is opened at a medical facility. The device can also be sterilized using any other technique known in the art, including but not limited to beta rays, gamma rays, ethylene oxide, hydrogen peroxide plasma, and / or steam.

[0226] Although several forms have been shown and described, it is not the applicant's intention to limit or restrict the appended claims in such detail. Many modifications, variations, changes, substitutions, combinations, and equivalents of these forms can be implemented and would be envisioned by those skilled in the art without departing from the scope of the present disclosure. Further, the structure of each element related to the described forms can alternatively be described as a means for providing the function performed by that element. Also, although materials are disclosed with respect to specific components, other materials may be used. Accordingly, it should be understood that the foregoing description and the appended claims are intended to embrace all such modifications, combinations, and variations as being within the scope of the disclosed forms. The appended claims are intended to cover all such modifications, variations, changes, substitutions, modifications, and equivalents.

[0227] The foregoing detailed description has described various forms of apparatuses and / or processes using block diagrams, flow diagrams, and / or examples. As long as such block diagrams, flow diagrams, and / or examples include one or two or more functions and / or operations, it should be understood by those skilled in the art that each function and / or operation included in such block diagrams, flow diagrams, and / or examples can be implemented individually and / or collectively by a variety of hardware, software, firmware, or virtually any combination thereof. It will be understood by those skilled in the art that all or part of some aspects of the forms disclosed herein can be implemented equivalently on an integrated circuit as one or two or more computer programs running on one or two or more computers (e.g., as one or two or more programs running on one or two or more computer systems), as one or two or more programs running on one or two or more processors (e.g., as one or two or more programs running on one or two or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and / or writing the code for the software and / or firmware is within the skill of those skilled in the art in view of this disclosure. Additionally, it should be understood by those skilled in the art that the mechanisms of the subject matter described herein can be distributed in a variety of forms as one or two or more program products, and that the specific forms of the subject matter described herein apply regardless of the particular type of signal-carrying medium used to actually carry out the distribution.

[0228] The instructions used to program logic to implement the various disclosed aspects may be stored in system memory such as dynamic random access memory (DRAM), cache, flash memory, or other storage. Further, the instructions may be distributed via a network or by other computer-readable media. Thus, a machine-readable medium can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to floppy disks, optical disks, compact disks, read-only memory (CD-ROM), and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or other tangible machine-readable storage used to transmit information via the Internet via electrical, optical, acoustic, or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Thus, a non-transitory computer-readable medium can include any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0229] When used in any aspect of this specification, the term "control circuit" can refer to, for example, a hardwired circuit, a programmable circuit (e.g., a computer processor including one or more individual instruction processing cores, a processing unit, a processor, a microcontroller, a microcontroller unit, a controller, a digital signal processor (DSP), a programmable logic device (PLD), a programmable logic array (PLA), or a field programmable gate array (FPGA)), a state machine circuit, firmware that stores instructions executed by a programmable circuit, and any combination thereof. The control circuit can be embodied, collectively or individually, as a circuit that forms part of a larger system, such as an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smartphone, etc. Thus, as used herein, "control circuit" includes, but is not limited to, an electrical circuit having at least one individual electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit having at least one application-specific integrated circuit, an electrical circuit forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that at least partially executes the processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially executes the processes and / or devices described herein), an electrical circuit forming a memory device (e.g., in the form of a random access memory), and / or an electrical circuit forming a communication device (e.g., a modem, a communication switch, or an optical-electrical facility).Those skilled in the art will recognize that the subject matter described herein may be implemented in analog or digital form, or some combination thereof.

[0230] As used in any aspect of this specification, the term "logic" may refer to an application, software, firmware, and / or circuitry configured to perform any of the foregoing operations. The software may be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. The firmware may be embodied as code, instructions, or instruction sets within a memory device, and / or hard-coded (e.g., non-volatile) data.

[0231] As used in any aspect of this specification, terms such as "component", "system", "module", etc. can refer to a computer-related entity that is either hardware, a combination of hardware and software, software, or software in execution.

[0232] As used in any aspect of this specification, an "algorithm" refers to a self-collision-free sequence of steps leading to a desired result, and a "step" refers to an operation of a physical quantity and / or logical state that, although not necessarily required, can take the form of an electrical or magnetic signal capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common practice to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, etc. These and similar terms may be associated with appropriate physical quantities and are merely convenient labels applied to these quantities and / or states.

[0233] Examples of the network may include a packet-switching network. The communication devices can communicate with each other using a selected packet-switching network communication protocol. One exemplary communication protocol is the Ethernet communication protocol that enables communication using the Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol may comply with or be compatible with the Ethernet standard titled "IEEE 802.3 Standard" issued in December 2008 by the Institute of Electrical and Electronics Engineers (IEEE) and / or later versions of this standard. Alternatively or additionally, the communication devices can communicate with each other using the X.25 communication protocol. The X.25 communication protocol may comply with or be compatible with the standards published by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices can communicate with each other using the frame relay communication protocol. The frame relay communication protocol may comply with or be compatible with the standards published by the Consultative Committee for International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be able to communicate with each other using the Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may comply with or be compatible with the ATM standard titled "ATM-MPLS Network Interworking 2.0" published in August 2001 by the ATM Forum and / or later versions of this standard.Of course, different and / or later-developed connection-type network communication protocols are equally contemplated herein.

[0234] Unless otherwise explicitly specified, as will be apparent from the foregoing disclosure, throughout the foregoing disclosure, the use of terms such as "processing," "computing," "calculating," "determining," "displaying," etc. refers to actions and processes of a computer system or similar electronic computing device that operate on and transform data represented as physical (electronic) quantities within the registers and memories of the computer system into other data similarly represented as physical quantities within the memories or registers of the computer system or other such information storage, transmission, or display devices.

[0235] One or more components may be referred to herein as "configured to," "configurable to," "operable / operative to," "adapted / adaptable," "able to," "conformable / conformed to," etc. Those skilled in the art will understand that "configured to" generally may include components in an active state and / or components in a non-active state and / or components in a standby state, unless the context dictates otherwise.

[0236] In addition, even when a specific number is specified in the introduced claim description, it will be recognized by those skilled in the art that such description should typically be construed to mean at least the recited number (for example, when there is a mere recitation of "two recited matters" without other modifiers, generally it means at least two recited matters, or two or more recited matters). Further, when an expression similar to "at least one of A, B, and C" is used, generally such syntax is intended in the sense that those skilled in the art will understand the expression (for example, "a system having at least one of A, B, and C" includes, without limitation, a system having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C). When an expression similar to "at least one of A, B, or C" is used, generally such syntax is intended in the sense that those skilled in the art will understand the expression (for example, "a system having at least one of A, B, or C" includes, without limitation, a system having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C). Further, typically, any disjunctive word and / or phrase representing two or more alternative terms should be understood to be intended to include one of those terms, any of those terms, or both of those terms, whether in the specification, in the claims, or in the drawings, unless the context indicates otherwise. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B".

[0237] Regarding the appended claims, those skilled in the art will understand that the recited operations herein can generally be performed in any order. Also, although the flowcharts of various operations are shown in sequence, it should be understood that the various operations may be performed in an order other than that shown, or may be performed simultaneously. Such examples of alternative orderings may include, but are not limited to, duplication, interleaving, interruption, reordering, incremental, preparatory, additional, simultaneous, reverse, or other different orderings, except where the context requires otherwise. Further, terms such as "responsive to", "associated with", or other past tense adjectives are generally not intended to exclude such variations, except where the context requires otherwise.

[0238] It is particularly worthy of note that any reference to "one aspect", "aspect", "exemplification", "an exemplification", etc. means that the particular mechanism, structure, or characteristic described in connection with that aspect is included in at least one aspect. Thus, the phrases "in one aspect", "in an aspect", "in an exemplification", and "in an exemplification" that appear in various places throughout this specification are not necessarily all referring to the same aspect. Further, a particular feature, structure, or characteristic can be combined in any suitable manner in one or more aspects.

[0239] As described above, the surgical instrument disclosed herein may include a control system. Each of the control systems can include a circuit board having one or more processors and / or memory devices. In particular, the control system can be configured to store, for example, sensor data. They can also be configured to store, for example, data identifying the type of staple cartridge attached to the stapling instrument. More specifically, the type of staple cartridge can be identified by a sensor when attached to the stapling instrument, and the sensor data can be stored in the control system. This information can be obtained by the control system to evaluate whether the staple cartridge is suitable for use.

[0240] The surgical instrument system described herein is operated by an electric motor. However, the surgical instrument system described herein can be driven in any suitable manner. In certain instances, the motors disclosed herein can include one or more portions of a robotic control 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 some examples of robotic surgical instrument systems in more detail, and the entire disclosure is incorporated herein by reference. International Publication No. 2017 / 083125, published on May 18, 2017, entitled "STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE", International Publication No. 2017 / 083126, published on May 18, 2017, entitled "STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS", International Publication No. 2015 / 153642, published on October 8, 2015, entitled "SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION", U.S. Patent Application Publication No. 2017 / 0265954, filed on March 17, 2017, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS", U.S. Patent Application Publication No. 2017 / 0265865, filed on February 15, 2017, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DISTAL PULLEY", and U.S. Patent Application Publication No. 2017 / 0290586, filed on March 29, 2017, entitled "STAPLING CARTRIDGE" are incorporated herein by reference in their entireties.

[0241] Set of Examples 1 Surgical instrument system comprising a surgical instrument assembly including a shaft, an end effector attached to the shaft, and at least one drive component positioned with the shaft. The surgical instrument system further comprises a surgical control circuit including a motor control program configured to operate a motor configured to drive at least one drive component positioned within the shaft. The surgical control circuit is configured to receive a first measurement of a parameter of the motor and a second measurement of a parameter of at least one drive component, the second measurement being locally sensed within the shaft. The surgical control circuit is further configured to compare the first and second measurements, determine an actual relationship of the first and second measurements based on the comparison, compare the actual relationship to an expected relationship, and adjust the motor control program based on the comparison of the actual and expected relationships to align the actual relationship with the expected relationship.

[0242] Example 2 - The surgical instrument system of Example 1, wherein the parameter of the motor includes the parameter of an output shaft attached to the motor.

[0243] Example 3 - The surgical instrument system of Example 1 or 2, wherein the expected relationship is learned by the surgical control circuit through the surgical instrument assembly.

[0244] Example 4 - The surgical instrument system of Example 1, 2, or 3, wherein the second measurement is provided by a linear motion detection sensor.

[0245] Example 5 - The surgical instrument system of Example 1, 2, 3, or 4, wherein the first measurement is provided by a rotational motion detection sensor.

[0246] Example 6 - The surgical instrument system of Example 1, 2, 3, 4, or 5, wherein the parameter of the motor includes dynamic braking of the motor during an intermediate phase of a firing stroke.

[0247] Example 7 - A surgical instrument system according to any one of Examples 1, 2, 3, 4, 5, or 6, wherein the motor parameters include the dynamic acceleration of the motor during the initial phase of the firing stroke.

[0248] Example 8 - A surgical instrument system according to any one of Examples 1, 2, 3, 4, 5, 6, or 7, wherein the adjustment of the motor control program includes recalibrating the motor control program based on actual relationships.

[0249] Example 9 - A surgical instrument system comprising a surgical instrument assembly including a shaft, an end effector attached to the shaft, the end effector including a first jaw movable relative to a second jaw, and a closure member configured to move the first jaw relative to the second jaw. The surgical instrument system further comprises a surgical control circuit including a motor control program configured to operate a motor configured to actuate the closure member. The surgical control circuit is configured to determine when the motor rotates by a first amount corresponding to a first predicted displacement of the closure member using a motor encoder, determine an actual displacement of the closure member using a sensor positioned within the shaft, compare the actual displacement of the closure member and the first predicted displacement of the closure member, determine an additional target displacement corresponding to a second predicted displacement of the closure member, and recalibrate the motor control program to rotate the motor enough to drive the closure member by the second predicted displacement.

[0250] Example 10 - A surgical instrument assembly comprising a shaft, an end effector attached to the shaft, a firing member configured to move through the end effector during a firing stroke, and a stretchable optical waveguide attached to the shaft and the firing member, wherein the stretchable optical waveguide is configured to extend as the firing member is moved through the firing stroke. The surgical instrument assembly further includes an optical sensor configured to sense a change in the presence of light within the stretchable optical waveguide during the firing stroke, and a control circuit configured to monitor a signal received from the optical sensor to determine at least one parameter of the firing member during the firing stroke.

[0251] Example 11 - The surgical instrument assembly of Example 10, further comprising a joint coupling that attaches the end effector to the shaft, wherein the stretchable optical waveguide is attached to the shaft proximal to the joint coupling.

[0252] Example 12 - The surgical instrument assembly of Example 10 or 11, wherein the stretchable optical waveguide includes one or more vertical cavity surface emitting lasers and one or more photodiodes.

[0253] Example 13 - The surgical instrument assembly of Example 12, wherein the photodiode is configured to measure a loss of light within the stretchable optical waveguide when the waveguide is extended during the firing stroke.

[0254] Example 14 - A surgical instrument assembly comprising a shaft, an end effector attached to the shaft, and a firing member configured to move through the end effector during a firing stroke, wherein the firing member includes a plurality of windows defined therein. The surgical instrument assembly further includes a light source and an optical sensor configured to detect the light source, and the plurality of windows are configured to pass between the light source and the optical sensor as the firing member is moved through the firing stroke. The surgical instrument assembly further includes a control circuit configured to monitor a signal received from the optical sensor to determine at least one parameter of the firing member during the firing stroke.

[0255] Example 15 - The surgical instrument assembly of Example 14, wherein a plurality of windows include a pattern corresponding to a linear distance traveled by the firing member.

[0256] Example 16 - A surgical instrument assembly comprising a shaft, an end effector attached to the shaft, a firing member configured to move through the end effector during a firing stroke, and a sensing circuit including a stretchable resistive cable attached to the shaft and the firing member, the stretchable resistive cable being configured to elongate as the firing member is moved through the firing stroke. The surgical instrument assembly further includes a control circuit configured to monitor the resistance of the sensing circuit to determine at least one parameter of the firing member during the firing stroke.

[0257] Surgical instrument assembly comprising a shaft, an end effector attached to the shaft, and a firing member configured to move through the end effector during a firing stroke, the firing member including a magnet, a surgical instrument system. The surgical instrument system further comprises a first Hall effect sensor positioned at a start point of the firing stroke and a second Hall effect sensor positioned at an end point of the firing stroke. The surgical instrument system further comprises a surgical control circuit including a motor and a control circuit including a motor control program. The control circuit is configured to monitor rotation of the motor, compare the rotation of the motor with signals received from the first Hall effect sensor and the second Hall effect sensor, determine whether the firing member has moved a predicted distance based on a comparison of the rotation of the motor with signals received from the first Hall effect sensor and the second Hall effect sensor, and recalibrate the motor control program if the firing member has not moved the predicted distance. The surgical instrument system further comprises a sensing circuit including a stretchable resistive cable attached to the shaft and the firing member, the stretchable resistive cable being configured to elongate as the firing member is moved through the firing stroke. The surgical instrument system further comprises a control circuit configured to monitor the resistance of the sensing circuit to determine at least one parameter of the firing member during the firing stroke.

[0258] Surgical instrument comprising: a shaft; an end effector attached to the shaft; an electric motor; and a firing member configured to move through the end effector during a firing stroke; the surgical instrument further comprising a stretchable optical waveguide attached to the shaft and the firing member, the stretchable optical waveguide being configured to elongate as the firing member is moved through the firing stroke; the surgical instrument further comprising an optical sensor configured to sense a change in the presence of light within the stretchable optical waveguide during the firing stroke, an encoder configured to evaluate rotation of the electric motor, and a control circuit; the control circuit being configured to monitor signals received from the optical sensor and the encoder and to determine a distortion of the firing member that deviates the movement of the firing member from an expected movement.

[0259] Surgical instrument according to Example 18, further comprising a joint for attaching the end effector to the shaft, the stretchable optical waveguide being attached to the shaft proximal to the joint, the firing member extending through the joint, the distortion of the firing member arising from the joint of the end effector.

[0260] Surgical instrument comprising: a shaft; an end effector attached to the shaft; and a firing member configured to move through the end effector during a firing stroke, the firing member comprising a plurality of windows defined therein; the surgical instrument further comprising an electric motor configured to drive the firing member, a light source, and an optical sensor configured to detect the light source, the plurality of windows being configured to pass between the light source and the optical sensor as the firing member is moved through the firing stroke; the surgical instrument further comprising an encoder configured to evaluate rotation of the electric motor and a control circuit configured to monitor signals received from the optical sensor and the encoder and to determine a distortion of the firing member that deviates the movement of the firing member from an expected movement.

[0261] Example 20 - A surgical instrument further comprising a joint fitting for attaching an end effector to a shaft, the firing member extending through the joint fitting, and the distortion of the firing member arising from the joint of the end effector.

[0262] Example 22 - A surgical instrument comprising a shaft, an end effector attached to the shaft, and a firing member configured to move through the end effector during a firing stroke, the firing member including a first band and a second band. The surgical instrument further includes a sensing circuit including a first stretchable resistive cable attached to the shaft and the first band and a second stretchable resistive cable attached to the shaft and the second band, the first stretchable resistive cable and the second stretchable resistive cable being configured to elongate when moved through the firing stroke. The surgical instrument further includes a control circuit configured to monitor the resistance of the sensing circuit to determine at least one parameter of the firing member during the firing stroke.

[0263] Example 23 - A surgical instrument according to Example 22, further comprising a joint fitting for attaching an end effector to a shaft, the firing member extending through the joint fitting, and the distortion of the firing member arising from the joint of the end effector being detectable by a control circuit.

[0264] Example Set 2 Example 1 - A surgical instrument assembly comprising a shaft, a joint fitting, and an end effector attached to the shaft by the joint fitting, the end effector being configured to articulate about the joint fitting. The surgical instrument assembly further includes a flex circuit extending through the shaft and connected to the end effector, the flex circuit including a joint section aligned with the joint fitting. The joint section includes a predetermined flexion profile configured to predictably extend across the joint fitting when the end effector articulates about the joint fitting.

[0265] Example 2 - The surgical instrument assembly of Example 1, wherein the joint section includes an elastic connection member configured to bias the joint section to a predetermined flexion profile.

[0266] Example 3 - A surgical instrument assembly comprising a shaft, a joint, an end effector attached to the shaft by the joint, and a flex circuit extending through the shaft. The flex circuit includes a non-flexible zone and a flexible zone extending across the joint.

[0267] Example 4 - The surgical instrument assembly of Example 3, wherein the flex circuit further includes a conductive flexible ink and a conductive metal trace.

[0268] Example 5 - A surgical instrument assembly comprising a shaft, a joint, an end effector attached to the shaft by the joint, and a flex circuit extending through the shaft. The flex circuit includes a flexible section configured to be extended in a predetermined direction. The flexible section includes a relaxed state, an extended state, and a plurality of elastic connection members attached to the flex circuit within the flexible section. The plurality of elastic connection members are configured to bias the flexible section to the relaxed state and enable extension of the flexible section in the predetermined direction.

[0269] Example 6 - The surgical instrument assembly of Example 5, wherein the elastic connection members are oriented along a predetermined direction.

[0270] Example 7 - A surgical instrument assembly comprising a shaft, an end effector attached to the shaft, and a flex circuit extending through the shaft. The flex circuit includes a flex circuit profile plane and a pre-curved section, and the flex circuit is bent such that the flex circuit profile plane is aligned within a single plane across the entire pre-curved section.

[0271] Example 8 - A surgical instrument assembly of Example 7, further comprising a joint, wherein the pre-curved section extends across the joint and is positioned offset from the center with respect to the central shaft axis defined by the shaft.

[0272] Example 9 - A surgical instrument assembly comprising a shaft, an end effector attached to the shaft, and a flex circuit extending through the shaft. The flex circuit includes a flex circuit profile plane and a pre-curved section, and the flex circuit is bent such that the flex circuit profile plane is not aligned within a single plane throughout the pre-curved section.

[0273] Example 10 - A surgical instrument assembly of Example 9, further comprising a joint, wherein the pre-curved section extends across the joint and is positioned offset from the center with respect to the central shaft axis defined by the shaft.

[0274] Example 11 - A surgical instrument assembly comprising a shaft, an end effector, and a wiring harness extending through the shaft. The wiring harness includes at least one first zone including a non-stretchable portion and a second zone including a stretchable portion interconnecting the at least one first zone.

[0275] Example 12 - A surgical instrument assembly of Example 11, wherein the first zone includes a bendable portion.

[0276] Example 13 - A surgical instrument assembly of Example 11 or 12, wherein the stretchable portion includes a conductive ink.

[0277] Example 14 - A surgical instrument assembly of Example 11, 12, or 13, wherein the stretchable zone includes a metal trace.

[0278] Example 15 - A surgical instrument assembly according to Example 11, 12, 13, or 14, further comprising a drive component positioned within a shaft, wherein a wiring harness is attached to at least one of the drive components at at least one location of the at least one drive component.

[0279] Example 16 - A surgical instrument assembly according to Example 15, wherein at least one location includes a scale location, and the scale location defines a reference for at least one sensor of the wiring harness.

[0280] Example 17 - A surgical instrument assembly according to Example 16, wherein at least one sensor is configured to monitor at least one parameter of at least one of the drive components.

[0281] Example 18 - A surgical instrument comprising a shaft defining a longitudinal axis, an end effector, and a joint, wherein the end effector is rotatably attached to the shaft about the joint. The surgical instrument further comprises a joint driver attached to the end effector, and the joint driver is longitudinally translatable to rotate the end effector about the joint. The surgical instrument further comprises a wiring harness. The wiring harness includes a shaft portion extending within the shaft, an end effector portion extending within the end effector, and an anchor portion attached to the joint driver. The wiring harness further includes a first flexible bend extending between the shaft portion and the anchor portion, and a second flexible bend extending between the anchor portion and the end effector portion.

[0282] Example 19 - A surgical instrument according to Example 18, wherein the wiring harness includes a first biasing member configured to return the first flexible bend to an unbent state.

[0283] Example 20 - A surgical instrument according to Example 19, wherein the wiring harness includes a second biasing member configured to return the second flexible bend to an unbent state.

[0284] Example 21 - The surgical instrument of Example 18, 19, or 20, wherein the wiring harness includes a flexible circuit composed of a polyimide layer.

[0285] Example 22 - The surgical instrument of Example 21, wherein the wiring harness further includes a metal electrical trace on the polyimide layer.

[0286] Example 23 - The surgical instrument of Example 22, wherein the metal electrical trace is composed of a metal ink.

[0287] Example 24 - The surgical instrument of Example 18, 19, 20, 21, 22, or 23, wherein the wiring harness further includes a silicone region configured to allow the wiring harness to extend.

[0288] Example 25 - The surgical instrument of Example 24, wherein the metal electrical trace extends over the silicone region.

[0289] Example 26 - The surgical instrument of Example 25, wherein the metal electrical trace follows an arcuate path across the silicone region.

[0290] Example 27 - The surgical instrument of Example 22, 23, 24, 25, or 26, wherein the metal electrical trace is composed of a conductive ink.

[0291] Example 28 - The surgical instrument of Example 21, 22, 23, 24, 25, 26, or 27, wherein the wiring harness further includes an opening defined within the flexible circuit and a printed circuit board positioned within the opening, and the printed circuit board communicates with the electrical traces within the flexible circuit.

[0292] Example 29 - A surgical instrument comprising a shaft defining a longitudinal axis, an end effector, and a joint, wherein the end effector is rotatably attached to the shaft about the joint. The surgical instrument further includes a flexible circuit. The flexible circuit includes a shaft portion extending within the shaft and an end effector portion extending within the end effector.

[0293] Example 30 - The surgical instrument of Example 29, wherein the flexible circuit is composed of a polyimide layer.

[0294] Example 31 - The surgical instrument of Example 30, wherein the flexible circuit further includes a metal electrical trace on the polyimide layer.

[0295] Example 32 - The surgical instrument of Example 31, wherein the metal electrical trace is composed of a metal ink.

[0296] Example 33 - The surgical instrument of Example 29, 30, 31, or 32, wherein the flexible circuit further includes a silicone region configured to allow the wiring harness to extend.

[0297] Example 34 - The surgical instrument of Example 33, wherein the metal electrical trace extends over the silicone region.

[0298] Example 35 - The surgical instrument of Example 33 or 34, wherein the metal electrical trace follows an arcuate path across the silicone region.

[0299] Example 36 - The surgical instrument of Example 31, 32, 33, 34, 35, or 36, wherein the metal electrical trace is composed of a conductive ink.

[0300] Example 37 - The surgical instrument of Example 29, 30, 31, 32, 33, 34, 35, or 36, wherein the flexible circuit further includes a defined opening therein and a printed circuit board positioned within the opening, and the printed circuit board communicates with the electrical traces within the flexible circuit.

[0301] Example 38 - The surgical instrument of Example 37, wherein the printed circuit board is composed of fiberglass.

[0302] Example 39 - A surgical instrument as in Example 29, 30, 31, 32, 33, 34, 35, 36, 37, or 38, wherein the flexible circuit further includes an opening defined therein and a microchip positioned within the opening, and the microchip communicates with electrical traces within the flexible circuit.

[0303] Set of Examples 3 Example 1 - A surgical instrument assembly comprising a shaft and an end effector extending from the shaft. The end effector includes a first jaw, a second jaw movable relative to the first jaw, and an anvil. The end effector further includes a staple cartridge channel, a staple cartridge positioned within the staple cartridge channel, and a plurality of pressure sensors positioned between the staple cartridge and the staple cartridge channel configured to detect clamping pressure within the end effector.

[0304] Example 2 - The surgical instrument assembly of Example 1, wherein the end effector includes a first side and a second side defined by a firing stroke path, and the plurality of pressure sensors are positioned on both the first side and the second side.

[0305] Example 3 - The surgical instrument assembly of Example 1 or 2, wherein the plurality of pressure sensors are longitudinally dispersed along the firing stroke path.

[0306] Example 4 - The surgical instrument of Example 1, 2, or 3, further including a flexible circuit coupled to the plurality of pressure sensors.

[0307] Example 5 - A surgical instrument assembly comprising a shaft and a drive member movable within the shaft, the drive member including a discontinuous portion. The surgical instrument assembly further includes a flexible circuit positioned within the shaft and coupled to a surgical control circuit. The flexible circuit includes an integrated strain gauge mounted to the drive member within the discontinuous portion, and the surgical control circuit is configured to determine the load received by the drive member by the strain gauge.

[0308] Example 6 - The surgical instrument assembly of Example 5, wherein the discontinuous portion includes a neckdown portion.

[0309] Example 7 - The surgical instrument assembly of Example 5 or 6, wherein the drive member includes a channel spine including a channel positioned on the distal end of the drive member, and the channel is configured to receive a staple cartridge therein.

[0310] Example 8 - The surgical instrument assembly of Example 5, 6, or 7, wherein the drive member includes a first drive member, the surgical instrument assembly further includes a second drive member movable within the shaft, the integrated strain gauge includes a first integrated strain gauge, and the flex circuit further includes a second integrated strain gauge attached to the second drive member.

[0311] Example 9 - The surgical instrument assembly of Example 5, 6, 7, or 8, wherein the flex circuit includes a flexible portion and a non-flexible portion...

Claims

1. A surgical instrument assembly, a shaft, a joint coupling including joint links, an end effector attached to the shaft by the joint coupling, the end effector being configured to be articulately moved about the joint coupling, and a joint driver positioned within the shaft, the end effector being articulately moved relative to the shaft about an articulation axis by the joint links when the joint driver is actuated, a flex circuit extending through the shaft and connected to the end effector, the flex circuit including a joint section aligned with the joint coupling, the joint section including a predetermined flexion profile configured to predictably extend across the joint coupling as the end effector is articulately moved about the joint coupling, the joint links being connected to the shaft, the end effector, and the joint driver, the joint section extending between a connection point of the joint link and the shaft and a connection point of the joint link and the joint driver and between the connection point of the joint link and the joint driver and a connection point of the joint link and the end effector, the joint section including an attachment portion attached to the joint driver, the surgical instrument assembly.

2. The surgical instrument assembly according to claim 1, wherein the joint section includes an elastic connection member configured to bias the joint section into the predetermined flexion profile.

3. The flex circuit further includes a first straight section extending within the shaft along a sidewall of the shaft, and a second straight section extending within the end effector along a sidewall of the end effector, the surgical instrument assembly according to claim 1.

4. The surgical instrument assembly according to claim 3, wherein when the shaft is bisected into an upper section and a lower section by a plane passing through a central axis of the shaft, the first straight section and the articulation axis are located in the lower section.

5. The surgical instrument assembly according to claim 4, wherein when the end effector is divided into an upper section and a lower section by the plane, the second straight section and the joint axis are located in the lower section of the end effector.

6. The surgical instrument assembly according to claim 5, wherein the joint driver is located in the upper section of the shaft.

7. A surgical instrument assembly, comprising: a shaft; a joint; an end effector attached to the shaft by the joint; a flex circuit extending through the shaft, the flex circuit including: a non-flexible zone; a flexible zone extending across the joint, wherein the flexible zone includes an S-shaped portion and an oppositely oriented S-shaped portion, and an upper end of the S-shaped portion is coupled to an upper end of the oppositely oriented S-shaped portion; wherein the joint includes a joint link; wherein the surgical instrument assembly further comprises: a joint driver positioned within the shaft, wherein when the joint driver is actuated, the end effector is articulated relative to the shaft about a joint axis by the joint link; wherein the upper end of the S-shaped portion and the upper end of the oppositely oriented S-shaped portion are attached to the joint driver; wherein the joint link is connected to the shaft, the end effector, and the joint driver; wherein the flexible zone extends between a connection point of the joint link and the shaft and a connection point of the joint link and the joint driver, and between a connection point of the joint link and the joint driver and a connection point of the joint link and the end effector.

8. The surgical instrument assembly according to claim 7, wherein the flex circuit further comprises a conductive flexible ink and a conductive metal trace.

9. wherein the non-flexible zone is a first non-flexible zone; wherein the flex circuit further includes a second non-flexible zone extending into the end effector; The surgical instrument assembly according to claim 7, wherein a lower end of the oppositely oriented S-shaped portion is coupled to the first non-flexible zone, and a lower end of the S-shaped portion is coupled to the second non-flexible zone.

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