Articulatable motor powered surgical tool having dedicated articulation motor configuration

Abstract

To provide a surgical instrument.SOLUTION: A surgical instrument includes a housing that defines a longitudinal axis. An elongated shaft assembly is operably coupled to the housing by a shaft rotator assembly for selective rotation about the longitudinal axis relative to the housing. A first motor is supported by the housing and configured to selectively apply first rotary actuation motions to a first drive shaft that is operably supported by the housing and operably interfaces with a first shaft actuator. A second motor is supported by the shaft rotator assembly such that the second motor is rotatable about the longitudinal axis and is configured to apply second rotary actuation motions to a second shaft actuator.SELECTED DRAWING: Figure 16

Description

[Background technology]

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

[0002] The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a perspective view of a powered surgical stapling system. [Figure 2] FIG. 2 is an exploded view of a shaft assembly of the powered surgical stapling system of FIG. 1; [Figure 3] FIG. 2 is a cross-sectional view of a portion of the shaft assembly and surgical end effector of the powered surgical stapling system of FIG. 1 with the anvil of the surgical end effector in the open position; [Figure 4] FIG. 4 is a top view of a portion of the shaft assembly and surgical end effector of FIG. 3 in a non-articulated position. [Figure 5] FIG. 4 is another top view of a portion of the shaft assembly and surgical end effector of FIG. 3 in an articulated position. [Figure 6] FIG. 2 is an exploded view of the handle or housing of the powered surgical stapling system of FIG. 1; [Figure 7] FIG. 7 is a cross-sectional view of the handle of FIG. 6 with a portion of the shaft assembly omitted for clarity. [Figure 8] FIG. 8 is an enlarged cross-sectional view of the handle and shaft assembly of FIG. 7. [Figure 9] FIG. 8 is another enlarged cross-sectional view of the handle and shaft assembly of FIG. 7. [Figure 10]8 is another cross-sectional side view of the handle and shaft assembly of FIG. 7 in a position that causes the jaws of the surgical end effector to be oriented in an open position. [Figure 11] 8 is another cross-sectional side view of the handle and shaft assembly of FIG. 7 in a position to effect closure of the jaws of the end effector. [Figure 12] 1 is a graphical comparison of closure force between an embodiment of a surgical instrument employing a progressive closure drive system and two previous surgical instruments employing different closure drive system configurations. [Figure 13] 1A is a graphical representation of the firing force (FTF) and closing force (FTC) experienced by an embodiment of a previous surgical instrument employing a cam surface on the anvil as the firing member or knife thereof moves through the anvil from its proximal-most start position to its distal-most end position (crosshead distance in inches). 1B is a graphical representation of the firing force (FTF) and closing force (FTC), anvil height, and spring height experienced by an embodiment of a surgical instrument employing a progressive closure drive system. [Figure 14] FIG. 2 is a partial perspective view of a portion of a shaft assembly. [Figure 15] FIG. 10 is a side view of a portion of another powered surgical tool. [Figure 16] FIG. 16 is a partial perspective view of a portion of the powered surgical tool of FIG. 15, with portions thereof removed for clarity. [Figure 17] FIG. 16 is another partial perspective view of a portion of the powered surgical instrument of FIG. 15, with portions thereof removed for clarity. [Figure 18] FIG. 16 is another partial perspective view of a portion of the powered surgical instrument of FIG. 15, with portions thereof removed for clarity. [Figure 19] FIG. 16 is a perspective view of the motor switch system of the powered surgical tool of FIG. 15, with portions thereof removed for clarity. [Figure 20] FIG. 16 is a perspective view of a proximal nozzle segment or fin segment of the nozzle assembly of the powered surgical instrument of FIG. [Figure 21] FIG. 16 is a partial perspective view of a portion of the powered surgical instrument of FIG. 15 with the distal nozzle portion omitted for clarity. [Figure 22] FIG. 16 is a side view of a chassis portion and a portion of the proximal nozzle segment of the powered surgical instrument of FIG. 15 with a portion of its nozzle assembly omitted for clarity. [Figure 23] 20 is a graphical depiction of the position of the switches of the switch system of FIG. 19 relative to the position of its switch traveler in relation to the articulation position of the end effector of the powered surgical instrument of FIG. 15 . [Figure 24] 20 is another graphical depiction of the position of the switches of the switch system of FIG. 19 for another position of the switch traveler relative to the articulation position of the end effector of the powered surgical instrument of FIG. 15 . [Figure 25] 20 is another graphical depiction of the position of the switches of the switch system of FIG. 19 for another position of the switch traveler relative to the articulation position of the end effector of the powered surgical instrument of FIG. 15 . [Figure 26] 20 is another graphical depiction of the position of the switches of the switch system of FIG. 19 for another position of the switch traveler relative to the articulation position of the end effector of the powered surgical instrument of FIG. 15 . [Figure 27] 20 depicts the shape of a portion of three different switch traveler embodiments that may be employed in the switch system of FIG. 19; [Figure 28] FIG. 28 is a graphical comparison of motor speed and articulation angle of a surgical end effector coupled thereto for each geometric switch traveler configuration depicted in FIG. 27. [Figure 28A] 17 illustrates one form of control circuit that may be employed to control the articulation motor of the powered surgical tool of FIG. 16;

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

[0004] The applicant of the present application owns the following US patent applications, filed on even date herewith, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. ______, entitled "METHOD FOR FABRICATING SURGICAL STAPLER ANVILS," Attorney Docket No. END8577USNP / 180088M; -U.S. Patent Application No. ______, entitled "REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL," Attorney Docket No. END8578USNP / 180393; -U.S. Patent Application No. ______, entitled "SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE STABILITY FEATURES," U.S. Attorney Docket No. END8579USNP / 180089; -U.S. Patent Application No. ______, entitled "FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS," Attorney Docket No. END8580USNP / 180090; -U.S. Patent Application No. ______, entitled "SURGICAL STAPLING DEVICES WITH IMPROVED CLOSURE MEMBERS," Attorney Docket No. END8581USNP / 180091; -U.S. Patent Application No. ______, entitled "SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH," Attorney Docket No. END8582USNP / 180092; -U.S. Patent Application No. ______, entitled "METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT," Attorney Docket No. END8583USNP / 180093M; -U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS," Attorney Docket No. END8584USNP / 180094; -U.S. Patent Application No. ______, entitled "POWERED SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS," Attorney Docket No. END8585USNP / 180095; -U.S. Patent Application No. ______, entitled "POWERED ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A FIRING DRIVE SYSTEM," Attorney Docket No. END8586USNP / 180096; -U.S. Patent Application No. ______, entitled "SWITCHING ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL INSTRUMENTS," Attorney Docket No. END8588USNP / 180098; and -U.S. Design Patent Application No. ______, entitled "SURGICAL INSTRUMENT ANVIL," Attorney Docket No. END8581USDP / 180099D.

[0005] The applicant of the present application owns the following US patent applications and US patents, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 386,185, entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF," U.S. Patent Application Publication No. 2018 / 0168642; -U.S. Patent Application No. 15 / 386,230, entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS," U.S. Patent Application Publication No. 2018 / 0168649; -U.S. Patent Application No. 15 / 386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS," U.S. Patent Application Publication No. 2018 / 01686; -U.S. Patent Application No. 15 / 386,209, entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF," U.S. Patent Application Publication No. 2018 / 0168645; -U.S. Patent Application No. 15 / 386,198, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES," U.S. Patent Application Publication No. 2018 / 0168644; -U.S. Patent Application No. 15 / 386,240, entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR," U.S. Patent Application Publication No. 2018 / 0168651; -U.S. Patent Application No. 15 / 385,939, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN," U.S. Patent Application Publication No. 2018 / 0168629; -U.S. Patent Application No. 15 / 385,941, entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168630; -U.S. Patent Application No. 15 / 385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS," U.S. Patent Application Publication No. 2018 / 0168631; -U.S. Patent Application No. 15 / 385,950, entitled "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES," U.S. Patent Application Publication No. 2018 / 0168635; -U.S. Patent Application No. 15 / 385,945, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN," U.S. Patent Application Publication No. 2018 / 0168632; -U.S. Patent Application No. 15 / 385,946, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS," U.S. Patent Application Publication No. 2018 / 0168633; -U.S. Patent Application No. 15 / 385,951, entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE," U.S. Patent Application Publication No. 2018 / 0168636; -U.S. Patent Application No. 15 / 385,953, entitled "METHODS OF STAPLING TISSUE," U.S. Patent Application Publication No. 2018 / 0168637; -U.S. Patent Application No. 15 / 385,954, entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS," U.S. Patent Application Publication No. 2018 / 0168638; -U.S. Patent Application No. 15 / 385,955, entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS," U.S. Patent Application Publication No. 2018 / 0168639; -U.S. Patent Application No. 15 / 385,948, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS," U.S. Patent Application Publication No. 2018 / 0168584; -U.S. Patent Application No. 15 / 385,956, entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES," U.S. Patent Application Publication No. 2018 / 0168640; -U.S. Patent Application No. 15 / 385,958, entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT," U.S. Patent Application Publication No. 2018 / 0168641; -U.S. Patent Application No. 15 / 385,947, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN," U.S. Patent Application Publication No. 2018 / 0168634; -U.S. Patent Application No. 15 / 385,896, entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT," U.S. Patent Application Publication No. 2018 / 0168597; -U.S. Patent Application No. 15 / 385,898, entitled "STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES," U.S. Patent Application Publication No. 2018 / 0168599; -U.S. Patent Application No. 15 / 385,899, entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL," U.S. Patent Application Publication No. 2018 / 0168600; -U.S. Patent Application No. 15 / 385,901, entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN," U.S. Patent Application Publication No. 2018 / 0168602; -U.S. Patent Application No. 15 / 385,902, entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER," U.S. Patent Application Publication No. 2018 / 0168603; -U.S. Patent Application No. 15 / 385,904, entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT," U.S. Patent Application Publication No. 2018 / 0168605; -U.S. Patent Application No. 15 / 385,905, entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT," U.S. Patent Application Publication No. 2018 / 0168606; -U.S. Patent Application No. 15 / 385,907, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT," U.S. Patent Application Publication No. 2018 / 0168608; -U.S. Patent Application No. 15 / 385,908, entitled "FIRING ASSEMBLY COMPRISING A FUSE," U.S. Patent Application Publication No. 2018 / 0168609; -U.S. Patent Application No. 15 / 385,909, entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE," U.S. Patent Application Publication No. 2018 / 0168610; -U.S. Patent Application No. 15 / 385,920, entitled "STAPLE-FORMING POCKET ARRANGEMENTS," U.S. Patent Application Publication No. 2018 / 0168620; -U.S. Patent Application No. 15 / 385,913, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS," U.S. Patent Application Publication No. 2018 / 0168614; -U.S. Patent Application No. 15 / 385,914, entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT," U.S. Patent Application Publication No. 2018 / 0168615; -U.S. Patent Application No. 15 / 385,893, entitled "BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS," U.S. Patent Application Publication No. 2018 / 0168594; -U.S. Patent Application No. 15 / 385,929, entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168626; -U.S. Patent Application No. 15 / 385,911, entitled "SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168612; -U.S. Patent Application No. 15 / 385,927, entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES," U.S. Patent Application Publication No. 2018 / 0168625; -U.S. Patent Application No. 15 / 385,917, entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS," U.S. Patent Application Publication No. 2018 / 0168617; -U.S. Patent Application No. 15 / 385,900, entitled "STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS," U.S. Patent Application Publication No. 2018 / 0168601; -U.S. Patent Application No. 15 / 385,931, entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS," U.S. Patent Application Publication No. 2018 / 0168627; -U.S. Patent Application No. 15 / 385,915, entitled "FIRING MEMBER PIN ANGLE," U.S. Patent Application Publication No. 2018 / 0168616; -U.S. Patent Application No. 15 / 385,897, entitled "STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES," U.S. Patent Application Publication No. 2018 / 0168598; -U.S. Patent Application No. 15 / 385,922, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES," U.S. Patent Application Publication No. 2018 / 0168622; -U.S. Patent Application No. 15 / 385,924, entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS," U.S. Patent Application Publication No. 2018 / 0168624; -U.S. Patent Application No. 15 / 385,910, entitled "ANVIL HAVING A KNIFE SLOT WIDTH," U.S. Patent Application Publication No. 2018 / 0168611; -U.S. Patent Application No. 15 / 385,903, entitled "CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS," U.S. Patent Application Publication No. 2018 / 0168604; -U.S. Patent Application No. 15 / 385,906, entitled "FIRING MEMBER PIN CONFIGURATIONS," U.S. Patent Application Publication No. 2018 / 0168607; -U.S. Patent Application No. 15 / 386,188, entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES," U.S. Patent Application Publication No. 2018 / 0168585; -U.S. Patent Application No. 15 / 386,192, entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES," U.S. Patent Application Publication No. 2018 / 0168643; -U.S. Patent Application No. 15 / 386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES," U.S. Patent Application Publication No. 2018 / 0168586; -U.S. Patent Application No. 15 / 386,226, entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS," U.S. Patent Application Publication No. 2018 / 0168648; -U.S. Patent Application No. 15 / 386,222, entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES," U.S. Patent Application Publication No. 2018 / 0168647; -U.S. Patent Application No. 15 / 386,236, entitled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS," U.S. Patent Application Publication No. 2018 / 0168650; -U.S. Patent Application No. 15 / 385,887, entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT," U.S. Patent Application Publication No. 2018 / 0168589; -U.S. Patent Application No. 15 / 385,889, entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM," U.S. Patent Application Publication No. 2018 / 0168590; -U.S. Patent Application No. 15 / 385,890, entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168591; -U.S. Patent Application No. 15 / 385,891, entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168592; - U.S. Patent Application No. 15 / 385,892, entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM," U.S. Patent Application Publication No. 2018 / 0168593; -U.S. Patent Application No. 15 / 385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT," U.S. Patent Application Publication No. 2018 / 0168595; -U.S. Patent Application No. 15 / 385,895, entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS," U.S. Patent Application Publication No. 2018 / 0168596; -U.S. Patent Application No. 15 / 385,916, entitled "SURGICAL STAPLING SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168575; -U.S. Patent Application No. 15 / 385,918, entitled "SURGICAL STAPLING SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168618; -U.S. Patent Application No. 15 / 385,919, entitled "SURGICAL STAPLING SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168619; -U.S. Patent Application No. 15 / 385,921, entitled "SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES," U.S. Patent Application Publication No. 2018 / 0168621; -U.S. Patent Application No. 15 / 385,923, entitled "SURGICAL STAPLING SYSTEMS," U.S. Patent Application Publication No. 2018 / 0168623; - U.S. Patent Application No. 15 / 385,925, entitled "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR," U.S. Patent Application Publication No. 2018 / 0168576; -U.S. Patent Application No. 15 / 385,926, entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS," U.S. Patent Application Publication No. 2018 / 0168577; -U.S. Patent Application No. 15 / 385,928, entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT," U.S. Patent Application Publication No. 2018 / 0168578; -U.S. Patent Application No. 15 / 385,930, entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS," U.S. Patent Application Publication No. 2018 / 0168579; -U.S. Patent Application No. 15 / 385,932, entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT," U.S. Patent Application Publication No. 2018 / 0168628; -U.S. Patent Application No. 15 / 385,933, entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK," U.S. Patent Application Publication No. 2018 / 0168580; - U.S. Patent Application No. 15 / 385,934, entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM," U.S. Patent Application Publication No. 2018 / 0168581; -U.S. Patent Application No. 15 / 385,935, entitled "Laterally Actuable Articulation Lock Arrangements for Locking an End Effector of a Surgical Instrument in an Articulated Configuration," U.S. Patent Application Publication No. 2018 / 0168582; -U.S. Patent Application No. 15 / 385,936, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES," U.S. Patent Application Publication No. 2018 / 0168583; -U.S. Patent Application No. 14 / 318,996, entitled "FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS," U.S. Patent Application Publication No. 2015 / 0297228; -U.S. Patent Application No. 14 / 319,006, entitled "FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER CONTROL FEATURES," now U.S. Patent No. 10,010,324; -U.S. Patent Application No. 14 / 318,991, entitled "SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS," now U.S. Patent No. 9,833,241; -U.S. Patent Application No. 14 / 319,004, entitled "SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS," now U.S. Patent No. 9,844,369; -U.S. Patent Application No. 14 / 319,008, entitled "FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS," U.S. Patent Application Publication No. 2015 / 0297232; -U.S. Patent Application No. 14 / 318,997, entitled "FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS," U.S. Patent Application Publication No. 2015 / 0297229; -U.S. Patent Application No. 14 / 319,002, entitled "FASTENER CARTRIDGE COMPRISING TISSUE CONTROL FEATURES," now U.S. Patent No. 9,877,721; -U.S. Patent Application No. 14 / 319,013, entitled "FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS," U.S. Patent Application Publication No. 2015 / 0297233; and -U.S. Patent Application No. 14 / 319,016, entitled "FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO," U.S. Patent Application Publication No. 2015 / 0297235.

[0006] The applicant of this application owns the following U.S. patent applications, filed June 24, 2016, the entire contents of each of which are incorporated herein by reference: - U.S. Patent Application No. 15 / 191,775, entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES"; - U.S. Patent Application No. 15 / 191,807, entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES"; - U.S. Patent Application No. 15 / 191,834, entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME"; -U.S. Patent Application No. 15 / 191,788, entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES"; and -U.S. Patent Application No. 15 / 191,818, entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS."

[0007] The applicant of this application owns the following U.S. patent applications, filed June 24, 2016, the entire contents of each of which are incorporated herein by reference: -U.S. Design Patent Application No. 29 / 569,218, entitled "SURGICAL FASTENER"; -U.S. Design Patent Application No. 29 / 569,227, entitled "SURGICAL FASTENER"; -U.S. Design Patent Application No. 29 / 569,259, entitled "SURGICAL FASTENER CARTRIDGE"; and -U.S. Design Patent Application No. 29 / 569,264, entitled "SURGICAL FASTENER CARTRIDGE."

[0008] The applicant of this application owns the following patent applications, filed on April 1, 2016, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 089,325, entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM"; - U.S. Patent Application No. 15 / 089,321, entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY"; -U.S. Patent Application No. 15 / 089,326, entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD"; -U.S. Patent Application No. 15 / 089,263, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION"; - U.S. Patent Application No. 15 / 089,262, entitled "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM"; - U.S. Patent Application No. 15 / 089,277, entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER"; -U.S. Patent Application No. 15 / 089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS"; -U.S. Patent Application No. 15 / 089,258, entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION"; -U.S. Patent Application No. 15 / 089,278, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE"; -U.S. Patent Application No. 15 / 089,284, entitled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT"; -U.S. Patent Application No. 15 / 089,295, entitled "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT"; -U.S. Patent Application No. 15 / 089,300, entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT"; -U.S. Patent Application No. 15 / 089,196, entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT"; -U.S. Patent Application No. 15 / 089,203, entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT"; -U.S. Patent Application No. 15 / 089,210, entitled "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT"; -U.S. Patent Application No. 15 / 089,324, entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM"; -U.S. Patent Application No. 15 / 089,335, entitled "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS"; -U.S. Patent Application No. 15 / 089,339, entitled "SURGICAL STAPLING INSTRUMENT"; -U.S. Patent Application No. 15 / 089,253, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS"; -U.S. Patent Application No. 15 / 089,304, entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET"; -U.S. Patent Application No. 15 / 089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS"; -U.S. Patent Application No. 15 / 089,336, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES"; - U.S. Patent Application No. 15 / 089,312, entitled "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT"; -U.S. Patent Application No. 15 / 089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and -U.S. Patent Application No. 15 / 089,349, entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL."

[0009] The applicant of the present application also owns the following identified U.S. patent applications, filed on December 31, 2015, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 984,488, entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS"; -U.S. Patent Application No. 14 / 984,525, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS," and -U.S. Patent Application No. 14 / 984,552, entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS."

[0010] The applicant of the present application also owns the following identified U.S. patent applications, filed on February 9, 2016, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR"; -U.S. Patent Application No. 15 / 019,228, entitled "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 ELONGATED 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."

[0011] The applicant of the present application also owns the following identified U.S. patent applications, filed on February 12, 2016, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 15 / 043,254, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; -U.S. Patent Application No. 15 / 043,259, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; -U.S. Patent Application No. 15 / 043,275, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS," and -U.S. Patent Application No. 15 / 043,289, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS."

[0012] The applicant of this application owns the following patent applications, filed on June 18, 2015, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 742,925, entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS"; -U.S. Patent Application No. 14 / 742,941, entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES"; - U.S. Patent Application No. 14 / 742,914, entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS"; - U.S. Patent Application No. 14 / 742,900, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT"; -U.S. Patent Application No. 14 / 742,885, entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," and -U.S. Patent Application No. 14 / 742,876, entitled "PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS."

[0013] The applicant of this application owns the following patent applications, filed on March 6, 2015, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 640,746, entitled "POWERED SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016 / 0256184; -U.S. Patent Application No. 14 / 640,795, entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 02561185; -U.S. Patent Application No. 14 / 640,832, entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES," now U.S. Patent Application Publication No. 2016 / 0256154; -U.S. Patent Application No. 14 / 640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION," now U.S. Patent Application Publication No. 2016 / 0256071; -U.S. Patent Application No. 14 / 640,831, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0256153; -U.S. Patent Application No. 14 / 640,859, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES," now U.S. Patent Application Publication No. 2016 / 0256187; -U.S. Patent Application No. 14 / 640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0256186; -U.S. Patent Application No. 14 / 640,844, entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE," now U.S. Patent Application Publication No. 2016 / 0256155; -U.S. Patent Application No. 14 / 640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING," now U.S. Patent Application Publication No. 2016 / 0256163; -U.S. Patent Application No. 14 / 640,765, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER," now U.S. Patent Application Publication No. 2016 / 0256160; -U.S. Patent Application No. 14 / 640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT," now U.S. Patent Application Publication No. 2016 / 0256162; and -U.S. Patent Application No. 14 / 640,780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING," now U.S. Patent Application Publication No. 2016 / 0256161.

[0014] The applicant of this application owns the following patent applications, filed on February 27, 2015, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION," now U.S. Patent Application Publication No. 2016 / 0249919; -U.S. Patent Application No. 14 / 633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND," now U.S. Patent Application Publication No. 2016 / 0249915; -U.S. Patent Application No. 14 / 633,560, entitled "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, entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY," now U.S. Patent Application Publication No. 2016 / 0249918; -U.S. Patent Application No. 14 / 633,555, entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED," now U.S. Patent Application Publication No. 2016 / 0249916; -U.S. Patent Application No. 14 / 633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016 / 0249908; -U.S. Patent Application No. 14 / 633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016 / 0249909; -U.S. Patent Application No. 14 / 633,526, entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE," now U.S. Patent Application Publication No. 2016 / 0249945; -U.S. Patent Application No. 14 / 633,541, entitled "MODULAR STAPLING ASSEMBLY," now U.S. Patent Application Publication No. 2016 / 0249927; -U.S. Patent Application No. 14 / 633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER," now U.S. Patent Application Publication No. 2016 / 0249917.

[0015] The applicant of this application owns the following patent applications, filed on December 18, 2014, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 574,478, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER," now U.S. Patent Application Publication No. 2016 / 0174977; -U.S. Patent Application No. 14 / 574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS," now U.S. Patent Application Publication No. 2016 / 0174969; -U.S. Patent Application No. 14 / 575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016 / 0174978; -U.S. Patent Application No. 14 / 575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS," now U.S. Patent Application Publication No. 2016 / 0174976; -U.S. Patent Application No. 14 / 575,130, entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE," now U.S. Patent Application Publication No. 2016 / 0174972; -U.S. Patent Application No. 14 / 575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS," now U.S. Patent Application Publication No. 2016 / 0174983; -U.S. Patent Application No. 14 / 575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. Patent Application Publication No. 2016 / 0174975; -U.S. Patent Application No. 14 / 575,154, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. Patent Application Publication No. 2016 / 0174973; -U.S. Patent Application No. 14 / 574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM," now U.S. Patent Application Publication No. 2016 / 0174970; and -U.S. Patent Application No. 14 / 574,500, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM," now U.S. Patent Application Publication No. 2016 / 0174971.

[0016] The applicant of this application owns the following patent applications, filed on March 1, 2013, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 13 / 782,295, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION," now U.S. Patent Application Publication No. 2014 / 0246471; -U.S. Patent Application No. 13 / 782,323, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0246472; -U.S. Patent Application No. 13 / 782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0249557; -U.S. Patent Application No. 13 / 782,499, entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT," now U.S. Patent No. 9,358,003; -U.S. Patent Application No. 13 / 782,460, entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0246478; -U.S. Patent Application No. 13 / 782,358, entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,326,767; -U.S. Patent Application No. 13 / 782,481, entitled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR," now U.S. Patent No. 9,468,438; -U.S. Patent Application No. 13 / 782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS," now U.S. Patent Application Publication No. 2014 / 0246475; -U.S. Patent Application No. 13 / 782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM," now U.S. Patent No. 9,398,911; and -U.S. Patent Application No. 13 / 782,536, entitled "SURGICAL INSTRUMENT SOFT STOP," now U.S. Patent No. 9,307,986.

[0017] The applicant of the present application also owns the following patent applications, filed on March 14, 2013, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 13 / 803,097, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. Patent Application Publication No. 2014 / 0263542; -U.S. Patent Application No. 13 / 803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT," now U.S. Patent No. 9,332,987; -U.S. Patent Application No. 13 / 803,053, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0263564; -U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014 / 0263541; -U.S. Patent Application No. 13 / 803,210, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0263538; -U.S. Patent Application No. 13 / 803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0263554; -U.S. Patent Application No. 13 / 803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0263565; -U.S. Patent Application No. 13 / 803,117, entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent No. 9,351,726; - U.S. Patent Application No. 13 / 803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,351,727; and -U.S. Patent Application No. 13 / 803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0277017.

[0018] 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, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014 / 0263539.

[0019] The applicant of the present application also owns the following patent applications, filed on March 26, 2014, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015 / 0272582; -U.S. Patent Application No. 14 / 226,099, entitled "STERILIZATION VERIFICATION CIRCUIT," now U.S. Patent Application Publication No. 2015 / 0272581; -U.S. Patent Application No. 14 / 226,094, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT," now U.S. Patent Application Publication No. 2015 / 0272580; -U.S. Patent Application No. 14 / 226,117, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL," now U.S. Patent Application Publication No. 2015 / 0272574; -U.S. Patent Application No. 14 / 226,075, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES," now U.S. Patent Application Publication No. 2015 / 0272579; -U.S. Patent Application No. 14 / 226,093, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015 / 0272569; -U.S. Patent Application No. 14 / 226,116, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION," now U.S. Patent Application Publication No. 2015 / 0272571; -U.S. Patent Application No. 14 / 226,071, entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR," now U.S. Patent Application Publication No. 2015 / 0272578; -U.S. Patent Application No. 14 / 226,097, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS," now U.S. Patent Application Publication No. 2015 / 0272570; -U.S. Patent Application No. 14 / 226,126, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015 / 0272572; -U.S. Patent Application No. 14 / 226,133, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015 / 0272557; -U.S. Patent Application No. 14 / 226,081, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT," now U.S. Patent Application Publication No. 2015 / 0277471; -U.S. Patent Application No. 14 / 226,076, entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION," now U.S. Patent Application Publication No. 2015 / 0280424; -U.S. Patent Application No. 14 / 226,111, entitled "SURGICAL STAPLING INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015 / 0272583; and -U.S. Patent Application No. 14 / 226,125, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT," now U.S. Patent Application Publication No. 2015 / 0280384.

[0020] The applicant of the present application also owns the following patent applications, filed on September 5, 2014, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016 / 0066912; -U.S. Patent Application No. 14 / 479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION," now U.S. Patent Application Publication No. 2016 / 0066914; -U.S. Patent Application No. 14 / 478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION," now U.S. Patent Application Publication No. 2016 / 0066910; -U.S. Patent Application No. 14 / 478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION," now U.S. Patent Application Publication No. 2016 / 0066909; -U.S. Patent Application No. 14 / 479,110, entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE," now U.S. Patent Application Publication No. 2016 / 0066915; -U.S. Patent Application No. 14 / 479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION," now U.S. Patent Application Publication No. 2016 / 0066911; -U.S. Patent Application No. 14 / 479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016 / 0066916; and -U.S. Patent Application No. 14 / 479,108, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION," now U.S. Patent Application Publication No. 2016 / 0066913.

[0021] The applicant of the present application also owns the following patent applications, filed on April 9, 2014, the entire contents of each of which are incorporated herein by reference: -U.S. Patent Application No. 14 / 248,590, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS," now U.S. Patent Application Publication No. 2014 / 0305987; -U.S. Patent Application No. 14 / 248,581, entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT," now U.S. Patent Application Publication No. 2014 / 0305989; -U.S. Patent Application No. 14 / 248,595, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0305988; -U.S. Patent Application No. 14 / 248,588, entitled "POWERED LINEAR SURGICAL STAPLER," now U.S. Patent Application Publication No. 2014 / 0309666; -U.S. Patent Application No. 14 / 248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0305991; -U.S. Patent Application No. 14 / 248,584, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS," now U.S. Patent Application Publication No. 2014 / 0305994; -U.S. Patent Application No. 14 / 248,587, entitled "POWERED SURGICAL STAPLER," now U.S. Patent Application Publication No. 2014 / 0309665; -U.S. Patent Application No. 14 / 248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014 / 0305990; and -U.S. Patent Application No. 14 / 248,607, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS," now U.S. Patent Application Publication No. 2014 / 0305992.

[0022] The applicant of the present application also owns the following patent applications, filed on April 16, 2013, the entire contents of each of which are incorporated herein by reference: - U.S. Provisional Patent Application No. 61 / 812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR"; - U.S. Provisional Patent Application No. 61 / 812,376, entitled "LINEAR CUTTER WITH POWER"; - U.S. Provisional Patent Application No. 61 / 812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP"; -U.S. Provisional Patent Application No. 61 / 812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL"; and -U.S. Provisional Patent Application No. 61 / 812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR."

[0023] As described in the specification and illustrated in the accompanying drawings, numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described herein. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus the specific structural and functional details disclosed herein may be representative and illustrative. Variations and modifications can be made thereto without departing from the scope of the claims.

[0024] The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "include" (any form of include, such as "includes" and "including"), and "contain" (any form of contain, such as "contains" and "containing") are open-ended linking verbs. Consequently, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has those one or more elements, but is not limited to having only one or more of those 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.

[0025] The terms "proximal" and "distal" are used herein with reference to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located away from the clinician. It will be further understood that for convenience and clarity, spatial terms such as "vertical," "horizontal," "above," and "below" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0026] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. By proceeding through the Detailed Description section of this specification, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural orifice, through an incision or puncture formed in tissue, etc. The working or end effector portions of these instruments can be inserted directly into the patient's body, or through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument can be advanced.

[0027] The surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, although other embodiments are contemplated in which the staple cartridge is not removable from the first jaw, or at least not easily replaceable therefrom. 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 contemplated in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes an articulation joint configured to rotate, or articulate, the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are also contemplated that do not include an articulation joint.

[0028] The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal and distal ends. During use, the staple cartridge is positioned on a first side of tissue to be stapled, and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored within the cartridge body can then be deployed into the tissue. The cartridge body includes staple cavities defined therein, and the staples are removably stored within the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot, and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may also be possible.

[0029] The staples are supported by staple drivers within the cartridge body. The drivers are movable between a first, unfired, position and a second, fired, position that ejects the staples from the staple cavities. The drivers are retained within the cartridge body by a retainer extending around the bottom of the cartridge body and including a resilient member configured to grip the cartridge body and hold the retainer against the cartridge body. The drivers are movable between their unfired and fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled slides under the drivers and includes a plurality of angled surfaces configured to lift the drivers, on which the staples are supported, toward the anvil.

[0030] In addition to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push it toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages with the first jaw and a second cam that engages with the second jaw. When the firing member is advanced distally, the first cam and the second cam can control the distance, i.e., the tissue gap, between the deck portion of the staple cartridge and the anvil. The firing member also includes a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the beveled surface so that the staples are ejected forward of the knife.

[0031] 1 depicts a motorized surgical cutting and fastening instrument 10, which may or may not be reusable. In the illustrated embodiment, the instrument 10 includes a housing 100 with a handle 110 configured to be grasped, manipulated, and actuated by a clinician. In the illustrated example, a dedicated shaft assembly 1000 is operably coupled to the handle 110. However, in alternative embodiments, the handle assembly is configured to be employed with a variety of different interchangeable shaft assemblies, each operably coupled to a surgical end effector configured to perform one or more surgical tasks or procedures. For example, the interchangeable shaft assemblies disclosed herein may be employed with various robotic systems, instruments, components, and methods disclosed in U.S. patent application Ser. No. 13 / 118,241, filed May 27, 2011, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Patent No. 9,072,535, the entire contents of which are incorporated herein by reference.

[0032] As one proceeds through the detailed description, it will be understood that the various embodiments of the shaft assembly 1000 may also be effectively employed in connection with a robotically controlled surgical system. Accordingly, the term “housing” may also encompass a housing or similar portion of a robotic system that houses, otherwise operably supports, or is otherwise associated with at least one drive system configured to generate and apply at least one control motion that can be used to actuate the interchangeable shaft assemblies disclosed herein and their respective equivalents. The term “frame” may refer to a portion of a handheld surgical instrument. The term “frame” may also refer to a portion of a robotically controlled surgical instrument and / or a portion of a robotic system that can be used to operably control a surgical instrument. Additionally, various components may be “housed” or included within the housing, or various components may be “associated” with the housing. In such instances, a component may not be included in or directly supported by the housing.

[0033] The illustrated embodiment is an endoscopic instrument, and generally, the embodiment of instrument 10 described herein is an endoscopic surgical cutting and fastening instrument. However, it should be noted that, according to other embodiments, the instrument may be, for example, a non-endoscopic surgical cutting and fastening instrument. Various surgical instruments are disclosed in U.S. Patent No. 7,845,537, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES," U.S. Patent No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," and U.S. Patent No. 9,050,083, entitled "MOTORIZED SURGICAL INSTRUMENT," the entire disclosures of which are incorporated herein by reference.

[0034] 2, in the illustrated embodiment, shaft assembly 1000 includes an end effector 1500 configured to cut and staple tissue. End effector 1500 includes a first jaw 1510 and a second jaw 1600 movably supported on first jaw 1510. The first jaw includes an elongated channel 1520 configured to operably support a surgical staple cartridge 1540 therein. Second jaw 1600 includes an anvil 1610 including an elongated anvil body 1612 and an anvil mounting portion 1620. However, alternative configurations are contemplated in which the first jaw includes an anvil and the second jaw includes a surgical staple cartridge or a channel configured to support a surgical staple cartridge. In the illustrated embodiment, the elongated anvil body 1612 includes a staple-forming lower surface 1614 on an upper portion thereof, the lower surface adapted for facing relationship with respect to a surgical staple cartridge 1540. The anvil 1610 is pivotally or movably supported on the elongated channel 1520 by a pair of anvil trunnions 1622 formed on the anvil mounting portion 1620. Each trunnion 1622 is pivotally received in a corresponding trunnion cradle 1524 formed in a proximal end portion of the elongated channel 1520. The trunnions 1622 are pivotally retained in their respective cradles 1524 by an anvil retainer 1530.

[0035] 2, shaft assembly 1000 includes a spine assembly 1200 including a spine shaft 1210 configured, first, to slidably support firing member assembly 1900 therein and, second, to slidably support closure member assembly 2000 extending around spine assembly 1200. Spine assembly 1200 further includes an upper spine stay 1220 and a lower spine stay 1230 supported by spine shaft 1210. As can be seen in FIG. 2, a distal end 1212 of spine shaft 1210 terminates in an upper lug attachment mechanism 1240 and a lower lug attachment mechanism 1250. Upper lug attachment mechanism 1240 defines a lug slot 1242 adapted to mount and support distal end 1222 of upper spine stay 1220 therein. Similarly, the lower lug attachment mechanism 1250 defines a lug slot 1252 adapted to mount and support the distal end 1232 of the lower spine stay 1230 therein. The distal end 1222 of the upper spine stay 1220 includes a pivot socket 1224 adapted to rotatably receive a pivot pin 1532 formed on the channel cap or anvil retainer 1530 therein. The distal end 1232 of the lower spine stay 1230 includes a lower pivot pin 1234 adapted to be received in a pivot hole (not shown) formed in the proximal end portion 1522 of the elongated channel 1520. The lower pivot pin 1234 is vertically aligned with the pivot socket 1224 to define an articulation axis AA about which the surgical end effector 1500 can articulate relative to the shaft 1000. See FIG. 3 .

[0036] In the illustrated configuration, the closure member assembly 2000 includes a proximal closure tube segment, or closure member segment, 2010. The proximal closure tube segment 2010 is operably coupled to a dual-pivoting closure sleeve assembly 2020 that defines an articulation joint 2105 about which the end effector 1500 can articulate relative to the remainder of the shaft assembly 1000. However, other shaft assemblies may not be articulatable. As seen in FIG. 2 , in one form, the dual-pivoting closure sleeve assembly 2020 includes an intermediate closure tube segment 2030 attached to the distal end 2012 of the proximal closure tube segment 2010. Additionally, the dual-pivoting closure sleeve assembly 2020 includes an end effector, or distal closure tube 2040, having upper and lower distally protruding tangs 2042, 2044. The upper double pivot link 2060 includes upwardly projecting distal and proximal pivot pins that engage with the upper distal pin holes of the upper proximally projecting tangs 2042 and 2032, respectively, on the intermediate closure tube segment 2030. The lower double pivot link 2070 includes upwardly projecting distal and proximal pivot pins that engage with the lower distal pin holes of the lower proximally projecting tangs 2044 and 2034, respectively. See Figures 2 and 3.

[0037] As described in further detail below, the anvil 1610 is moved from the open position to the closed position by translating the closure member assembly 2000 distally (direction "DD"). The anvil 1610 is opened by translating the closure member assembly 2000 proximally, which causes the end effector closure sleeve 2020 to interact with and pivot the anvil 1610 to the open position. With reference to FIGS. 4 and 5, in at least one configuration, the distal closure member or end effector closure tube 2040 employs two axially offset proximal and distal positive jaw opening mechanisms 2050 and 2052. In FIGS. 4 and 5, the proximal positive jaw opening mechanism 2050 is located to the right of the shaft axis (SA) (as viewed by a user of the tool assembly). The positive jaw opening mechanisms 2050, 2052 are configured to interact with corresponding release areas (not shown) and stepped portions (not shown) formed on the anvil mounting portion 1620, as described in more detail in U.S. Patent Application No. 15 / 635,631, filed June 28, 2017, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER," the entire disclosure of which is incorporated herein by reference, as well as other references incorporated herein. Other jaw opening configurations may also be employed.

[0038] In the illustrated embodiment, as well as other anvil configurations disclosed in the references incorporated herein, the anvil mounting portion 1620 has a camming surface or camming surfaces 1624 formed thereon. As the end effector closure tube 2040 is moved distally, the camming surface formed on the distal end of the end effector closure tube 2040 interacts with the camming surface 1624 on the anvil mounting portion 1620 to cam the anvil 1610 into the closed position.

[0039] As also described above, the shaft assembly 1000 further includes a firing member assembly 1900 that is supported for axial movement within the spine shaft 1210. The firing member assembly 1900 includes an intermediate firing shaft portion 1910 configured to attach to a distal cutting portion, or knife bar 1930. The distal end of the intermediate firing shaft portion 1910 may include a longitudinal slot 1912 that may be configured to receive a tab 1932 on the proximal end of the distal knife bar 1930. The longitudinal slot 1932 and the proximal end tab 1932 may be sized and configured to allow relative movement therebetween and may include a slip joint 1940. The slip joint 1940 may, for example, allow the knife bar 1930 to move axially relative to the intermediate firing shaft portion 1910 to accommodate articulation of the end effector 1500. Knife bar 1930 includes a knife portion 1950 that includes a blade or tissue-cutting edge 1952, and includes an upper anvil engagement tab 1954 and a lower channel engagement tab 1956. The configurations and operation of various firing members are disclosed in various other references, which are incorporated herein by reference.

[0040] In the illustrated embodiment, the surgical end effector 1500 is selectively articulatable about an articulation axis AA (AA) by an articulation drive system 2100. In one form, the articulation drive system 2100 includes a proximal articulation driver 2110 operably coupled to an intermediate articulation driver 2120 that is pivotally coupled to a distal articulation link 2130. As can be seen most particularly in FIGS. 4 and 5 , an offset mounting lug 2122 is formed at a distal end of the intermediate articulation driver 2120. A pivot hole 2123 is formed in the offset mounting lug 2122 and is configured to pivotally receive a proximal link pin 2134 formed at a proximal end 2132 of the distal articulation link 2130. The distal end 2136 of the articulation link 2120 includes a pivot hole 2138 configured to pivotally receive therein the channel pin 1526 formed in the proximal end portion 1522 of the elongate channel 1520. Thus, axial movement of the intermediate articulation driver 2120 imparts articulation to the elongate channel 1520, which causes the surgical end effector 1500 to articulate relative to the spine assembly 1200 about the articulation axis AA.

[0041] 6 and 7, the handle 110 includes handle housing segments 116, 118 that cooperate to form a pistol grip portion 119 that can be grasped and manipulated by a clinician. As described in more detail below, the handle 110 operably supports multiple drive systems therein, which are configured to generate and impart various controlled motions to the shaft assembly 1200. Referring now to FIG. 2, the handle 110 may further include a frame assembly or chassis 200 that operably supports the multiple drive systems. For example, the frame assembly 200 can operably support a “first” or closure drive system, generally designated as 300, that can be employed to impart an opening and closing motion to the end effector 1500 of the shaft assembly 1000. In the illustrated embodiment, the frame assembly 200 includes a right frame portion 210 and a frame cap 212 attached to the frame assembly by snap mechanisms, lugs, screws, or the like, and defines a shuttle cavity 214 therein. See FIGS. 6 and 7.

[0042] In at least one form, the closure drive system 300 may include an actuator in the form of a closure trigger 332 pivotally supported by the frame assembly 200. More specifically, as illustrated in FIGS. 6 and 7 , the closure trigger 332 is pivotally coupled to the frame assembly 200 by a pin 333. Such an arrangement allows the closure trigger 332 to be manipulated by a clinician, such that the closure trigger 332 can be easily pivoted from a start or “unactuated” position to an “actuated” position, more particularly to a fully compressed or fully actuated position, when the clinician grasps the pistol grip portion 119 of the handle 100. The closure trigger 332 may be biased to the unactuated position by a spring or other biasing device. In various forms, the closure drive system 300 further includes a closure linkage assembly 340 pivotally coupled to the closure trigger 1032. As seen in FIG. 6, the closure linkage assembly 340 may include a first closure link 342 and a second closure link 344 each pivotally coupled to the closure trigger 332 by a pin 335 .

[0043] With continued reference to FIG. 6 , it can be seen that the first closure link 342 can have a locking wall or end 345 thereon that is configured to cooperate with a closure release assembly 350 that is pivotally coupled to the right frame portion 210. In at least one form, the closure release assembly 350 can include a release button assembly 352 having a distally projecting locking pawl 354 formed thereon. The release button assembly 352 can be pivoted counterclockwise by a release spring (not shown). When the clinician depresses the closure trigger 332 from its unactuated position toward the pistol grip portion 119 of the handle 100, the first closure link 342 pivots upward to a point where the locking pawl 354 enters retaining engagement with the locking wall 345 on the first closure link 344, thereby preventing the closure trigger 332 from returning to the unactuated position. The closure release assembly 350 therefore acts to lock the closure trigger 332 in the fully actuated position. When the clinician wishes to unlock the closure trigger 332 so that it can be biased to the inactivated position, the clinician simply pivots the closure release button assembly 352, thereby moving the locking pawl 354 out of engagement with the locking wall 345 on the first closure link 344. Once the locking pawl 354 is moved out of engagement with the first closure link 344, the closure trigger 332 may pivot back to the inactivated position. Other closure trigger lock and release configurations may be used.

[0044] In the illustrated example, an arm 355 extends from the closure release button 352. A magnetic element 356, such as, for example, a permanent magnet, may be mounted to the arm 355. Rotating the closure release button 352 from its first position to its second position may cause the magnetic element 356 to move toward the circuit board 400. The circuit board 400 may include at least one sensor configured to detect movement of the magnetic element 356. In at least one embodiment, for example, a "Hall Effect" sensor (not shown) may be mounted on the underside of the circuit board 400. The Hall Effect sensor may be configured to detect a change in the magnetic field surrounding the Hall Effect sensor caused by movement of the magnetic element 356. The Hall effect sensor, for example, can be in signal communication with a microcontroller to determine whether the closure release button 352 is in a first position associated with an inactive position of the closure trigger 332 and an open configuration of the end effector, a second position associated with an active position of the closure trigger 332 and a closed configuration of the end effector, and / or any position between the first and second positions.

[0045] In at least one form, the handle 100 and frame assembly 200 operably support another drive system, referred to herein as a firing drive system 500, configured to impart a firing motion to the firing member assembly 1900 of the shaft assembly 1000. The firing drive system 500 may also be referred to herein as a “second drive system.” The firing drive system 500 may employ an electric motor 502 located within the pistol grip portion 119 of the handle 100. In various forms, the motor 502 may be a brushed DC drive motor having a maximum rotational speed of, for example, approximately 25,000 RPM. In other configurations, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 502 may be powered by a power source 510, which in one form may include a removable power pack 512. As seen in FIG. 8, for example, the power pack 512 may support a plurality of batteries 514 therein. Batteries 514 may each include, for example, a Lithium Ion ("LI") or other suitable battery. Power pack 512 is configured to be removably and operably attached to circuit board assembly 400, which is also operably coupled to motor 502. Multiple batteries 514, which may be connected in series, may be used as a power source for surgical instrument 10. Additionally, power source 510 may be replaceable and / or rechargeable.

[0046] As generally described above in connection with various other configurations, the electric motor 502 can include a rotatable shaft 506 that operably interfaces with a gear reducer assembly 520 that is mounted in meshing engagement with a set of drive teeth or racks of a longitudinally movable drive member 530. Mounting lugs 1916 are formed on the proximal end 1914 of the intermediate firing shaft portion 1910. The mounting lugs 1916 are configured to be received within a mounting cradle 536 formed on the distal end of the longitudinally movable drive member 530. In use, the voltage polarity provided by the power source 510 can operate the electric motor 502 in a clockwise direction, while the voltage polarity applied to the electric motor by the battery can be reversed to operate the electric motor 502 in a counterclockwise direction. When the electric motor 502 is rotated in one direction, the drive member 530 is axially driven in the distal direction “DD.” When the motor 502 is driven in the opposite rotational direction, the drive member 530 will be driven axially in the proximal direction ("PD"). The handle 100 can include a switch that can be configured to reverse the polarity applied to the electric motor 502 by the power source 510. As with other embodiments described herein, the handle 100 can also include a sensor configured to detect the position of the drive member 530 and / or the direction the drive member 530 is being moved.

[0047] Actuation of the motor 502 may be controlled by a firing trigger 540 pivotally supported on the handle 100. The firing trigger 540 may pivot between an inactivated position and an activated position. The firing trigger 540 may be biased to the inactivated position by a spring 542 or other biasing device, such that when the clinician releases the firing trigger 540, it may be pivoted or otherwise returned to the inactivated position by the spring or biasing device. In at least one form, the firing trigger 540 may be located “outside” of the closure trigger 332, as described above. In at least one form, a firing trigger safety button 550 may be pivotally mounted to the closure trigger 332. The safety button 550 may have a pivot arm positioned between and protruding from the firing trigger 540 and the closure trigger 332. When the closure trigger 332 is in the inactivated position, the safety button 550 is housed in the handle 100 and is not easily accessible to the clinician, nor can it be moved between a safety position that prevents actuation of the firing trigger 540 and a firing position in which the firing trigger 540 may be fired. When the clinician depresses the closure trigger 332, the safety button 550 and firing trigger 540 pivot down, allowing them to then be operated by the clinician.

[0048] As indicated above, in at least one form, the longitudinally movable drive member 530 has a rack of teeth thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly 520. At least one form also includes a manually actuated “emergency breakaway” assembly 560 configured to allow a clinician to manually retract the longitudinally movable drive member 530 if the motor 502 is disabled. See FIG. 7 . The emergency breakaway assembly 560 may include a lever or emergency breakaway handle assembly 562 configured to be manually pivoted to ratchetically engage teeth 532 also provided on the drive member 530. Thus, a clinician can manually retract the drive member 530 by using the emergency breakaway handle assembly 562 to ratchet the drive member 530 in the proximal direction PD. U.S. patent application Ser. No. 12 / 249,117, filed Oct. 10, 2008, now U.S. Patent No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," discloses an emergency release device, as well as other components, devices, and systems that may be used with the various instruments disclosed herein. U.S. Patent No. 8,608,045 is incorporated herein by reference in its entirety.

[0049] One method of attachment of the shaft assembly 1000 to the handle will now be described with reference to Figures 6-9. In the illustrated embodiment, the shaft assembly 1000 includes a nozzle assembly 2200, which includes a proximal nozzle assembly 2210 and a distal nozzle assembly 2250. The proximal nozzle assembly 2210 includes a right proximal nozzle segment 2220 and a left proximal nozzle segment 2230. The proximal nozzle segments 2220, 2230 may be attached together by snap lugs, screws, adhesives, or the like. The distal nozzle assembly 2250 includes a right distal nozzle segment 2260 and a left distal nozzle segment 2270. The right distal nozzle segment 2260 and the left distal nozzle segment 2270 are coupled together by snap mechanisms, lugs, screws, adhesives, or the like. The proximal nozzle assembly 2210 and the distal nozzle assembly 2250 may be attached together by adhesives, friction, or the like. Nozzle assembly 2200 is journaled on housing 100 for selective rotation relative to the housing about shaft axis SA. In the illustrated embodiment, distal nozzle assembly 2250 includes an inwardly extending proximal mounting flange 2252 that interfaces with a frame mounting flange 220 formed on frame portion 210 of frame assembly 200. Proximal nozzle assembly 2210 is formed with fins 2212 to facilitate rotation of nozzle assembly 2200 about shaft axis SA.

[0050] In the illustrated configuration, the shaft assembly 1000, including the end effector 1500 attached thereto, is rotatable about the shaft axis SA by rotating the nozzle assembly 2200 relative to the handle 100. As seen in FIG. 8 , for example, the distal nozzle assembly 2250 includes a shaft engagement flange 2254 that extends inwardly through a nozzle engagement opening 2016 in the proximal end portion 2014 of the proximal closure tube segment 2010. Such a configuration allows the shaft assembly 1000 to be rotated about the shaft axis SA when a clinician rotates the nozzle assembly 2200. The nozzle engagement opening 2016 is sized to permit axial movement of the proximal closure tube segment 2010 relative to the shaft engagement flange 2254. Still referring to FIG. 8 , the distal nozzle assembly 2250 may further include a support sleeve portion 2256 configured to movably support the proximal closure tube segment 2010 therein. Additionally, as seen in FIG. 9, the proximal end 1226 of the upper spine stay 1220 and the proximal end 1236 of the lower spine stay 1230 are each supported in a spine bearing 1260 that is rotatably supported within the frame assembly 200.

[0051] 6, 8, and 9, the proximal end portion 2014 of the proximal closure tube segment 2010 is movably supported within a closure shuttle 360 that is coupled to the second closure link 344 of the closure linkage mechanism assembly 340 (FIG. 6). The closure shuttle 360 is slidably supported within a shuttle cavity 214 within the frame assembly 200. The proximal end portion 2014 of the proximal closure tube segment 2010 extends through a U-shaped cradle opening 362 within the closure shuttle 360 and is rotatably supported therein. This configuration allows the proximal end portion 2014 of the proximal closure tube segment 2010 to rotate relative to the closure shuttle 360 when the shaft assembly 1000 is rotated relative to the handle 100. Additionally, when the clinician depresses the closure trigger 332, the closure shuttle is moved in the distal direction DD within the shuttle cavity 214, also causing the closure member assembly 2000 to move distally and impart a closure motion to the end effector 1500.

[0052] As seen in FIGS. 8 and 9 , the first spring 370 is journaled on the proximal portion 2014 of the proximal closure tube segment 2010 between the cradle wall 362 of the closure shuttle 360 and the distal end wall 219 formed on the right frame portion 210 (first spring space 221). The axial length of the first spring space is designated X1. The first spring 370 biases the closure shuttle 360 proximally (arrow PD) to a start position corresponding to the fully open position of the anvil. See FIG. 10 . In the illustrated embodiment, a proximal flange 2018 is formed on the proximal end portion 2014 of the proximal closure tube segment 2010. The proximal flange 2018 is configured to slidably move within a closure or second cavity 364 formed in the closure shuttle 360 as shown. The axial length of the second cavity or second spring space 363 is designated X2. In at least one configuration, for example, X1 > X2. A second closure spring or biasing member 380 is located within the second spring space 363 and biases the proximal flange 2018 on the proximal closure tube segment 2010 in the distal direction DD against the cradle wall 362 of the closure shuttle 360.

[0053] During the initial clamping of the target tissue between the anvil 1610 and the surgical staple cartridge 1540, the closure drive system 300 must apply a sufficient amount of axial closure force to the anvil 1610 to pivot the anvil 1610 to the closed position and hold it in that position throughout the staple forming process. In at least one application, the term "closure procedure" refers to the process of moving the anvil from a fully open position on the target tissue to a closed position and holding the anvil in the closed position until the staple forming process is fully completed and the anvil is ready to be reopened to release the target tissue from the end effector. The amount of closure force required to close and hold the anvil in the closed position can vary during the stapling process due to "tissue creep." For example, as the anvil compresses the target tissue, fluid within the clamped target tissue can "creep" or migrate within the tissue and flow to adjacent unclamped tissue. Further, tissue creep can be experienced when the knife portion 1950 is driven through the clamped target tissue. Thus, tissue creep can also affect the amount of firing force required to cut the target tissue and fire the staples in the staple cartridge. As the knife portion 1950 nears the end of its stroke, the amount of firing force required can be reduced as the creeping fluid completes its movement into the adjacent unclamped tissue.

[0054] FIG. 10 illustrates a closed drive system 300 in a non-operating orientation. As seen in FIG. 10, a first spring 370 biases a closure shuttle 360 proximally in the PD direction within a shuttle cavity 214 of a frame assembly 200 to its most proximal or starting position. As a result of the closure shuttle 360 being attached to a closure trigger 332 by a closure linkage assembly 340, the closure trigger 332 is pivoted to a non-operating starting position. When the closed drive system 300 is in a non-operating position, anvil 1610 is in a fully open position. In at least one embodiment, the first spring 370 is "weaker" than a second spring 380. In other words, the second spring 380 is more rigid than the first spring 370. That is, the spring constant K1 of the first spring 370 is less than the spring constant K2 of the second spring 380. Therefore, K2 > K1. In some configurations, for example, K2 may be up to 10 times greater than K1. In other configurations, K2 / K1 > 1. In an alternative configuration, K2 < K1. A clinician initiates the closure process by pressing the closure trigger 332 toward a pistol grip 119 of a housing 100. This action begins to move the closure shuttle 360 in the distal direction DD, which begins to compress the first spring 370. As the closure shuttle 360 begins to move distally, the closure shuttle 360 also begins to move a proximal closure tube segment 2010 distally. As the proximal closure tube segment 2010 moves distally, the entire closure member assembly 2000 (of which the proximal closure tube segment 2010 is a part) moves distally, applying a closing motion to the anvil 1610. As the clinician continues to pivot the closure trigger 332 toward the pistol grip 119, the closure shuttle 360 continues to move distally, compressing the first spring 370. As the anvil 1610 begins to close, the amount of closing force required may begin to increase as the anvil 1610 begins to compress the target tissue. As the target tissue begins to compress, the fluid contained within may begin to creep within the target tissue, which can directly affect the amount of closing force required to fully close the anvil.As the resistance to closure increases, the closure member assembly 2000 can move in the proximal direction PD against the closure force applied to the proximal closure tube segment 2010 by the second spring 380. FIG. 11 depicts the closure drive system 300 in a fully closed position corresponding to the fully closed position of the anvil 1610. Thus, the final amount of closure force applied to the anvil 1610 via the closure member assembly 2000 can vary due to the ability of the second spring 380 to compress in response to the closure resistance experienced by the anvil during the closure procedure. Thus, the anvil can “progressively close” as it experiences a changing amount of resistance created by the target tissue. This may also be referred to herein as generating a “progressive closure force.”

[0055] Once the jaws 1510, 1600 are closed on the target tissue and locked in position, the clinician may then initiate the firing process by depressing the firing trigger 540, which causes the knife bar 1910 to drive the knife portion 1950 through the clamped target tissue. As the knife portion 1950 is driven distally through the end effector 1500, the knife blade 152 cuts the target tissue. Additionally, in at least one configuration, the knife portion 1950 engages and distally drives a cam assembly, sometimes referred to as a wedge-shaped sled 1970, that is slidably supported within the surgical staple cartridge 1540. As the wedge-shaped sled 1970 is driven distally through the staple cartridge 1540, a cam formed on the wedge-shaped sled 1970 engages and cams a staple driver (not shown) movably supported within the staple cartridge 1540. Each staple driver may support one or more surgical staples thereon. The staple drivers are generally supported on axes located on each side of an elongated slot formed in the staple cartridge. When the wedge-shaped sled 1570 contacts the staple drivers, they are driven upward (toward the closed anvil 1610), thereby driving the staple(s) supported thereon through the target tissue and making contact with the staple-forming lower surface 1614 of the anvil body 1612. Because the wedge-shaped sled 1570 is located distal to the tissue-cutting knife blade, the staples are deployed through the target tissue before the target tissue is cut.

[0056] Furthermore, as the knife portion 1950 is driven through the target tissue, tabs or flanges formed on the knife portion engage the anvil 1610 and the elongated channel 1510, holding the anvil 1610 and channel 1510 closed and spaced apart at the desired spacing during the stapling process. While such distal advancement of the knife portion may reduce the amount of closure force required from the closure system, a significant amount of "firing force" must be generated by the firing system to push the knife portion 1950 through the target tissue and overcome the resistance and friction of the system as the wedge-shaped threads actuate the staple drivers. Thus, the firing system must be capable of generating sufficient firing force, and the firing system components must be sufficiently rigid to effectively accommodate such forces while being flexible enough to accommodate the articulation of the end effector. These design requirements for the closure and firing systems may also be exacerbated by the type and composition of the target tissue. Furthermore, these system components must be small enough to be inserted through the small cannula of a trocar.

[0057] FIG. 12 is a graphical comparison between surgical instrument 10 employing the progressive closure drive system 300 described above and two previous surgical instruments A and B employing different closure drive configurations. Previous surgical instrument A employs a closure drive system directly coupled to a closure actuator or closure trigger. While previous surgical instrument A employs a spring to bias the closure system to an inactivated position, previous instrument A does not employ a second biasing member like surgical instrument 10 described above. Additionally, the anvil of surgical instrument A lacks a cam surface or surface like anvil 1610 described above. Instead, the anvil of surgical instrument A has a rigid edge positioned to contact a closure member or tube. When the closure member contacts the rigid edge, the anvil pivots closed.

[0058] Referring further to FIG. 12 , surgical instrument B is similar in some aspects to previous surgical instrument A in that it has a first biasing member for biasing the closure system to the inactivated position. However, surgical instrument B does not employ a second biasing member like instrument 10 described above. However, the anvil of surgical instrument B employs a cam surface configured to be contacted by the closure member to pivot the anvil to the closed position. FIG. 12 is a plot showing the amount of time to complete the closure procedure versus the amount of closure force required during the procedure for each of three surgical instruments: surgical instrument 10, surgical instrument A, and surgical instrument B. As can be seen in FIG. 12 , the amount of closure force required throughout the closure procedure for surgical instrument 10 is less than the closure force required by surgical instruments A and B. While the closure force required by surgical instrument B is less than the closure force required by surgical instrument A, the closure force required by surgical instrument 10 is significantly less than the closure force required by both A and B throughout the closure process.

[0059] 13A and 13B compare the firing force (FTF), closure force (FTC) experienced by surgical instrument 10 and surgical instrument B (with cam surfaces on the anvil) as the firing member or knife moves through the anvil from a proximal-most start position within the anvil to a distal-most end position (crosshead distance). FIG. 13A illustrates the FTF, FTC, and anvil height during the firing procedure for surgical instrument B. FIG. 13B illustrates the FTF, FTC, anvil height, and spring height for surgical instrument 10. As can be seen with reference to FIGS. 13A and 13B, the initial anvil height for surgical instrument B was 0.0510 inches, and the initial anvil height for surgical instrument 10 was 0.511 inches. The peak closure force FTC in pounds was 51.5 pounds for surgical instrument B and 98.7 pounds for surgical instrument 10. The peak FTF in pounds was 48.9 pounds for surgical instrument B and 36.4 pounds for surgical instrument 10. Thus, surgical instrument 10 experienced a 25.6% reduction in the amount of closure force required by surgical instrument 10. This reduction in the amount of firing force required may allow firing system components to be made from a lighter and / or smaller component configuration.

[0060] As described above, surgical instrument 10 includes an articulation drive system 2100 configured to selectively articulate surgical end effector 1500 relative to shaft assembly 1000 about an articulation axis AA that transverses shaft axis SA. See FIG. 14. Articulation drive system 2100 includes an articulation drive assembly 2102 that includes a proximal articulation driver 2110 coupled to an intermediate articulation driver 2120 that is pivotally coupled to a distal articulation link 2130 attached to the proximal end of elongated channel 1520. (i.e., second shaft actuator)See FIG. 2 . In one embodiment, the distal articulation link 2130 is attached to the intermediate articulation driver 2120 on one side of the shaft axis SA. The distal articulation link 2130 is attached to the elongated channel 1520 on the opposite side of the shaft axis SA, such that the distal articulation link 2130 extends laterally across the shaft axis SA. In the illustrated embodiment, the junction between the proximal articulation driver 2110 and the intermediate articulation driver 2120 may also function as an articulation lock assembly 2121, which serves to hold the surgical end effector 1500 in an articulated position after articulation applied to the proximal articulation driver 2110 is discontinued. In the illustrated embodiment, the distal end 2112 of the proximal articulation driver 2110 is threaded. The threaded distal end 2112 of the proximal articulation driver 2110 is threadedly engaged with a threaded socket 2126 on the proximal end 2124 of the intermediate articulation driver 2120. Rotation of the proximal articulation driver 2110 in a first rotational direction results in axial movement of the intermediate articulation driver 2120 in a first or distal direction DD. Movement of the intermediate articulation driver 2120 in the distal direction DD results in pivoting of the surgical end effector 1500 about the articulation axis AA in a first articulation direction AD1. Rotation of the proximal articulation driver in a second rotational direction results in movement of the intermediate articulation driver 2120 in a second or proximal direction PD. Axial movement of the intermediate articulation driver 2120 in the proximal direction PD results in pivoting of the surgical end effector 1500 about the articulation axis AA in a second articulation direction AD2.

[0061] In the illustrated embodiment, the housing 100 or handle 110 defines a longitudinal axis (LA). See FIGS. 15 and 16. As noted above, the shaft assembly 1000 also defines a shaft axis SA. The shaft axis SA and the longitudinal axis LA may be coaxial. The longitudinal axis of the articulation drive system 2100 includes an articulation motor 2140 mounted within the distal nozzle assembly 2250 for rotational movement in an orbit about the longitudinal axis LA when a user rotates the nozzle assembly 2250 relative to the housing 100. The distal nozzle assembly 2250 may also be referred to as a "shaft rotator assembly" configured to rotatably couple the shaft assembly 1000 to the housing 100. In one configuration, the articulation motor 2140 (i.e., the second motor) Motor output gear 2142 (i.e., the first gear) The motor output gear 2142 rotates about a motor axis MA that is parallel to and offset from the longitudinal axis LA. See FIG. 16. In the illustrated embodiment, the motor output gear 2142 is connected to a control switch gear 2152 of the motor switch system 2150. (i.e., the second gear) The control switch gear 2152 is in meshing engagement with the proximal articulation drive gear 2118 formed on the proximal end 2116 of the proximal articulation driver 2110. (i.e. the third gear) Thus, rotation of the motor output gear 2142 in one direction rotates the proximal articulation driver 2110 in a first direction, thereby rotating the intermediate articulation driver 2120 in a distal direction. MovedRotation of the articulation motor in the opposite rotational direction rotates the proximal articulation driver 2110 in a second rotational direction, thereby moving the intermediate articulation driver 2120 in the proximal direction PD. Movement of the intermediate articulation driver 2120 in the proximal direction PD articulates the surgical end effector 1500 in a second articulation direction AD2. In various embodiments, the articulation motor 2140 and gear arrangement may be, for example, less than 12 mm in diameter and less than 1.5 inches in length. The articulation motor 2140 may be a brushed design with a power output of less than 1.5 watts. In at least some embodiments, the power output of the motor 2140 is approximately 0.75 to 1.0 watts. The gear arrangement may be supported by the motor housing or may be separate from the motor housing. In at least one embodiment, the gear arrangement has a 100:1 reduction, although gear arrangements with higher reduction ratios may be employed. In alternative configurations, other motor configurations may be employed.

[0062] With regard to the articulation lock 2121, the threads on the distal end 2112 of the proximal articulation driver 2110 may comprise, for example, either fine (e.g., 64 threads per inch) or coarse (less than 64 threads per inch) #2 threads, which provide sufficient mechanical advantage for the articulation motor 2140 to cause articulation of the surgical end effector 1500, while also functioning as a lock to prevent movement of the surgical end effector 1500 after the articulation motor 2140 is de-energized. As also seen in FIG. 2 , the proximal articulation driver 2110 may comprise a support shoulder portion 2119 having a larger diameter than the adjacent portion of the proximal articulation driver 2110. The larger shoulder 2119 slidably interfaces with the spine shaft 1210 for additional support when in the locked position.

[0063] 16-19, the motor switch system 2150 includes a switch traveler 2170 that threads onto a switch drive screw 2160 that is attached to a control switch gear 2152. Rotation of the motor output gear 2142 rotates the control switch gear 2152, which ultimately rotates the switch drive screw 2160. Rotation of the switch driver screw 2160 results in axial movement of the switch traveler 2170 relative to a switch housing 2162 that is mounted to the distal nozzle assembly 2250. The switch housing 2162 operably supports a plurality of limit switches that communicate with a control circuit board 400 supported within or otherwise associated with the housing 100, as described further below. See FIG. 16. In the illustrated embodiment, three limit switches are employed: a central limit switch 2172, a proximal limit switch 2174, and a distal limit switch 2176. Switches 2172, 2174, 2176 are wired to a series of circuit traces or conductors 2222, 2224, 2226, 2228 that are mounted within proximal nozzle assembly 2210. See FIG. 20. Circuit traces 2222, 2224, 2226, and 2228 are wired or electrically coupled to articulation motor 2140 and switches 2172, 2174, 2176 by wires or flexible circuit conductors (not shown). Referring to FIGS. 21 and 22, contact block 410 is fixedly mounted to frame assembly 200 and includes contacts 412, 424, 416, and 418 that correspond to circuit traces 2222, 2224, 2226, and 2228, respectively. Contacts 412, 414, 416, 418 are wired to control circuit board 400. As the proximal nozzle assembly 2210 rotates relative to the housing 100 about the shaft axis SA, power / control signals can be provided between the control circuit board 400 and the articulation motor 2140 and switches 2172, 2174, 2176 via the slip joint assembly 411 comprising circuit traces 2222, 2224, 2226, 2228 and contacts 412, 414, 416, 418 to facilitate rotation of the articulation motor 2140 and control switch assembly relative to the housing 100 about the shaft axis SA.An articulation control switch 2180 is mounted on each side of the housing 100 and is used to control the rotation of the articulation motor 2140. See Figure 15. The switch 2180 may comprise a "rocker-type" switch such that when pressed in one direction (arrow 2182), the articulation motor 2140 rotates the motor output gear 2142 in one rotational direction, and when the switch 2180 is pressed in the opposite direction (arrow 2184), the articulation motor rotates the motor output gear 2142 in the opposite rotational direction.

[0064] 19 and 23-26, the position of switches 2172, 2174, 2176 relative to the path of switch traveler 2170 serves to define the range of articulation of surgical end effector 1500. Switch 2172 comprises a center or home switch that corresponds to a non-articulated position of surgical end effector 1500. When in that position, the center end effector axis (EA) is generally aligned with shaft axis SA. When in this position, for example, end effector 1500 may be inserted through or removed from a trocar cannula. Switch 2174 corresponds to a -60° left articulation boundary, and switch 2176 corresponds to a +60° right articulation boundary. The −60° left articulation boundary may also be referred to herein as the “first maximum articulation position” of the surgical end effector 1500 located on the “first side” or left side of the shaft axis SA. The left −60° angle (LA in FIG. 26 ) may also be referred to as the “first maximum articulation angle” and includes the angle between the end effector axis EA and the shaft axis SA when the surgical end effector 1500 is in the first maximum articulation position. Similarly, the +60° right articulation boundary may also be referred to herein as the “second maximum articulation position” of the surgical end effector 1500 located on the “second side” or right side of the shaft axis SA. The right +60° angle ((right angle, RA) in FIG. 23 ) may also be referred to as the “second maximum articulation angle” and includes the angle between the end effector axis EA and the shaft axis SA when the surgical end effector 1500 is in the second maximum articulation position. Thus, in the illustrated embodiment, the positions of switches 2174 and 2176 establish the maximum articulation position for each articulation direction (left and right). In an alternative configuration, only two switches (2174, 2176) may be employed. Switches 2172, 2174, 2176 may include mechanical switches, Hall effect switches, etc.

[0065] In at least one embodiment, a central home switch 2172 may be used to slow down the articulation motor 2140 before traversing the home or non-articulation position, making it easier to determine when the end effector 1500 is aligned with the shaft assembly 1000, thereby facilitating removal, for example, through a trocar.

[0066] In one embodiment, the geometry of the switch traveler within the region configured to engage the switches 2172, 2174, 2176 is selected to have a width such that it will engage the switch at “X” degrees from home and remain in contact with the switch from X degrees to −X degrees. In at least one embodiment, X=approximately 10 degrees, although X may be other values. FIGS. 23-26 illustrate the relationship between the switch traveler 2170 and the switches 2172, 2174, 2176 and articulation positions of the surgical end effector 1500. For example, in FIG. 25 , when the switch traveler 2170 is in that position, the surgical end effector 1500 may be in a first articulation position on a first side of the shaft axis SA, and the surgical end effector axis EA is positioned at a first articulation angle LA1 relative to the shaft axis SA. Similarly, when the switch traveler 2170 is in the position illustrated in, for example, FIG. 24, the surgical end effector 1500 may be in a second articulation position located on a second side of the shaft axis SA, with the surgical end effector axis EA positioned at a second articulation angle LA2 relative to the shaft axis SA. In at least one configuration, LA1 = LA2 =, for example, about 10°.

[0067] FIG. 27 provides alternative geometries for the switch traveler 2170 as viewed from the free end of the switch traveler 2170 configured to interact with the switches 2172, 2174, 2176. FIG. 28 is a graphical comparison of motor speed (for each geometry 2170A, 2170B, 2170C) versus articulation angle. Switch traveler 2170A is also depicted in FIGS. 23-26. 2170C has an actuator point 21701C formed on its top for more precise actuation of the switches 2172, 2174, 2176. As seen in FIG. 28, the motor speed MS 2C is lowered only when actuator point 2171C is in actuation contact with one of switches 2172, 2174, 2176 corresponding to articulation angles of -60°, 0°, and +60°. 2170A controls the first motor speed MS for the articulation angle range of -10° to +10°. 1A Section thickness CT A For articulation angles of -10° to -60° and +10° to +60°, articulation motor 2140 has 1A Second motor speed MS greater than 2A 2170B may operate with a cross-sectional thickness CT A Section thickness greater than CT B and a first motor speed MS for a joint motion angle range of -20° to +20°. 1B For articulation angles of -20° to -50° and +20° to +50°, articulation motor 2140 1B Second motor speed MS greater than 2B For articulation angles of -50 to -60 and +50 to +60, articulation motor 2140 may operate at a third motor speed MS 3B In the illustrated embodiment, MS 3B =MS 1B is.

[0068] In various configurations, the control circuit board 400 may include switches 420, 422, 424, 426 that define the articulation limits, as well as a latchable or relay switch 428 that controls the center or home position of the end effector. See FIG. 28A. In such a configuration, once the articulation motor 2140 drives the end effector through the linear or home position, the latchable or relay switch 428 may be disengaged, thereby stopping the articulation motor 2140. Releasing the articulation control switch 2180 may activate a bypass relay that may stop the center or home switch 2172, and pressing the control switch 2180 again may allow articulation to continue through the home position. See FIG. 28A. [Example]

[0069] Example 1 - A surgical instrument comprising a housing defining a longitudinal axis. The elongated shaft assembly is operably supported by a shaft rotator assembly rotatably coupled to the housing, allowing the elongated shaft assembly to selectively rotate about the longitudinal axis relative to the housing. The elongated shaft assembly comprises a first shaft actuator and a second shaft actuator. The surgical instrument further comprises a first motor supported by the housing, the first motor configured to selectively impart a first rotational actuation motion to a first drive shaft operably supported by the housing and operably interfaced with the first shaft actuator. The surgical instrument further comprises a second motor supported by the shaft rotator assembly, the second motor rotatable about the longitudinal axis together with the shaft rotator assembly relative to the housing. The second motor configured to impart a second rotational actuation motion to the second shaft actuator.

[0070] Example 2 - The surgical instrument of Example 1, wherein the housing comprises a handle.

[0071] Example 3 - The surgical instrument of Examples 1 or 2, further comprising a surgical end effector operably coupled to the elongate shaft assembly.

[0072] Example 4 - The surgical instrument of Example 3, wherein the surgical end effector comprises a first jaw comprising a surgical staple cartridge operably storing a plurality of surgical staples therein. The second jaw is operably coupled to the first jaw and is selectively movable between an open position and a closed position. The second jaw comprises an anvil. The firing member is configured to move axially within the surgical staple cartridge from a start position to an end position in response to a first firing motion received from the first shaft actuator to drive the surgical staples stored within the surgical staple cartridge into contact with the anvil.

[0073] Example 5 - A surgical instrument described in Example 3 or 4, wherein the surgical end effector is movably connected to the elongate shaft assembly so as to selectively articulate relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis defined by the elongate shaft assembly.

[0074] Example 6 - The surgical instrument of Example 5, wherein the second shaft actuator includes an articulation drive assembly configured to receive a second rotational actuation motion from a second motor and apply an axial articulation motion to the surgical end effector.

[0075] Example 7 - The surgical instrument of Example 6, wherein the articulation drive assembly comprises a proximal articulation drive shaft configured to receive a second rotational actuation motion from a second motor, and a distal articulation drive assembly operatively interfaced with the proximal articulation drive shaft and the surgical end effector and configured to move axially in response to rotation of the proximal articulation drive shaft.

[0076] Example 8 - The surgical instrument of Example 7, wherein the distal articulation drive assembly includes an intermediate articulation driver supported for axial movement. The intermediate articulation driver is threadably mounted to the proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft. The distal articulation link is attached to the surgical end effector and the intermediate articulation driver.

[0077] Example 9 - The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, or 8, further comprising a control circuit board supported by the housing, the second motor being electrically coupled to the control circuit board by a slip ring assembly. The slip ring assembly includes at least one electrical contact secured to the housing and in electrical communication with the control circuit board. An electrically conductive member is operably supported within the shaft rotor assembly and is in constant, rotatable contact with a corresponding one of the at least one electrical contact. The electrically conductive member is in electrical communication with the second motor.

[0078] Example 10 - A surgical instrument comprising a housing defining a longitudinal axis. The surgical instrument further comprises an elongated shaft assembly operably supported by a shaft rotator assembly rotatably coupled to the housing, allowing the elongated shaft assembly to selectively rotate about the longitudinal axis relative to the housing. A surgical end effector is operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis defined by the elongated shaft assembly. A first motor is immovably supported within the housing and configured to selectively impart a first rotational operating motion to a first drive shaft operably supported within the housing, the first drive shaft operably supported within the housing and operably interfaced with a first shaft actuator operably supported within the elongated shaft assembly and interfacing with the surgical end effector. A second motor is supported within the shaft rotator assembly such that the second motor is rotatable with the shaft rotator assembly in an orbit about the longitudinal axis relative to the housing. The second motor is configured to impart a second rotational actuation motion to an articulation drive assembly operatively coupled to the surgical end effector and to impart an articulation motion thereto in response to the second rotational actuation motion.

[0079] Example 11 - The surgical instrument of Example 10, further comprising means for locking the surgical end effector in an articulated position after the second rotational actuation motion is discontinued.

[0080] Example 12 - The surgical instrument of Example 11, wherein the means for locking comprises a threaded connection between a first portion of the articulation drive assembly configured to receive the second rotational actuation motion from the second motor and a second portion of the articulation drive assembly operably coupled to the surgical end effector.

[0081] Example 13 - The surgical instrument of Example 12, wherein the first portion of the articulation drive assembly comprises a rotatable proximal articulation drive shaft configured to receive a second rotational actuation motion from a second motor. An axially movable intermediate articulation driver is threadably attached to the rotatable proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft. A distal articulation link is attached to the surgical end effector and the intermediate articulation driver.

[0082] Example 14 - A surgical instrument as described in Example 13, wherein the distal articulation link is attached to an intermediate articulation driver on one side of the shaft axis and the distal articulation link is attached to a surgical end effector on another side of the shaft axis.

[0083] Example 15 - The surgical instrument of Examples 10, 11, 12, 13 or 14, further comprising a control circuit board associated with the housing, wherein the second motor is electrically coupled to the control circuit board by a slip ring assembly configured to facilitate electrical communication between the control circuit board and the second motor and to enable the second motor to be selectively rotated relative to the housing within the orbit.

[0084] Example 16 - The surgical instrument of Example 15, wherein the slip ring assembly includes at least one electrical contact secured to the housing and in electrical communication with the control circuit board. The conductive member is operably supported within the shaft rotor assembly in constant rotatable contact with a corresponding one of the electrical contacts. The conductive member is in electrical communication with the second motor.

[0085] Example 17 - A surgical instrument comprising a handle defining a longitudinal axis. The elongated shaft assembly is operably supported by a nozzle assembly rotatably coupled to the housing to permit selective rotation of the elongated shaft assembly about the longitudinal axis relative to the handle. The surgical end effector is operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis defined by the elongated shaft assembly. The first motor is immovably supported within the handle and configured to selectively impart a first rotational actuation motion to a first drive shaft operably supported within the handle, the first drive shaft operably interfacing with a first shaft actuator operably supported within the elongated shaft assembly and interfacing with the surgical end effector. The second motor is supported within the nozzle assembly such that the second motor is rotatable with the nozzle assembly in an orbit about the longitudinal axis relative to the handle. The second motor is configured to impart a second rotational actuation motion to the articulation drive assembly, the articulation drive assembly being operably coupled to the surgical end effector to impart articulation motion thereto in response to the second rotational actuation motion.

[0086] Example 18 - The surgical instrument of Example 17, wherein the surgical end effector comprises a first jaw comprising a surgical staple cartridge operably storing a plurality of surgical staples therein. The second jaw is operably coupled to the first jaw and is selectively movable between an open position and a closed position. The second jaw comprises an anvil. The firing member is configured to move axially from a start position to an end position within the surgical staple cartridge in response to a first firing motion received from the first shaft actuator to drive the surgical staples stored within the surgical staple cartridge into contact with the anvil.

[0087] Example 19 - A surgical instrument described in Example 17 or 18, wherein the elongated shaft assembly further comprises an axially movable closure member configured to move the anvil from an open position to a closed position in response to a closure motion generated by a closure system supported by the handle.

[0088] Example 20 - The surgical instrument of Examples 17, 18 or 19, further comprising means for locking the surgical end effector in an articulated position upon cessation of the second rotational actuation motion.

[0089] Many of the surgical tool systems described herein are driven by electric motors. The surgical tool systems described herein can operate in any suitable manner. In various instances, the surgical tool systems described herein can be operated, for example, by a manually operated trigger. In certain examples, the motors disclosed herein can comprise one or more portions of a robotically controlled system. Furthermore, any of the end effectors and / or tool assemblies disclosed herein can be utilized with robotic surgical tool systems. 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 several examples of robotic surgical tool systems in more detail.

[0090] The surgical instrument systems described herein have been described in connection with deploying and deforming staples. However, the embodiments described herein are not limited thereto. Various embodiments are contemplated that deploy fastening elements other than staples, such as clamps or tacks. Additionally, various embodiments are 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, end effectors according to certain embodiments may apply vibrational energy to seal tissue.

[0091] The entire contents of the following disclosures are incorporated herein by reference. - U.S. Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE," issued April 4, 1995; - U.S. Patent No. 7,000,818, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS," issued February 21, 2006; -U.S. Patent No. 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK," issued September 9, 2008; - U.S. Patent No. 7,464,849, entitled "Electro-Mechanical Surgical Instrument with Closure System and Anvil Alignment Components," issued December 16, 2008; - U.S. Patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR," issued March 2, 2010; -U.S. Patent No. 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS," issued July 13, 2010; - U.S. Patent No. 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE," issued March 12, 2013; -U.S. Patent Application No. 11 / 343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES," now U.S. Patent No. 7,845,537; -U.S. Patent Application No. 12 / 031,573, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES," filed February 14, 2008; -U.S. Patent Application No. 12 / 031,873, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT," filed February 15, 2008, now U.S. Patent No. 7,980,443; -U.S. Patent Application No. 12 / 235,782, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT," now U.S. Patent No. 8,210,411; -U.S. Patent Application No. 12 / 235,972, entitled "MOTORIZED SURGICAL INSTRUMENT," now U.S. Patent No. 9,050,083. -U.S. Patent Application No. 12 / 249,117, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," now U.S. Patent No. 8,608,045; -U.S. Patent Application No. 12 / 647,100, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY," filed December 24, 2009, now U.S. Patent No. 8,220,688; -U.S. Patent Application No. 12 / 893,461, entitled "STAPLE CARTRIDGE," filed September 29, 2012, now U.S. Patent No. 8,733,613; -U.S. Patent Application No. 13 / 036,647, entitled "SURGICAL STAPLING INSTRUMENT," filed February 28, 2011, now U.S. Patent No. 8,561,870; -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; -U.S. Patent Application No. 13 / 524,049, filed June 15, 2012, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. Patent No. 9,101,358; -U.S. Patent Application No. 13 / 800,025, filed March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," now U.S. Patent No. 9,345,481; -U.S. Patent Application No. 13 / 800,067, filed March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," now U.S. Patent Application Publication No. 2014 / 0263552; -U.S. Patent Application Publication No. 2007 / 0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM," filed January 31, 2006; and -U.S. Patent Application Publication No. 2010 / 0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR," filed April 22, 2010, now U.S. Patent No. 8,308,040.

[0092] Although various devices are described herein in conjunction with specific embodiments, modifications and variations may be made to those embodiments. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic illustrated or described with respect to one embodiment may be combined, in whole or in part, with the feature, structure, or characteristic of one or more other embodiments, without limitation. Also, although materials are disclosed with respect to particular components, other materials may be used. Furthermore, multiple components may be substituted for a single component, and multiple components may be substituted for a single component, to perform a given function(s), according to various embodiments. The foregoing description and the following claims are intended to cover all such modifications and variations.

[0093] The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the devices can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular parts of the device, and subsequent reassembly of the device. Specifically, a reconditioning facility and / or surgical team can disassemble the device, clean and / or replace particular parts of the device, and then reassemble the device for subsequent use. One of ordinary skill in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. Use of such techniques, and the resulting reconditioned devices, are all within the scope of the present application.

[0094] The devices disclosed herein can be processed before surgery. First, new or used instruments are obtained and, if necessary, cleaned. The instruments can then be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container, such as a plastic bag or a TYVEK bag. The container and instruments can then be placed in a radiation field that can penetrate the container, such as gamma radiation, x-rays, and / or high-energy electrons. The radiation can kill bacteria on the instruments and in the container. The sterilized instruments can then be stored in the sterile container. The sealed container can keep the instruments sterile until opened in the medical facility. The devices can also be sterilized using any other technique known in the art, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, hydrogen peroxide plasma, and / or water vapor.

[0095] While this invention has been described as having an exemplary design, the invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

[0096] [Embodiment] (1) A surgical instrument, a housing defining a longitudinal axis; an elongated shaft assembly operably supported by a shaft rotor assembly rotatably coupled to the housing to enable the elongated shaft assembly to selectively rotate about the longitudinal axis relative to the housing, the elongated shaft assembly comprising: a first shaft actuator; a second shaft actuator, wherein the surgical instrument comprises: a first motor supported by the housing and configured to selectively impart a first rotational actuation motion to a first drive shaft operably supported by the housing and operably interfaced with the first shaft actuator; a second motor supported by the shaft rotor assembly such that the second motor is rotatable about the longitudinal axis with the shaft rotor assembly relative to the housing, the second motor configured to impart a second rotational actuation motion to the second shaft actuator. (2) A surgical instrument according to claim 1, wherein the housing comprises a handle. (3) The surgical instrument of claim 1, further comprising a surgical end effector operably connected to the elongate shaft assembly. (4) The surgical end effector a first jaw including a surgical staple cartridge operably storing a plurality of surgical staples therein; a second jaw operably coupled to the first jaw and selectively movable between an open position and a closed position, the second jaw including an anvil; 4. The surgical instrument of claim 3, comprising: a first firing member configured to move axially from a start position to an end position within the surgical staple cartridge in response to a first firing motion received from the first shaft actuator to drive the surgical staples stored within the surgical staple cartridge into contact with the anvil. (5) The surgical instrument of embodiment 3, wherein the surgical end effector is movably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to a shaft axis defined by the elongate shaft assembly.

[0097] (6) The surgical instrument of embodiment 5, wherein the second shaft actuator comprises an articulation drive assembly configured to receive the second rotational actuation motion from the second motor and to apply axial articulation motion to the surgical end effector. (7) The articulation drive assembly a proximal articulation drive shaft configured to receive the second rotary actuation motion from the second motor; 7. The surgical instrument of claim 6, comprising: a distal articulation drive assembly operatively interfacing with the proximal articulation drive shaft and the surgical end effector, the distal articulation drive assembly configured to move axially in response to rotation of the proximal articulation drive shaft. (8) The distal articulation drive assembly an intermediate articulation driver supported for axial movement and threadably attached to the proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft; 8. The surgical instrument of claim 7, comprising a distal articulation link attached to the surgical end effector and the intermediate articulation driver. (9) The motor further includes a control circuit board within the housing, and the second motor is electrically connected to the control circuit board by a slip ring assembly, the slip ring assembly comprising: at least one electrical contact secured to the housing and in electrical communication with the control circuit board; 2. The surgical instrument of claim 1, comprising: an electrically conductive member operably supported within the shaft rotor assembly in constant rotatable contact with a corresponding one of the at least one electrical contact, the electrically conductive member being in electrical communication with the second motor. (10) A surgical instrument, a housing defining a longitudinal axis; an elongated shaft assembly operably supported by a shaft rotor assembly rotatably coupled to the housing to permit the elongated shaft assembly to selectively rotate relative to the housing about the longitudinal axis; a surgical end effector movably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to a shaft axis defined by the elongate shaft assembly; a first motor immovably supported within the housing and configured to selectively impart a first rotational actuation motion to a first drive shaft operably supported within the housing and operably interfaced to a first shaft actuator that interfaces with the surgical end effector; a second motor supported within the shaft rotor assembly such that the second motor is rotatable with the shaft rotor assembly relative to the housing in an orbit about the longitudinal axis, the second motor configured to impart a second rotational actuation motion to an articulation drive assembly operatively coupled to the surgical end effector to impart articulation motion to the surgical end effector in response to the second rotational actuation motion.

[0098] (11) The surgical instrument of claim 10, further comprising means for locking the surgical end effector in an articulated position after the second rotational actuation motion is discontinued. (12) The surgical instrument of claim 11, wherein the means for locking comprises a threaded connection between a first portion of the articulation drive assembly configured to receive the second rotational actuation motion from the second motor and a second portion of the articulation drive assembly operably coupled to the surgical end effector. (13) The first portion of the articulation drive assembly is a rotatable proximal articulation drive shaft configured to receive the second rotary actuation motion from the second motor; an axially movable intermediate articulation driver threadably attached to the rotatable proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft; 13. The surgical instrument of claim 12, comprising: a distal articulation link attached to the surgical end effector and the intermediate articulation driver. (14) The surgical instrument of claim 13, wherein the distal articulation link is attached to the intermediate articulation driver on one side of the shaft axis and the distal articulation link is attached to the surgical end effector on another side of the shaft axis. (15) The surgical instrument of claim 11, further comprising a control circuit board associated with the housing, the second motor being electrically coupled to the control circuit board by a slip ring assembly configured to facilitate electrical communication between the control circuit board and the second motor and to enable the second motor to be selectively rotated relative to the housing within the track.

[0099] (16) The slip ring assembly at least one electrical contact secured to the housing and in electrical communication with the control circuit board; 16. The surgical instrument of claim 15, comprising: an electrically conductive member operably supported within the shaft rotor assembly in constant rotatable contact with a corresponding one of the at least one electrical contact, the electrically conductive member being in electrical communication with the second motor. (17) A surgical instrument, a handle defining a longitudinal axis; an elongated shaft assembly operably supported by a nozzle assembly rotatably coupled to the housing to permit the elongated shaft assembly to selectively rotate about the longitudinal axis relative to the handle; and a surgical end effector movably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to a shaft axis defined by the elongate shaft assembly; a first motor immovably supported within the handle and configured to selectively impart a first rotational actuation motion to a first drive shaft operably supported within the handle and operably interfaced with a first shaft actuator operably supported within the elongate shaft assembly and interfacing with the surgical end effector; a second motor supported within the nozzle assembly such that the second motor is rotatable with the nozzle assembly relative to the housing in an orbit about the longitudinal axis, the second motor configured to impart a second rotational actuation motion to an articulation drive assembly operatively coupled to the surgical end effector, and to impart an articulation motion to the surgical end effector in response to the second rotational actuation motion. (18) The surgical end effector a first jaw including a surgical staple cartridge operably storing a plurality of surgical staples therein; a second jaw operably coupled to the first jaw and selectively movable between an open position and a closed position, the second jaw including an anvil; 18. The surgical instrument of claim 17, comprising: a firing member configured to move axially from a start position to an end position within the surgical staple cartridge in response to a first firing motion received from the first shaft actuator to drive the surgical staples stored within the surgical staple cartridge into contact with the anvil. (19) The surgical instrument of claim 18, wherein the elongate shaft assembly further comprises an axially movable closure member configured to move the anvil from an open position to a closed position in response to a closure motion generated by a closure system supported by the handle. (20) The surgical instrument of claim 19, further comprising means for locking the surgical end effector in an articulated position upon cessation of the second rotational actuation motion.

Claims

1. 1. A surgical instrument comprising: a housing defining a longitudinal axis; an elongated shaft assembly operably supported by a shaft rotor assembly, the shaft rotor assembly rotatably coupled to the housing to permit the shaft rotor assembly and the elongated shaft assembly to selectively rotate relative to the housing about the longitudinal axis, the elongated shaft assembly comprising: a first shaft actuator; a second shaft actuator, wherein the surgical instrument comprises: a first motor supported by the housing and configured to selectively impart a first rotational actuation motion to a first drive shaft operably supported by the housing and operably interfaced with the first shaft actuator; a second motor including a first gear and supported by the shaft rotor assembly such that the second motor is rotatable with the shaft rotor assembly relative to the housing about a motor axis offset from the longitudinal axis, the motor axis being parallel to the longitudinal axis, the second motor being configured to impart a second rotational actuation motion of the first gear to the second shaft actuator via a second gear in meshing engagement with the first gear; a motor switch system supported by the shaft rotor assembly, the motor switch system including a switch drive screw attached to the second gear and a switch actuated by rotation of the switch drive screw.

2. The surgical instrument of claim 1 , wherein the housing comprises a handle.

3. The surgical instrument of claim 1 , further comprising a surgical end effector operably coupled to the elongate shaft assembly.

4. the surgical end effector: a first jaw including a surgical staple cartridge operably storing a plurality of surgical staples therein; a second jaw operably coupled to the first jaw and selectively movable between an open position and a closed position, the second jaw including an anvil; 4. The surgical instrument of claim 3, comprising: a firing member configured to move axially within the surgical staple cartridge from a start position to an end position in response to a first firing motion received from the first shaft actuator to drive the surgical staples stored within the surgical staple cartridge into contact with the anvil.

5. 4. The surgical instrument of claim 3, wherein the surgical end effector is movably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to a shaft axis defined by the elongate shaft assembly.

6. 6. The surgical instrument of claim 5, wherein the second shaft actuator is an articulation drive assembly configured to receive the second rotational actuation motion from the second motor and to apply axial articulation motion to the surgical end effector.

7. the articulation drive assembly: a proximal articulation drive shaft configured to receive the second rotational actuation motion from the second motor; 7. The surgical instrument of claim 6, comprising: a distal articulation drive assembly operatively interfacing with the proximal articulation drive shaft and the surgical end effector, the distal articulation drive assembly configured to move axially in response to rotation of the proximal articulation drive shaft.

8. the distal articulation drive assembly: an intermediate articulation driver supported for axial movement and threadably attached to the proximal articulation drive shaft such that the intermediate articulation driver moves axially in response to rotation of the proximal articulation drive shaft; A distal articulation link attached to the surgical end effector and the intermediate articulation driver.

9. a control circuit board within the housing, the second motor being electrically coupled to the control circuit board by a slip ring assembly, the slip ring assembly comprising: at least one electrical contact secured to the housing and in electrical communication with the control circuit board; 2. The surgical instrument of claim 1, comprising: an electrically conductive member operably supported within the shaft rotor assembly in constant rotatable contact with a corresponding one of the at least one electrical contacts, the electrically conductive member being in electrical communication with the second motor.

10. The surgical instrument of claim 5, wherein the motor switch system is configured to control a speed of the motor depending on an angle of the articulation.

11. 2. The surgical instrument of claim 1, wherein the switch drive screw is configured to be rotatable about an axis of rotation offset from the longitudinal axis and the motor axis, the axis of rotation being parallel to the longitudinal axis and the motor axis.

12. The second shaft actuator includes a third gear; the first gear is a motor output gear attached to the second motor; the third gear is a proximal articulation drive gear formed on the second shaft actuator and in meshing engagement with the second gear; The surgical instrument of claim 11 , wherein the second gear is a control switch gear in meshing engagement with the motor output gear.

13. 8. The surgical instrument of claim 7, wherein the switch drive screw is configured to be rotatable about an axis of rotation offset from the longitudinal axis and the motor axis, the axis of rotation being parallel to the longitudinal axis and the motor axis.

14. The second shaft actuator includes a third gear; the first gear is a motor output gear attached to the second motor; the third gear is a proximal articulation drive gear formed on a proximal end of the proximal articulation drive shaft and in meshing engagement with the second gear; The surgical instrument of claim 13, wherein the second gear is a control switch gear in meshing engagement with the motor output gear.

15. The switch is a plurality of limit switches supported on the shaft rotor assembly, each limit switch corresponding to an axial position of the second shaft actuator; the motor switch system includes: a switch traveler operably engaged with the switch drive screw such that rotation of the switch drive screw moves the switch traveler axially to actuate each of the limit switches; The surgical instrument of claim 1 , comprising:

16. The surgical instrument of claim 1, further comprising an articulation control switch configured to control rotation of the second motor.

17. The surgical instrument of claim 1, further comprising an articulation control switch supported by the housing and configured to control the direction of rotation of the second motor.

18. A surgical instrument as described in claim 1, wherein the second shaft actuator includes a third gear in meshing engagement with the second gear.

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