Surgical instrument with a control system responsive to software configuration

Abstract

A surgical instrument is disclosed that includes a control system configured to modify and / or reduce the capabilities of the surgical instrument.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority under 35 U.S.C. §119(e) to U.S. Provisional Patent Application No. 62 / 955,306, filed December 30, 2019, entitled "SURGICAL INSTRUMENT SYSTEMS," the entire disclosure of which is incorporated by reference. [Background technology]

[0002] 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]

[0003] The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a plan view of a surgical instrument assembly including a shaft, an end effector attached to the shaft, and a retractable optical waveguide attached to the shaft and firing member. [Figure 2] FIG. 2 is a partial perspective view of the surgical instrument assembly of FIG. 1 shown with components removed; [Figure 3] FIG. 2 is a perspective view of a surgical instrument assembly including the shaft and end effector of FIG. 1 and a retractable optical waveguide attached to the shaft and knife body. [Figure 4] FIG. 2 is an elevational view of a surgical instrument assembly including the shaft and end effector of FIG. 1 and an extendable optical waveguide attached to the end effector and knife body, with the knife body shown in a home position. [Figure 5] FIG. 5 is an elevational view of the surgical instrument assembly of FIG. 4, with the knife body shown in an end-of-stroke position. [Figure 6] FIG. 5 is an elevational view of the surgical instrument assembly of FIG. 4 with the end effector articulated relative to the shaft. [Figure 7A] FIG. 1 is a partial perspective view of a surgical instrument assembly including a shaft, an actuation member, and a sensing system configured to sense a parameter of the actuation member. [Figure 7B] FIG. 7B is an end view of the surgical instrument assembly of FIG. 7A. [Figure 8] FIG. 1 is a partial elevational view of a surgical instrument assembly comprising a shaft, an actuation member, and a sensing system including a Hall effect sensor configured to detect the position of the actuation member. [Figure 9] 9 is a graph of the position of the actuating member of FIG. 8 versus motor position. [Figure 10] 9 is a graph of the expected voltage of the Hall Effect sensor of FIG. 8 versus motor position. [Figure 11] 11 is a graph including graphs of examples of actual readings of the Hall Effect sensor of FIGS. 9 and 10 and FIG. 8 during an actuation stroke. [Figure 12] 10 is a graph of the actuation stroke of the actuation member measured by a motor encoder and a graph of the actuation stroke of the actuation member measured by a retractable optical waveguide; [Figure 13] FIG. 1 is a partial perspective view of a surgical instrument assembly comprising a shaft, an end effector attached to the shaft by an articulation joint, and a flex circuit including stretchable and non-stretchable zones. [Figure 14] FIG. 14 is an elevational view of the stretchable zone of the flex circuit of FIG. 13 in an unstretched configuration. [Figure 15] FIG. 14 is an elevational view of the stretchable zone of the flex circuit of FIG. 13 in an extended configuration. [Figure 16] FIG. 1 is an elevational view of a flex circuit including a stretchable zone including elastic support members, the stretchable zone shown in a non-stretched configuration. [Figure 17] FIG. 17 is an elevational view of the flex circuit of FIG. 16, showing the stretchable zone in an extended configuration. [Figure 18] FIG. 17 is an elevational view of the flex circuit of FIG. 16, showing the stretchable zone in a non-stretched configuration. [Figure 19] FIG. 1 is a perspective view of a surgical instrument assembly shown with components removed, including a shaft and a flex circuit extending through the shaft, the flex circuit including a pre-bent section; [Figure 20] FIG. 20 is a cross-sectional view of the flex circuit of FIG. 19. [Figure 21] FIG. 1 is a perspective view of a surgical instrument assembly shown with components removed, including a shaft and a flex circuit extending through the shaft, the flex circuit including a pre-bent section; [Figure 22] FIG. 22 is a cross-sectional view of the flex circuit of FIG. 21. [Figure 23] FIG. 1 is a perspective view of a surgical instrument assembly shown with components removed, including a shaft and a flex circuit extending through the shaft, the flex circuit including a pre-bent section; [Figure 24] FIG. 24 is a cross-sectional view of the flex circuit of FIG. 23. [Figure 25] FIG. 1 is a top view of a surgical instrument assembly shown with components removed, including an articulation joint and a flex circuit extending through the articulation joint, the surgical instrument assembly being shown in a first articulated configuration. [Figure 26] FIG. 26 is a top plan view of the surgical instrument assembly of FIG. 25, the surgical instrument assembly being shown in a second articulated configuration. [Figure 27] FIG. 26 is a top view of the surgical instrument assembly of FIG. 25, the surgical instrument assembly being shown in a non-articulating configuration. [Figure 28] FIG. 1 is an elevational view of a surgical instrument assembly, shown with components removed, including an end effector, a firing member, and a sensing system including a plurality of sensors and a magnet. [Figure 29] FIG. 29 is a top view of the surgical instrument assembly of FIG. 28, with the firing member in an unfired position. [Figure 30] FIG. 29 is a top view of the surgical instrument assembly of FIG. 28, with the firing member in the fired position; [Figure 31] FIG. 10 is a perspective view of a surgical instrument assembly, shown with components removed, including an end effector jaw including a staple cartridge channel configured to receive a staple cartridge therein, and a sensing system including a plurality of pressure sensors. [Figure 32] FIG. 32 is a cross-sectional view of the surgical instrument assembly of FIG. 31 illustrating the staple cartridge positioned within the end effector jaws. [Figure 33] FIG. 32 is a cross-sectional view of the surgical instrument assembly of FIG. 31 illustrating the staple cartridge positioned within the end effector jaws. [Figure 34] FIG. 1 is a perspective view of a surgical instrument assembly including a handle, a shaft extending from the handle, an end effector extending from the shaft, and a flex circuit extending through the shaft and including a sensing system. [Figure 35] FIG. 35 is a partial elevational view of the surgical instrument assembly of FIG. 34, wherein the actuation member configured to be sensed by the sensing system includes a first length. [Figure 36] 36 is a partial elevational view of the surgical instrument assembly of FIG. 34, wherein the actuation member is under load and includes a second length different from the first length of FIG. 35; [Figure 37] FIG. 35 is a partially exploded view of the surgical instrument assembly of FIG. [Figure 38] FIG. 1 is a plan view of a surgical instrument assembly shown with components removed, the surgical instrument assembly including a shaft, an articulation joint, an end effector attached to the shaft by the articulation joint, and a sensing system, the surgical instrument assembly being in a first articulated configuration. [Figure 39] FIG. 39 is a top view of the surgical instrument assembly of FIG. 38, the surgical instrument assembly being in a second articulated configuration. [Figure 40]FIG. 39 is a top view of the surgical instrument assembly of FIG. 38, the surgical instrument assembly being in a non-articulating configuration. [Figure 41] FIG. 1 is a perspective view of a stretchable sensing fabric including a body portion and a plurality of sensing materials positioned within the body portion. [Figure 42] 42 is a plan view of the stretchable sensing fabric of FIG. 41, the stretchable sensing fabric being in a relaxed configuration. [Figure 43] 42 is a plan view of the stretchable sensing fabric of FIG. 41, the stretchable sensing fabric in an extended configuration. [Figure 44] FIG. 42 is a perspective view of a surgical instrument assembly shown with components removed, including the firing member and a plurality of stretchable sensing fabrics of FIG. 41; [Figure 45] FIG. 45 is a cross-sectional view of the surgical instrument assembly of FIG. [Figure 46] FIG. 1 is a perspective view of a surgical instrument assembly, shown with components removed, including a shaft, an end effector attached to the shaft by an articulation joint, and a sensing system including a stretchable sensing fabric and a flex circuit. [Figure 47] FIG. 47 is a cross-sectional view of components of the surgical instrument assembly of FIG. 46. [Figure 48] 1 is a graph illustrating three different possible load profiles that define a range of allowable load profiles for an actuation member of a surgical instrument assembly. [Figure 49] 49 is a graph illustrating the actual load profile of the actuation member compared to the range of allowable load profiles defined by the graph of FIG. 48. [Figure 50] FIG. 1 is a partial cross-sectional view of a surgical instrument assembly, shown with components removed, including a sensing system configured to measure a parameter of the surgical instrument assembly. [Figure 51] FIG. 31 is a plan view of the surgical instrument assembly of FIGS. 28-30. [Figure 52]52 includes a number of graphs depicting sensor readings and data stream bandwidth of the sensing system of the surgical tool assembly of FIG. 51 relative to the firing stroke. [Figure 53] FIG. 1 is a perspective view of a surgical system including a surgical tool mounting interface and a plurality of surgical tool mounts. [Figure 54] FIG. 1 is a partial perspective view of a surgical instrument assembly oriented in an upright orientation. [Figure 55] FIG. 55 is a partial perspective view of the surgical instrument assembly of FIG. 54 in an inverted orientation. [Figure 56] FIG. 1 is an elevational view of an end effector assembly including an anvil jaw and a cartridge jaw, the end effector assembly oriented in an open orientation with the anvil cooperating with gravity. [Figure 57] FIG. 57 is an elevational view of the end effector assembly of FIG. 56, with the end effector oriented with the anvil open in a direction opposite to gravity. [Figure 58] FIG. 1 is a partially exploded perspective view of a surgical instrument assembly comprising a mounting interface, a shaft assembly mountable to the mounting interface, and a sensing system configured to detect an orientation of the shaft assembly relative to the mounting interface. [Figure 59] FIG. 59 is a schematic diagram of the sensing system of FIG. 58, with the shaft assembly oriented in a first orientation. [Figure 60] FIG. 59 is a schematic diagram of the sensing system of FIG. 58, with the shaft assembly oriented in a second orientation. [Figure 61] FIG. 59 is a schematic diagram of the sensing system of FIG. 58, with the shaft assembly oriented in a third orientation. [Figure 62] 1 is an elevational view of an operating table and a patient, with the patient oriented in a first orientation on the operating table. [Figure 63] FIG. 63 is an elevational view of the operating table and patient of FIG. 62 with the patient oriented in a second orientation on the operating table. [Figure 64]FIG. 63 is an elevational view of the operating table and patient of FIG. 62 with the patient oriented in a third orientation on the operating table. [Figure 65] 1 is a flow chart illustrating a surgical tool control circuit. [Figure 66] FIG. 1 is a schematic diagram of a surgical instrument system comprising a hub and multiple modular instrument assemblies.

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

[0005] 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: -Attorney Docket No. END9235USNP1 / 190718-1M, Title of Invention: "METHOD FOR OPERATING A SURGICAL INSTRUMENT" -Attorney Docket No. END9235USNP2 / 190718-2, Title of Invention: "SURGICAL INSTRUMENT COMPRISING AN ADJUSTMENT SYSTEM" -Attorney Docket No. END9235USNP4 / 190718-4, Title of Invention: "SURGICAL INSTRUMENT COMPRISING AN ORIENTATION DETECTION SYSTEM" -Attorney Docket No. END9235USNP5 / 190718-5, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A SIGNAL INTERFERENCE RESOLUTION SYSTEM" -Attorney Docket No. END9235USNP6 / 190718-6, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A FEEDBACK CONTROL CIRCUIT" -Attorney Docket No. END9235USNP7 / 190718-7, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A FLEX CIRCUIT" -Attorney Docket No. END9235USNP8 / 190718-8, entitled "SURGICAL INSTRUMENT COMPRISING A SENSING SYSTEM"; and -Attorney Docket No. END9235USNP9 / 190718-9, Invention Title: "SURGICAL INSTRUMENT COMPRISING A FLEX CIRCUIT INCLUDING A SENSOR SYSTEM."

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

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

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

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

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

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

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

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

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

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

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

[0017] The applicant of this application owns the following U.S. patent applications, filed on February 21, 2019, each of which is incorporated herein by reference in its entirety: - U.S. Provisional Patent Application No. 16 / 281,658, entitled "METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS"; -U.S. Patent Application No. 16 / 281,670, entitled "STAPLE CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING MEMBER"; -U.S. Patent Application No. 16 / 281,675, entitled "Surgical Staples with Arrangements for Maintaining a Firing Member Thereof in a Locked Configuration Unless a Compatible Cartridge Has Been Installed Therein"; -U.S. Patent Application No. 16 / 281,685, entitled "SURGICAL INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES"; - U.S. Patent Application No. 16 / 281,693, entitled "SURGICAL STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT"; - U.S. Patent Application No. 16 / 281,704, entitled "SURGICAL STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN"; -U.S. Patent Application No. 16 / 281,707, entitled "SURGICAL INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT"; -U.S. Patent Application No. 16 / 281,741, entitled "SURGICAL INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT"; -U.S. Patent Application No. 16 / 281,762, entitled "SURGICAL STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING LOCKOUT ARRANGEMENTS"; - U.S. Patent Application No. 16 / 281,660, entitled "SURGICAL STAPLE CARTRIDGE WITH FIRING MEMBER DRIVEN CAMMING ASSEMBLY THAT HAS AN ONBOARD TISSUE CUTTING FEATURE"; -U.S. Patent Application No. 16 / 281,666, entitled "SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS"; -U.S. Patent Application No. 16 / 281,672, entitled "SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES"; -U.S. Patent Application No. 16 / 281,678, entitled "ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND FRAME ENGAGEMENT FEATURES"; and -U.S. Patent Application No. 16 / 281,682, entitled "SURGICAL STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING."

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

[0019] The applicant of this application owns the following U.S. provisional patent applications, filed on March 30, 2018, which are incorporated herein by reference in their entireties: -U.S. Provisional Patent Application No. 62 / 650,887, entitled "SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES."

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

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

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

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

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

[0025] The applicant of this application owns the following U.S. patent applications, filed December 21, 2016, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 15 / 386,185, entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF"; -U.S. Patent Application No. 15 / 386,230, entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS"; -U.S. Patent Application No. 15 / 386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS"; -U.S. Patent Application No. 15 / 386,209, entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF"; -U.S. Patent Application No. 15 / 386,198, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES"; -U.S. Patent Application No. 15 / 386,240, entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR"; - U.S. Patent Application No. 15 / 385,939, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; - 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 No. 15 / 385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; -U.S. Patent Application No. 15 / 385,950, entitled "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES"; -U.S. Patent Application No. 15 / 385,945, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; -U.S. Patent Application No. 15 / 385,946, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; -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 No. 15 / 385,953, entitled "METHODS OF STAPLING TISSUE"; -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 No. 15 / 385,955, entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS"; -U.S. Patent Application No. 15 / 385,948, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS"; -U.S. Patent Application No. 15 / 385,956, entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES"; - 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 No. 15 / 385,947, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"; -U.S. Patent Application No. 15 / 385,896, entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT"; - U.S. Patent Application No. 15 / 385,898, entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES"; -U.S. Patent Application No. 15 / 385,899, entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL"; - U.S. Patent Application No. 15 / 385,901, entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN"; - U.S. Patent Application No. 15 / 385,902, entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER"; - 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 No. 15 / 385,905, entitled "Firing Assembly Comprising a Lockout"; - 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 No. 15 / 385,908, entitled "FIRING ASSEMBLY COMPRISING A FUSE"; -U.S. Patent Application No. 15 / 385,909, entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE"; -U.S. Patent Application No. 15 / 385,920, entitled "STAPLE FORMING POCKET ARRANGEMENTS"; -U.S. Patent Application No. 15 / 385,913, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLE / FASTENERS"; - 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 No. 15 / 385,893, entitled "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS"; - 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 No. 15 / 385,911, entitled "SURGICAL STAPLE / FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS"; -U.S. Patent Application No. 15 / 385,927, entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES"; -U.S. Patent Application No. 15 / 385,917, entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS"; -U.S. Patent Application No. 15 / 385,900, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS"; -U.S. Patent Application No. 15 / 385,931, entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLE / FASTENERS"; -U.S. Patent Application No. 15 / 385,915, entitled "FIRING MEMBER PIN ANGLE"; -U.S. Patent Application No. 15 / 385,897, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES"; -U.S. Patent Application No. 15 / 385,922, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES"; - U.S. Patent Application No. 15 / 385,924, entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS"; - U.S. Patent Application No. 15 / 385,912, entitled "Surgical Instruments with Jaws That Are Pivotable About a Fixed Axis and Include Separate and Distinct Closure and Firing Systems"; -U.S. Patent Application No. 15 / 385,910, entitled "ANVIL HAVING A KNIFE SLOT WIDTH"; -U.S. Patent Application No. 15 / 385,906, entitled "FIRING MEMBER PIN CONFIGURATIONS"; -U.S. Patent Application No. 15 / 386,188, entitled "Stepped Staple Cartridge with Asymmetrical Staples"; -U.S. Patent Application No. 15 / 386,192, entitled "Stepped Staple Cartridge with Tissue Retention and Gap Setting Features"; -U.S. Patent Application No. 15 / 386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES"; -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 No. 15 / 386,222, entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES"; - U.S. Patent Application No. 15 / 386,236, entitled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS"; -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 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 No. 15 / 385,890, entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS"; -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 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 No. 15 / 385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT"; -U.S. Patent Application No. 15 / 385,895, entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS"; -U.S. Patent Application No. 15 / 385,916, entitled "SURGICAL STAPLING SYSTEMS"; -U.S. Patent Application No. 15 / 385,918, entitled "SURGICAL STAPLING SYSTEMS"; -U.S. Patent Application No. 15 / 385,919, entitled "SURGICAL STAPLING SYSTEMS"; -U.S. Patent Application No. 15 / 385,921, entitled "SURGICAL STAPLE / FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES"; -U.S. Patent Application No. 15 / 385,923, entitled "SURGICAL STAPLING SYSTEMS"; - 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 No. 15 / 385,926, entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS"; - 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 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 No. 15 / 385,932, entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT"; - 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 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 No. 15 / 385,935, entitled "Laterally Actuable Articulation Lock Arrangements for Locking an End Effector of a Surgical Instrument in an Articulated Configuration," and -U.S. Patent Application No. 15 / 385,936, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES."

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

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

[0028] The applicant of this application owns the following patent applications, filed on April 1, 2016, each of which is incorporated herein by reference in its entirety: -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 STAPLE / FASTENERS"; -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."

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

[0030] The applicant of the present application also owns the following identified U.S. patent applications, filed on February 9, 2016, each of which is incorporated herein by reference in its entirety: -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 ELONGATE SHAFT ASSEMBLY"; -U.S. Patent Application No. 15 / 019,215, entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS"; -U.S. Patent Application No. 15 / 019,227, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS"; -U.S. Patent Application No. 15 / 019,235, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS"; -U.S. Patent Application No. 15 / 019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS," and -U.S. Patent Application No. 15 / 019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS."

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

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

[0033] The applicant of this application owns the following patent applications, filed on March 6, 2015, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 14 / 640,746, entitled "POWERED SURGICAL INSTRUMENT" (now U.S. Patent No. 9,808,246); -U.S. Patent Application No. 14 / 640,795, entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS" (now U.S. Patent No. 10,441,279); -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 No. 9,985,148); -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 No. 10,052,044); -U.S. Patent Application No. 14 / 640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS" (now U.S. Patent No. 9,924,961); -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 No. 10,045,776); -U.S. Patent Application No. 14 / 640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING" (now U.S. Patent No. 9,993,248); -U.S. Patent Application No. 14 / 640,765, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLE / FASTENER," now U.S. Patent Application Publication No. 2016 / 0256160; -U.S. Patent Application No. 14 / 640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT" (now U.S. Patent No. 9,901,342); and -U.S. Patent Application No. 14 / 640,780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING" (now U.S. Patent No. 10,245,033).

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

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

[0036] The applicant of this application owns the following patent applications, filed on March 1, 2013, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 13 / 782,295, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION" (now U.S. Patent No. 9,700,309); -U.S. Patent Application No. 13 / 782,323, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS" (now U.S. Patent No. 9,782,169); -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 No. 9,554,794); -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).

[0037] The applicant of the present application also owns the following patent applications, filed on March 14, 2013, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 13 / 803,097, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE" (now U.S. Patent No. 9,687,230); -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 No. 9,883,860); -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 No. 9,808,244); -U.S. Patent Application No. 13 / 803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT" (now U.S. Patent No. 10,470,762); -U.S. Patent Application No. 13 / 803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS" (now U.S. Patent No. 9,629,623); -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 No. 9,888,919).

[0038] The applicant of the present application also owns the following patent applications, filed on March 7, 2014, which are incorporated herein by reference in their entireties: -U.S. Patent Application No. 14 / 200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS" (now U.S. Patent No. 9,629,629).

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

[0040] The applicant of the present application also owns the following patent applications, filed on September 5, 2014, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 14 / 479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE" (now U.S. Patent No. 10,111,679); -U.S. Patent Application No. 14 / 479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION" (now U.S. Patent No. 9,724,094); -U.S. Patent Application No. 14 / 478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION" (now U.S. Patent No. 9,737,301); -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 No. 9,757,128); -U.S. Patent Application No. 14 / 479,110, entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE" (now U.S. Patent No. 10,016,199); -U.S. Patent Application No. 14 / 479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION" (now U.S. Patent No. 10,135,242); -U.S. Patent Application No. 14 / 479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE" (now U.S. Patent No. 9,788,836); 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).

[0041] The applicant of the present application also owns the following patent applications, filed on April 9, 2014, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application No. 14 / 248,590, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS" (now U.S. Patent No. 9,826,976); -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 No. 9,649,110); -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 No. 9,844,368; -U.S. Patent Application No. 14 / 248,588, entitled "POWERED LINEAR SURGICAL STAPLE / FASTENER" (now U.S. Patent No. 10,405,857); -U.S. Patent Application No. 14 / 248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT" (now U.S. Patent No. 10,149,680); - 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 No. 9,801,626); -U.S. Patent Application No. 14 / 248,587, entitled "POWERED SURGICAL STAPLE / FASTENER" (now U.S. Patent No. 9,867,612); -U.S. Patent Application No. 14 / 248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT" (now U.S. Patent No. 10,136,887); and -U.S. Patent Application No. 14 / 248,607, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS" (now U.S. Patent No. 9,814,460).

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

[0043] As described herein and illustrated in the accompanying drawings, numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described herein. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus the specific structural and functional details disclosed herein may be representative and exemplary. Variations and modifications can be made thereto without departing from the scope of the claims.

[0044] The terms "comprise" (and any form of comprise, such as "comprises" and "comprising"), "have" (and any form of have, such as "has" and "having"), "include" (and any form of include, such as "includes" and "including"), and "contain" (and any form of contain, such as "contains" and "containing") are open-ended linking verbs. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Similarly, an element of a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

[0045] The terms "proximal" and "distal" are used herein with reference to a clinician 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," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0046] Various exemplary apparatus and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. By proceeding through the Detailed Description of the Invention section of this specification, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural opening, an incision or puncture made in tissue, etc. The working portions or end effector portions of these instruments can be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument can be advanced.

[0047] 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. Other embodiments are contemplated in which the second jaw is pivotable relative to the first jaw about a closure axis, while 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.

[0048] 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 press 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.

[0049] 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 include 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 includes a plurality of ramps configured to slide under the drivers and lift the drivers and the staples supported thereon toward the anvil.

[0050] 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 between the deck portion of the staple cartridge and the anvil, i.e., the tissue gap. The firing member also includes a knife configured to 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.

[0051] 1 and 2 depict a surgical instrument assembly 1000 including a sensing system configured to sense a parameter, such as the displacement of an actuation member of the surgical instrument assembly 1000. The surgical instrument assembly 1000 includes a shaft assembly 1010 and an end effector assembly 1030 attached to the shaft assembly 1010 by an articulation joint 1020. The shaft assembly 1010 includes a mounting portion 1011 configured to mount to a mounting interface. Such a mounting interface may include, for example, a surgical robot and / or a handheld surgical device. The shaft assembly 1010 further includes a body portion 1013 configured to house internal components of the surgical instrument assembly 1000. The end effector assembly 1030 includes a proximal frame portion 1031 attached to the shaft assembly 1011 by the articulation joint 1020. The end effector assembly 1030 further includes a first jaw 1032 and a second jaw 1033. End effector assembly 1030 includes a surgical stapling end effector; however, other types of surgical end effectors are contemplated.

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

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

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

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

[0056] In at least one case, the control circuitry is configured to measure light transmission or light loss in the extendable light waveguide 1061 when the actuation system 1050 is in the unfired configuration. The control circuitry can then compare the measured light transmission in the extendable light waveguide 1061 to the light transmission measured in the unfired configuration to determine the position of the knife body 1059 relative to the unfired position of the knife body 1059. The position of the knife body 1059 can then be determined based on the change in light transmission in the extendable light waveguide 1061 as a function of the extended length of the extendable light waveguide 1061.

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

[0058] In at least one case, a surgical instrument may include multiple extendable optical waveguides. For example, an articulation system may include an extendable optical waveguide, and / or a separate closure system may include an extendable optical waveguide. The waveguides may be attached at any suitable location on the drive member and any suitable location on the shaft. In at least one case, the extendable optical waveguide is attached to two non-fixed attachment locations. For example, the waveguides may be attached to the knife body and the articulation drive rod. In such cases, the difference in working length of each member may be varied substantially enough to allow for the use of an extendable optical waveguide in such a manner.

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

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

[0061] 3 , further to the above, distances 1171, 1173, 1175 are labeled and correspond to various positions of the knife body 1059 along its staple firing stroke. Distance 1171 corresponds to the home position of the knife body 1059, distance 1173 corresponds to a mid-position of the knife body 1059, and distance 1175 corresponds to an end-of-stroke position of the knife body 1059. These distances 1171, 1173, 1175 correspond to the magnitude of light transmission sensed in the retractable light guide 1161. If the light sensed in the light guide 1161 matches the expected light in the light guide 1161 for a given position of the knife body 1059, the control system does not modify the stroke length of the knife body 1059. However, if the light sensed in the light guide 1161 does not match the expected light in the light guide 1161, the control system may shorten or extend the stroke length of the knife body 1059 so that the knife body 1059 stops in the correct location at the end of the firing stroke. Additionally or alternatively, the control system may modify another parameter of the firing stroke based on the light sensed in the light guide 1161. For example, the control system may change the speed and / or acceleration of the knife body 1059 when the sensed light intensity in the light guide 1161 does not match the expected light intensity. For example, the control system may reduce the maximum speed of the knife body 1059 and / or reduce the maximum acceleration of the knife body 1059 when the sensed and expected light intensities do not match. In many instances, a slower knife body 1059 is less likely to cause unintended damage to the stapling system that may be caused by a shifted knife body 1059. Also, for example, the control system may reduce the maximum current that can be drawn by the electric motor when the sensed and expected light intensities do not match. In such cases, the force transmitted through the knife body 1059 is reduced to reduce the possibility of unintended damage to the stapling system. In certain cases, the control system may modify or pause the time between operating steps when a mismatch is detected.In at least one instance, the control system may, for example, increase the pause between clamping the end effector and performing the staple firing stroke.

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

[0063] FIG. 4 illustrates the retractable light guide 1261 in its home configuration, showing the knife body 1059 in its home position 1271. In at least one instance, the retractable light guide 1261 is held taut in its home configuration. FIG. 5 illustrates the retractable light guide 1261 in an extended configuration, showing the knife body 1059 in its end-of-stroke position 1275. FIG. 6 illustrates the surgical instrument assembly 1200 in an articulated configuration where the electrical connections are bent around the articulation joint to accommodate the articulated configuration. As can be seen in FIG. 6, the retractable light guide 1261 is not affected by the articulation of the end effector assembly 1030.

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

[0065] In addition to the above, the control system may be configured to evaluate whether the measured light in the waveguide is within a certain tolerance range. In such a case, the control system will determine, based at least on this type of measurement, that a match has been achieved and will not change the launch strike characteristics. However, if the measured light is outside the tolerance range, the control system may modify the launch strike as described herein.

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

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

[0068] As the actuating member 1320 translates within the hollow shaft 1310, the light sensors 1333 detect a change in the presence of light caused by the window 1321. This change in the presence of light corresponds to movement of the actuating member 1320. Providing multiple light sensors 1333 longitudinally along the shaft 1310 allows for detection of changes in the presence of light along the length within the shaft 1310. The control circuitry can monitor the signal of each light sensor to determine the precise position of the actuating member 1320. The control circuitry can further monitor these signals over time to determine other parameters, such as, for example, the velocity and acceleration of the actuating member 1320.

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

[0070] 7A and 7B, the control circuitry may compare the position of the actuating member 1320 detected by the sensing system 1330 to the expected position of the actuating member 1320 detected by the motor encoder driving the actuating member 1320. Adjustments to the motor control program may be made and / or a warning may be sent to the user indicating that there is a variance between the output of each detection system.

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

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

[0073] FIG. 9 is a graph 1401 of the position of the actuating member 1420 relative to the motor position. The motor position can be detected using, for example, an encoder. FIG. 10 is a graph 1402 of the expected voltages of the Hall effect sensors 1431, 1433 relative to the motor position. FIG. 11 is a graph 1403 including graphs 1401, 1402 and the actual readings of the Hall effect sensors 1431, 1433 during an actuation stroke. The actual readings of the Hall effect sensors 1431, 1433 differ from the expected readings of the Hall effect sensors 1431, 1433. This may be due to, for example, component wear. Because the actual readings of the Hall effect sensors 1431, 1433 differ from the expected readings of the Hall effect sensors 1431, 1433, the control circuitry detects this difference and may adjust the motor control program operating the actuating member 1420 to compensate for the position of the actuating member 1420 relative to the sensing system 1430 and / or otherwise alter the operation of the motor control program. In various cases, the motor control program may slow the actuating member 1420, shorten the stroke of the actuating member 1420, and / or reduce the maximum current that can be drawn by the electric motor, for example. In certain cases, the control system may modify the time or pause between operating steps when a discrepancy is detected. In at least one case, the control system may increase the pause between clamping the end effector and performing the staple firing stroke, for example. Additionally or alternatively, the control circuit may ignore the sensing system 1430 and rely solely on the motor encoder when the expected reading differs from the actual reading.

[0074] Further to the above, in various embodiments, the distance between Hall effect sensors 1431 and 1433 is fixed and known to the surgical instrument's control system. In many instances, magnet 1435 will simultaneously disturb the magnetic fields generated by Hall effect sensors 1431 and 1433. If magnet 1435 is closer to Hall effect sensor 1431 than Hall effect sensor 1433, for example, the disturbance detected by Hall effect sensor 1431 may be greater than the disturbance detected by Hall effect sensor 1433. In at least one instance, the relative disturbance detected by Hall effect sensors 1431 and 1433 may be used by the control system to determine and verify the position of actuating member 1420. If one or both of these sensors produce an output that is inconsistent with the expected output for a given power output of the electric motor, the control system may enter a corrective state in which the data input stream is prioritized.

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

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

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

[0078] In at least one instance, predetermined parameters of the motor, such as, for example, rotor inertia, may be measured and / or calibrated as part of the initial assembly of the modular attachment to the motor. Such parameters may be measured during a dynamic shutdown event, which decelerates the motor to prevent unintentional overstressing of components as the actuating member approaches an end-of-stroke position (such as the beginning or end of a stroke). Such parameters may also be measured during motor acceleration (such as, for example, the beginning of a stroke and / or the restart of a stroke). During such an event, the control circuit may utilize the motor encoder to monitor the rotor inertia and a local sensing system in the shaft to determine the corresponding inertia of the rotor. If a difference is detected between the inertia values ​​determined based on the motor encoder and the local sensing system in the shaft given the predetermined parameters, the system may adjust the dynamic braking and / or acceleration (speed, start trigger, magnitude) of the motor to have more efficient motor control by the attached surgical instrument.

[0079] In various instances, a surgical tool attachment configured to be attached to a surgical tool control interface, such as, for example, a surgical robot, includes on-board electronics. The on-board electronics may include any suitable circuit elements, such as, for example, a sensor, a printed circuit board, a processor, and / or a battery. Referring now to FIGS. 13-15 , a surgical tool assembly 2000 is depicted. The surgical tool assembly 2000 comprises a shaft 2010, an articulation joint 2011, and an end effector 2020 attached to the shaft 2010 by the articulation joint 2011. The end effector 2020 is configured to be articulated relative to the shaft 2010 about the articulation joint 2011. The surgical tool assembly 2000 further comprises an articulation actuator 2013 configured to articulate the end effector 2020.

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

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

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

[0083] In at least one instance, the first flex circuit 2030 and the second flex circuit 2040 are configured to resiliently reconnect and resiliently assume a neutral, unstretched configuration. Once in the neutral configuration, the first flex circuit 2030 and the second flex circuit 2040 can be re-stretched upon actuation of various actuators within the surgical instrument assembly 2000.

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

[0085] In at least one instance, a configuration is provided that ensures that the stretchable zone resumes its proper neutral configuration after the load that stretched the stretchable zone is released. FIGS. 16-18 depict a flex circuit 2100 including a non-stretchable zone 2110 and a stretchable zone 2120 positioned between the non-stretchable zones 2110. The stretchable zone 2120 includes a plurality of elastic struts, or connectors, 2130 that attach together portions of the flex circuit 2100 within the stretchable zone 2120. FIG. 16 illustrates the stretchable zone 2120 in a relaxed state. In such a state, the elastic strut members 2130 and the stretchable zones 2120 of the flex circuit 2100 are in a neutral, unloaded state. In at least one instance, the elastic strut members 2130 are configured to be taut in the neutral, unloaded state. Once the stretchable zone 2120 is stretched (FIG. 17), the elastic support members 2130 are also stretched in the same direction and orientation that the stretchable zone 2120 is stretched. In this stretched state, the elastic support members 2130 may ensure the integrity of the stretchable zone 2120 by carrying at least some of the force load and controlling the relative positioning of the zones. When the load stretching the stretchable zone 2120 is relaxed, the stretchable zone 2120 may be urged by the elastic support members 2130 to its original, neutral, unloaded state (FIG. 18). In at least one instance, the elastic support members 2130 may be used to ensure that the stretchable zone 2120 is not over-stretched.

[0086] As seen in Figures 16-18, the elastic post members 2130 are oriented in the same direction along a predetermined direction of elongation. The elastic post members 2130 may comprise materials and structures designed to stretch only in the intended direction of elongation to increase the predictability of the elastic post members 2130. In at least one instance, the elastic post members 2130 are oriented in a crisscross configuration. Such a configuration may increase the tensile force provided by the elastic post members 2130.

[0087] In at least one instance, as described in more detail herein, a stretchable zone of a flex circuit can be used to measure a parameter of the actuator. For example, the stretchable zone can be attached to a fixed location and to an actuator such that the actuator stretches the stretchable zone when the actuator is actuated. For example, a sensor arrangement such as a Hall effect sensor located on the fixed mount, or a scale, location, and magnet located at the actuator mounting location, can be used to measure, for example, the displacement of the actuator as it moves through its actuation stroke.

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

[0089] In various cases, joints within a surgical instrument assembly, such as articulation joints and / or rotary joints where multiple drive members are connected to one another, include means for protecting, for example, a wiring harness and / or flex circuit extending through and / or around the joint. The wiring harness is protected from induced stresses and strains throughout the joint's full range of motion. In at least one case, the wiring harness includes a pre-bent section extending through the articulation joint. In such cases, the pre-bent section is configured in a manner that anticipates how the wiring harness will react when the end effector is articulated about the articulation joint.

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

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

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

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

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

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

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

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

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

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

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

[0101] In at least one case, the flex circuit 2540 includes one or more S-sections. In at least one case, one or more bends of each S-section are fixed to a moving component of the surgical instrument assembly 2500. In at least one case, the flex circuit 2540 includes a plurality of resilient strut members configured to bias the pre-bent section 2541 toward its neutral pre-bent configuration, as seen in FIG. 27 , when the end effector 2520 is not in an articulated position. A flex circuit with integrated moving component support locations may provide greater stability throughout areas of the surgical instrument assembly, including moving regions such as, for example, articulation joints.

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

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

[0104] In at least one instance, the threads of the surgical stapling assembly are monitored utilizing, for example, a Hall Effect sensor and a magnet. Any suitable movable actuation member may be sensed within the surgical instrument assembly utilizing the sensing system 3033. For example, a translation member within a bipolar energy surgical instrument may be sensed utilizing the sensing system 3033. In at least one such embodiment, the translation member includes, for example, a tissue-cutting knife.

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

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

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

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

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

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

[0111] In many instances, measurements of tensile and compressive forces and / or strains transmitted through the drive member are more reliable when measured toward the central axis of the drive member as opposed to the periphery of the drive member. Alternatively, necking of the shaft component may also provide more localized stress and strain concentrations. To this end, the sensor 3253 is attached to the necked portion 3235 of the shaft component 3230. Such a necked region may provide a more reliable area for the sensor to measure an applied load on the shaft component 3230, since even a small load applied to the shaft component 3230 will result in an amplified strain in the necked portion 3235. As seen in FIG. 35 , the shaft component 3230 is unloaded, the necked portion 3235 comprises a first width, and the shaft component 3230 comprises a first length. 36 , the shaft component 3230 is loaded and the waisted portion 3235 elongates, resulting in the waisted portion 3235 including a second width that is greater than the first width and the shaft component 3230 including a second length that is greater than the first length. In at least one instance, the elongation of the shaft component 3230 can be determined by a control circuit that interprets changes in strain values ​​received from the sensor 3253 as the shaft component 3230 is loaded and unloaded.

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

[0113] In at least one case, strain gauges extending from the flex circuit are attached to several different components within the shaft assembly. In at least one case, a portion of the flex circuit extending through the shaft assembly is primarily non-stretchable, while another portion of the flex circuit is stretchable. In various cases, the primarily non-stretchable portion has a higher modulus of elasticity than other portions of the flex circuit. In at least one case, the modulus of elasticity of the primarily non-stretchable portion is, for example, 10 times higher than the modulus of elasticity of other portions of the flex circuit. In at least one case, the modulus of elasticity of the primarily non-stretchable portion is, for example, 100 times higher than the modulus of elasticity of other portions of the flex circuit. In at least one case, the stretchable portion of the flex circuit is used to sense parameters of components of the shaft assembly. In at least one case, the stretchable portion of the flex circuit includes a substrate material that is thinner than the substrate material comprising the non-stretchable portion. In at least one case, the substrate material used for the stretchable portion of the flex circuit is different from the substrate material for the non-stretchable portion of the flex circuit. In at least one case, a conductor within a flex circuit is used as a resistive element for sensing elongation. Such a conductor may be used, for example, to measure a parameter of a structural component within the shaft assembly and / or end effector. In at least one case, the force experienced by the sensed structural member is proportional to the strain experienced by the sensed structural member, which may be detected using any of the methods disclosed herein.

[0114] In at least one case, the stretchable portion of a flex circuit used to sense a parameter of a structural member in a shaft assembly includes a length that spans the entire length of the structural member itself so as to maintain uniform elongation along the length of the structural member. For example, if only a portion of the structural member is in contact with the stretchable portion of the flex circuit, that portion may be reinforced by the additional material of the stretchable portion of the flex circuit, which may unintentionally vary sensor readings in that region relative to areas not in contact with the stretchable portion of the flex circuit. In at least one case, this is avoided by covering the entire length of the structural member with the stretchable flex circuit portion. In at least one case, the stretchable flex circuit portion is used to reinforce the portion of the structural member to be sensed.

[0115] In at least one case, the structural member to be sensed includes features for concentrating forces experienced by the structural member, directing forces experienced by the structural member in a particular direction, and / or amplifying loads experienced by the structural member over its length. In various cases, directing and / or amplifying the flow of strain through the drive member may be achieved by variations in the cross-section and / or geometry of the drive member.

[0116] In at least one case, strain experienced by a structural component of a shaft assembly due to bending can be sensed by a strain gauge located at a location furthest from the bending axis. Locating such an integrated flex circuit strain gauge can amplify detectable stresses on the bending structural component. In at least one case, this location is artificially created. An artificially created fin can extend from the structural component, creating a location farther from the bending axis of the structural component than any portion of the structural component itself.

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

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

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

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

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

[0122] The sensing system 3340 may be used by the control circuitry to determine the actual position of the end effector 3320 relative to the shaft 3310 without the need to monitor the output of the articulation drive system motors. In at least one instance, the control circuitry is configured to automatically adjust a motor control program configured to actuate the articulation actuator 3311 according to a desired result based on the monitored position of the end effector 3320. For example, a user may command the instrument to place the end effector 3320 in a non-articulated configuration. The sensing system 3340 may be used to determine the actual position of the end effector 3320. If the end effector 3320 does not fully achieve the desired position, the control circuitry may be configured to alert the user and / or automatically adjust the motor control program to actuate the articulation actuator 3311 until the sensing system 3340 detects the end effector 3320 in the desired position.

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

[0124] In at least one case, the inertia and / or friction of a kinematic system within the surgical instrument assembly is configured to be monitored. In at least one case, the control circuitry is configured to adjust the motor control program corresponding to the monitored kinematic system. In at least one case, adjustments can be made to, for example, minimize excessive load on the drive member, eliminate shock events on the drive member, and / or ensure a full operating stroke of the drive member.

[0125] In at least one instance, the control circuitry is configured to monitor the local displacement and velocity of the drive member, as well as the motor current of a motor configured to actuate the drive member. These parameters may be monitored during an acceleration and / or braking event of the drive member to determine the inertia of the system. The control circuitry may then determine whether the determined inertia differs from the expected inertia. As a result, the inertial detection may be used to adjust the motor's control program to more accurately execute such shutdown and / or acceleration events of the drive member. In at least one instance, the control circuitry is configured to alter the timing of the start of a braking cycle of the drive member based on the determined inertia of a previous braking cycle of the drive member.

[0126] In at least one instance, the control circuit is configured to prevent a high-load impact event in the surgical stapling end effector based on the monitored inertia of a firing system in the surgical stapling end effector. The control circuit may be further configured to ensure a full actuation cycle of the firing system even after an adjustment to the braking cycle is made to prevent the high-load impact event. In at least one instance, the retraction stroke also risks a high-load impact event at the proximal end of the retraction stroke. In at least one instance, the control circuit is also configured to prevent a proximal high-load impact event.

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

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

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

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

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

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

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

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

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

[0136] In at least one instance, the stretchable sensing cloth 3400 can be used in conjunction with any movable drive member in a surgical instrument system. Figures 44 and 45 depict a surgical instrument assembly 3500 comprising a surgical stapling drive member 3510 configured for use with a surgical stapling instrument and a plurality of stretchable sensing cloths 3400 positioned on the surgical stapling drive member 3510. The surgical stapling drive member 3510 includes a plurality of bands 3511 stacked together which are coupled to a firing member 3520 configured to cut tissue and deploy staples during a staple firing stroke. As the bands 3511 are displaced around the articulation joint, the bands 3511 flex and spread apart relative to one another around the articulation joint. This flexing can be detected by the stretchable sensing cloth 3400 and can be correlated by a control system to the extent to which the end effector is articulated.

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

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

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

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

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

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

[0143] 48 and 49 depict graphs 3701, 3703 associated with a control circuit for use with a surgical instrument assembly configured to determine a load profile and adjust the surgical instrument assembly's motion control program based on the determined load profile. Graph 3701 illustrates a number of different load profiles within a tissue-cutting knife, which, in at least one instance, defines an acceptable range of loads for the tissue-cutting knife. As another example, the acceptable range of load profiles is illustrated in graph 3703 against an actual load profile 3704 detected by the control circuit using any suitable sensing system, such as those disclosed herein. As seen in the example of FIG. 49, the detected actual load profile 3704 exceeds the range of acceptable load profiles. The control circuit can then take action accordingly. In at least one instance, the control circuit is configured to automatically adjust the surgical instrument assembly's control program to reduce the load profile, such as by slowing down and / or pausing actuation of the drive member. In certain instances, the control circuit is configured to reduce the maximum current available to the electric motor to reduce the load profile. In certain cases, the control system may modify or pause the time between operational steps when a discrepancy is detected. In at least one case, the control system may, for example, increase the pause between clamping the end effector and performing the staple firing stroke. In at least one case, the control circuitry is configured to alert the user that the load profile is outside of an acceptable range and request input from the user on how to proceed. In at least one case, the control circuitry is configured to lock out the staple firing drive system upon detecting a load profile outside of an acceptable range of load profiles. In such cases, for example, other drive systems may be operated to retract the staple firing drive, open the end effector, and / or straighten the end effector.

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

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

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

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

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

[0149] In at least one case, further to the above, the flex circuit includes multiple polyimide layers and metal circuits positioned intermediate the polyimide layers. In at least one case, the metal circuits include a copper frame, while in some cases, the metal circuits include, for example, conductive ink. For example, certain circuits within the flex circuit may be wider, thicker, and / or have higher conductivity than other circuits and be better suited to conducting power loads, whereas certain circuits that are narrower, thinner, and / or have lower conductivity may be better suited to conducting data communication signals. In various cases, the power loads may generate magnetic and / or electric fields that can interfere with data communication signals, resulting in the power circuits being separated and / or isolated from the communication circuits. In at least one case, the power circuits are disposed within a power backbone within the flex circuit, while the communication circuits are disposed within a communication backbone within the flex circuit. In various cases, the power backbone includes a first segment within the flex circuit, while the communication backbone includes a second segment within the flex circuit. In at least one instance, the second, or communication, segment may be further sub-segmented. Whether or not the segments are referred to as sub-segments, they may be referred to as segments, and will be so referred to herein for convenience.

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

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

[0152] As discussed above, the surgical instrument includes a proximal sensor circuit for detecting movement of the firing member 3010 at the beginning of a staple firing stroke and a distal sensor circuit for detecting movement of the firing member 3010 at the end of the staple firing stroke. In at least one embodiment, the control circuit actively monitors the proximal and distal sensor circuits throughout the entire staple firing stroke. Similarly, in at least one embodiment, the control circuit actively monitors the proximal and distal sensor circuits throughout the entire retraction stroke of the firing member 3010. Thus, the control circuit requires an overall or total data bandwidth that can accommodate a first data bandwidth consumed by the proximal sensor segment and a second data bandwidth consumed by the distal sensor segment. Furthermore, in such instances, the control circuit requires a power source sufficient to simultaneously power the proximal and distal sensor segments. However, in various instances, it may be desirable to dedicate a larger portion of the total available bandwidth and / or power to one sensor segment than another at a given time. For example, the control circuitry can be configured to dedicate a greater data bandwidth and power to the proximal sensor segment than the distal sensor segment at the beginning of the staple firing stroke, and then dedicate a greater data bandwidth and power to the distal sensor segment than the proximal sensor segment at the end of the staple firing stroke. In such a case, the control circuitry can focus its sensing capabilities where the firing member 3010 is located. Such an arrangement can be well suited to actively monitoring the initial acceleration of the firing member 3010 and the deceleration of the firing member 3010 at the end of the staple firing stroke. Stated another way, dedicating an equal share of the data bandwidth to the distal sensor segment at the beginning of the staple firing stroke is not an efficient use of the control circuitry's data bandwidth, as the distal sensor segment does not monitor the firing member 3010 at the beginning of the staple firing stroke or the distal sensor segment is not as accurate as the proximal sensor segment in such cases.Similarly, allocating an equal share of the data bandwidth to the proximal sensor segment at the end of the staple firing stroke is not an efficient use of the control circuit data bandwidth as the proximal sensor segment does not monitor the firing member 3010 at the end of the staple firing stroke or the proximal sensor segment is not as accurate as the distal sensor segment in such cases.

[0153] In various embodiments, the control circuitry can be configured to selectively power and depower the sensor segments of the flex circuit. In at least one such embodiment, the control circuitry can apply sufficient voltage to the proximal sensor segment to power the proximal Hall Effect sensor 3033 at the beginning of the staple firing stroke, such that the proximal sensor 3033 can fully emit and detect its magnetic field, as discussed above, while simultaneously fully powering the distal Hall Effect sensor 3035 without applying sufficient voltage to the distal sensor segment. In such cases, the data bandwidth devoted to the distal sensor segment can be minimized or eliminated so that the control circuitry can focus on that bandwidth of the proximal sensor segment. In other words, the control circuitry can place the distal sensor segment in a sleep mode at the beginning of the staple firing stroke. However, as the firing member 3010 advances distally, the control circuitry can activate the distal sensor segment by applying sufficient voltage to the distal sensor segment to dedicate a sufficient portion of its data bandwidth to the distal sensor segment. Further, the control circuitry can then place the proximal sensor segment in a sleep mode while the control circuitry focuses its data bandwidth on the distal sensor segment. Such an arrangement can allow the control circuitry to precisely brake or slow the firing member 3010 at an appropriate time and / or stroke length, for example.

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

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

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

[0157] In various instances, further to the above, the control circuitry may activate a sensor when the drive component reaches a specific position in its movement. For example, the control circuitry may activate the distal sensor segment when the firing member 3010 reaches a position that is 5 mm from the end of the staple firing stroke. In at least one such instance, the distal sensor segment does not transmit data to the control circuitry until it is activated when the firing member 3010 reaches 5 mm remaining, at which point it transmits data to the control circuitry at a high bandwidth. To accomplish this, the control circuitry monitors the movement of the firing member 3010 during the firing stroke. In at least one instance, the control circuitry uses data from the proximal sensor segment to assess the position of the firing member 3010; however, the firing member 3010 is no longer adjacent to the proximal sensor 3033, and the accuracy of the data from the proximal sensor 3033 may not be reliable enough to rely on. Therefore, the control circuitry may include one or more sensor systems that can more reliably measure the movement of the firing member 3010. For example, the control circuitry can include a sensor system that monitors other drive components of the staple firing system, such as, for example, the output shaft of the staple firing drive's electric motor and / or a translatable shaft driven by the electric motor. Various other arrangements are described in more detail below.

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

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

[0160] In various embodiments, further to the above, the flex circuit includes a first Hall effect sensor and a second Hall effect sensor, and the translatable component includes a first magnetic element and a second magnetic element. In at least one embodiment, the second Hall effect sensor is positioned distally or longitudinally relative to the first Hall effect sensor. Similarly, the second magnetic element is positioned distally or longitudinally relative to the first magnetic element. During use, the translatable component is moved distally from a proximal, unfired position to a distal, fired position during a firing stroke. During initial movement of the translatable component, the first magnetic element is detectable by the first Hall effect sensor but not the second Hall effect sensor, and further, the second magnetic element is not detectable by either the first or second Hall effect sensor. When the first magnetic element moves out of range of the first Hall effect sensor during the firing stroke, the second magnetic element moves into range of the second Hall effect sensor. Notably, the first magnetic element does not fall within the range of the second Hall Effect sensor in this embodiment. Therefore, the entire range of motion of the translatable components can be monitored collectively by the first and second Hall Effect sensors. In at least one instance, there is a small amount of overlap during the firing stroke where the first Hall Effect sensor can detect the first magnetic element and the second Hall Effect sensor can detect the second magnetic element. In other embodiments, such overlap does not exist, and the monitoring of the first and second Hall Effect sensors is line-to-line. The above-described arrangement is useful for low-stroke actuation, such as energy devices or grasper / dissectors (e.g., 0.250 inch total stroke), where the stroke resolution is highly correlated with changes in tissue clamping load for small increments of change in stroke location. The jaw actuator of a 5 mm grasper / dissector is typically 0.1 inch to 0.3 inch with a ±0.05 inch resolution, for example, equivalent to several pounds of difference in jaw tissue compression once closed on tissue.

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

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

[0163] In various embodiments, the sensing system of the surgical instrument includes multiple capacitive plates, such as a first capacitive plate and a second capacitive plate. As the translatable component passes through the capacitive plates, the sensing system can detect a change in capacitance of the capacitive plates. In various cases, the first and second capacitive plates are arranged in parallel. In certain cases, the translatable component passes through the first capacitive plate and the second capacitive plate. Based on this information, the control circuitry can estimate the position, velocity, and / or direction of the translatable component.

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

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

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

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

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

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

[0170] In at least one instance, multiple sensing systems within an attached surgical instrument attachment may be configured to trigger and sense each other. Such localized interference may be predictable and utilized as an asset in sensing one or more parameters of one or more of the actuators within the attached surgical instrument attachment. For example, a surgical stapling attachment may include an actuator configured to clamp an end effector and eject staples from the end effector. In such an instance, one sensing system including a magnet and a Hall Effect sensor may be positioned within the closing stroke, and a second sensing system including a magnet and a Hall Effect sensor may be positioned within the firing stroke. In such a system, the Hall Effect sensor within the closing stroke may be influenced by the magnet of the sensing system. This overlap may be predictable and may provide more accurate detection of actuator parameters during both the closing stroke and the firing stroke.

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

[0172] In at least one case, external interference with the local sensing system may not be able to be adjusted for or compensated for. In such cases, action may be taken by the control circuit. In at least one case, an alert may be sent to the robotic surgical system and / or the user. In at least one case, the surgical instrument attachment may be locked out such that the surgical instrument attachment is locked out by the control circuit until the local sensing system is again operational. In at least one case, the control circuit may place the surgical instrument attachment in a limp mode, for example, activating a low-power operating state. In various cases, when the control system determines that interference has occurred, the control system may, for example, slow the speed of the drive system, reduce the acceleration of the drive system, and / or reduce the maximum current that can be drawn by the electric motor. In certain cases, the control system may modify or pause the time between operational steps when a discrepancy is detected. In at least one case, the control system may, for example, increase the pause between clamping the end effector and performing a staple firing stroke.

[0173] FIG. 53 depicts a surgical instrument system 6000 comprising a robotic surgical interface 6010 and a plurality of surgical instrument attachments 6020 configured to attach to the robotic surgical interface. The surgical instrument system 6000 comprises a wireless communication network. The surgical instrument attachments 6020 are configured to communicate with each other before any of the surgical instrument attachments 6020 are attached to the robotic surgical interface 6010. The surgical instrument attachments 6020 may communicate with each other the status of each attachment 6020, for example, indicating which surgical instrument attachments 6020 are ready to be attached to the robotic surgical interface 6010. Such information may be provided by the attachment itself and its current status and / or may be provided by the hub based on which attachments have already been indicated by the hub to be attached to the robotic surgical interface 6010. In at least one instance, color-coded lights may be used on the surgical instrument attachments to indicate various things. For example, the attachments 6020 may communicate their status to each other, allowing the attachments 6020 to identify and indicate which attachments 6020 are attached to the robotic surgical interface 6010 for a given surgical procedure.

[0174] In various cases, the attachments 6020 may communicate with each other to communicate their proximity to each other. In such cases, if the first attachment 6020 detects interference with one or more of its sensors, it may communicate its proximity to the second attachment 6020 so that the second attachment 6020 may understand the source of the interference. In at least one such case, the second attachment 6020 may communicate with the first attachment 6020 to request that the first attachment 6020 depower and / or otherwise modify its system to reduce or eliminate the magnetic field being generated by the first attachment 6020. Additionally, the second attachment 6020 may communicate with the robotic surgical system and / or a user to move the first attachment 6020.

[0175] In various instances, a surgical instrument assembly is manipulated by a user and / or a surgical robot to be positioned in various orientations, which may affect the operation of the surgical instrument assembly. For example, access to certain areas of a target site within a patient may be difficult to reach, and reaching may result in the surgeon rotating the entire surgical instrument assembly into an upside-down configuration. In such instances, certain motion systems of the surgical instrument assembly may be affected by such a reversal of orientation. With this in mind, various surgical instrument assemblies are configured to account for such effects. In at least one instance, the surgical instrument assembly may include an orientation detection system configured to detect the orientation of the surgical instrument assembly and a control circuit configured to adjust the motion control program of the surgical instrument assembly based on the detected orientation of the surgical instrument assembly.

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

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

[0178] The control circuitry is configured to adjust the motion control program of the surgical instrument assembly 5000 based on the detected upright orientation. In at least one case, the trigger 5031 includes an adjustable component configured to vary the force required to squeeze the trigger 5031 to actuate an end effector function. In at least one case, when the surgical instrument assembly 5000 is detected as being in an upright orientation, a standard force 5050 is required to squeeze the trigger 5031 to actuate an end effector function. Referring now to FIG. 55 , the surgical instrument assembly 5000 is in an inverted orientation. In the inverted orientation, the user 5010 may hold the grip portion 5030 in an awkward configuration that may make it more difficult to apply sufficient force 5060 to squeeze the trigger 5031 to actuate an end effector function. In such cases, the control circuitry is configured to reduce the force required to squeeze the trigger 5031 to actuate an end effector function. The control circuitry is configured to adjust the motion control program of the surgical instrument assembly 5000 based on the ergonomics of the surgical instrument assembly 5000 during operation and / or based on various finger and / or wrist strengths during use of the surgical instrument assembly 5000. In at least one case, a reversed orientation may reduce the motion capacity of the drive system, for example, due to the weight of the drive system. In such cases, adjustments may be made to the motor control program to restore the reduced motion capacity of the drive train to full motion capacity based on the reversed orientation. In various cases, the control system may, for example, reduce the speed, acceleration, maximum force, and / or maximum current that can be drawn by the electric motor driving the drive member when the control system determines that the reversed orientation is present. In certain cases, the control system may modify or pause the time between motion steps when a particular orientation is detected. In at least one case, the control system may, for example, increase the pause between clamping the end effector and performing a staple firing stroke.

[0179] In at least one case, the control circuit is configured to control the force thresholds required to activate and deactivate the trigger of the surgical instrument assembly, which allows a user to activate and / or deactivate the trigger, for example, with a non-dominant finger and / or while the user's hand is in a non-dominant configuration.

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

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

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

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

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

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

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

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

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

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

[0190] In at least one case, a slip ring of a surgical instrument assembly includes a high conductivity region and a low conductivity region. In such a case, the control circuit is configured to determine when the shaft assembly is rotated into the low conductivity region and stops. This can be disadvantageous when trying to preserve electrical communication between the mounting interface and any electrical systems within the shaft assembly. In such a case, the control circuit is configured to adjust a motion control program that controls rotation of the shaft assembly relative to the mounting interface to which the shaft assembly is attached. In at least one case, the motion control program is adjusted so that the shaft assembly exits the low conductivity region and immediately rotates into the nearest high conductivity region. In at least one case, a user is alerted to the low conductivity relationship between the shaft assembly and the mounting interface. In such a case, the user can manually adjust the shaft assembly and / or ignore the alert regarding the detected low conductivity relationship.

[0191] In at least one case, the control circuitry is configured to record conductivity issues of different components and areas where conductivity issues exist. In at least one case, a component may be locked out after a certain threshold of low conductivity areas is detected. In such cases, when the component is reinstalled within the surgical tool system, the control circuitry may alert the user of the situation and / or lock out the component from being used.

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

[0193] In various instances, control circuitry is provided to adjust the motion control program of the surgical instrument assembly and / or robot based on, for example, the detected orientation of the patient. FIGS. 62-64 depict a surgical instrument system 5300 including a patient 5310 and an operating table 5320 on which the patient 5310 is positioned for surgery. The surgical instrument system 5300 further includes an orientation detection system, such as a gyro sensor, configured to detect the patient's orientation. Control circuitry is provided to adjust motion control parameters of the surgical instrument assembly and system used during surgery based on the detected orientation of the patient. In at least one instance, adjustments are made based on the detected orientation of the patient to place position limits to which the robotic arm can move relative to the patient. For example, when the patient is in the orientation depicted in FIG. 62, the control circuitry may limit the movement of the robotic arm to prevent it from moving underneath the patient, which would be unhelpful and / or potentially injurious to the patient.

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

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

[0196] The control circuitry is further configured to determine a recommended solution 7030 based on all of the inputs received by the control circuitry. The recommended solution 7030 may include optimal motion control programs for motors within the various modules and / or sensing control programs configured to optimize the sensing capabilities of the sensing systems within the modules. In at least one case, the control circuitry is configured to provide optional solutions 7040 to a user. The optional solutions 7040 include a first solution including a control program utilizing the multi-axis joint system of the module. The optional solutions 7040 also include a second solution including a control program limiting the multi-axis joint system of the module to a single axis. In at least one case, the user is configured to select (7050) a desired solution. In at least one case, a manual lockout 7060 is provided. In at least one case, the control circuitry is configured to lock out the multi-axis joint of the module if the user selects the optional solution 7040 utilizing single-axis articulation.

[0197] In various cases, the control circuitry is configured to identify all subsystems and / or components within the surgical hub environment. In at least one case, the modules configured for use in the surgical hub environment each include a means or radio for communicating with the surgical hub. In at least one case, the control circuitry is configured to identify each module within the surgical hub environment. In at least one case, the control circuitry is configured to define an operational control program for each module identified within the surgical hub environment.

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

[0199] In at least one case, the control circuit is configured to operate through each drive system of the combination of connected subsystems. This operation can be used to determine the capabilities of the combination of connected subsystems. In at least one case, the control circuit is configured to adjust the operation control program based on feedback received during initial operation of the combination of connected subsystems. In at least one case, the control circuit is configured to compare the received feedback with information collected during previous use of each subsystem. In such cases, the control circuit can determine what portion of any operation variation is attributable to the combination of connected subsystems or to each subsystem itself. For example, a shaft assembly and an end effector assembly can be attached to one another to form a modular instrument assembly. The modular instrument assembly can then be attached to a handheld motorized mounting interface. The handheld motorized mounting interface can then automatically operate through an initialization operation phase to determine the available capabilities of the modular instrument assembly.

[0200] In various cases, the control circuitry is configured to identify each module within the surgical hub environment and, based on one or more identified modules, determine all possible combinations and / or subcombinations of the identified modules, which may be determined by predetermined allowable combinations. In at least one case, the user may be presented with various options of combinations available among all of the identified modules. In at least one case, the control circuitry is configured to recommend combinations of one or more modules based on the predetermined allowable combinations and / or other inputs, such as, for example, patient data and / or the surgeon's expertise level.

[0201] In various cases, the surgical tool system includes a remote server configured to aggregate different combinations of parts, tolerances, assembly modifications, and / or performance statistics from modules within the site. In at least one case, the control circuitry is configured to determine operational control parameters for any particular combination of modules. In at least one case, the control circuitry is configured to communicate the determined operational control parameters to all other modules. In at least one case, the control circuitry is configured to communicate the determined operational control parameters to other similar combinations of modules within the site. In at least one case, the aggregation includes an ever-evolving algorithm, where the control circuitry may continuously iterate through the possible combinations as more data and / or information is collected to further define the possible combinations.

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

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

[0204] In at least one case, the control circuitry is configured to adjust various control parameters, such as, for example, pause times between actuating various systems of the module, time to wait before taking measurements using the module's built-in sensing systems, motor speed and / or energy delivery, e.g., stroke length of the module's actuation system, actuation speed of the module's actuation system, initial actuation force of the module, rate of change trigger threshold, and / or magnitude of rate of change adjustment. In at least one case, the control parameters are adjusted based on whether a cartridge with or without pre-installed attachments is present. In at least one case, the control parameters are adjusted based on the staple size stored in the cartridge module to be installed.

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

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

[0207] In various instances, the surgical hub is configured to identify modules within a surgical environment. In at least one instance, the surgical hub is configured to determine the capabilities of the modules by interpreting signals received from the modules, which may include data corresponding to the capabilities of the modules. The surgical hub is configured to limit the capabilities of the modules based on a predetermined control program. The predetermined control program may be defined by the level of software package purchased for the modules. For example, there may be three different levels of software. The levels may include, for example, beginner, intermediate, and / or advanced. If the beginner level software is purchased, the capabilities of the module may be reduced to a beginner configuration. Such a configuration may include, for example, a slower firing rate and / or a reduced range of articulation. If the intermediate level software is purchased, the capabilities of the module may be increased from the beginner configuration to an intermediate configuration in which the module is unable to operate in a full capability configuration but rather can operate in an intermediate configuration. Such a configuration may include providing a full range of articulation but maintaining a reduced firing rate. If an advanced level of software is purchased, the module's capabilities may be in a maximum capacity configuration in which all features are unlocked and can be used and / or the module can operate in a full capacity configuration.

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

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

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

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

[0212] In at least one case, the surgical hub is configured to send a test or initialization signal to each module to determine the range of capabilities and limitations of each module. This may also be referred to, for example, as a module interrogation stage. In at least one case, the surgical hub is also configured to determine any abnormalities and / or worn systems within each module, for example, during a test program. In at least one case, an initialization signal is sent to each module to be used during surgery before the start of surgery. In at least one case, an initialization signal is sent to each module just before the module is used during surgery. In at least one case, the surgical hub is configured to alert a user if any of the modules needs to be replaced, for example, based on a detected abnormality. The abnormality may be detected by each module's built-in sensing system. During the initialization stage, for example, the built-in motor is configured to run through all systems and test all actuation and / or sensing systems built into the module. For motorless modules, such initialization may occur when the module is attached to a motorized actuation system. In such cases, the module may be locked out from normal use during the initialization stage.

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

[0214] In at least one case, module functionality may be defined based on the number of times a module has been used. Such data may be maintained locally within the module itself. In at least one case, the surgical hub is configured to track the number of times a particular module has been used. In at least one case, module functionality may be defined by the age of the module. In at least one case, module functionality may be defined by the age of the power supply. In at least one case, module functionality may be defined by events recorded during previous uses of the module. In at least one case, the recorded events may include problematic uses in which one or more systems within the module failed during use. For example, during first use, the articulation drive system of a surgical stapling end effector module may break. The surgical hub is configured to record this event. The surgeon may then reinstall the surgical stapling end effector module knowing the articulation system has broken. The surgical hub may limit and / or lock out use of the articulation drive system, allowing the surgeon to use only clamping, stapling, and / or cutting functions.

[0215] In various instances, the modules and the surgical hub may include a level of intercommunication that is controllable based on, for example, cost and / or need. In at least one instance, the various modules include an available communication array system configured to communicate with the surgical hub and / or other modules with the available communication array system. In at least one instance, the level of intercommunication between the modules and / or the surgical hub may be reduced based on the software purchased. Advanced communication software may have to be purchased to unlock full intercommunication.

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

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

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

[0219] Many of the surgical tool systems described herein are driven by electric motors. However, the surgical tool systems described herein can be driven in any suitable manner. In various instances, the surgical tool systems described herein can be driven, for example, by a manually operated trigger. In certain instances, the motors disclosed herein can comprise one or more portions of a robotically controlled system. Any of the systems disclosed herein can be used with a manipulated surgical instrument. Furthermore, any of the systems disclosed herein can be utilized with a robotic surgical tool system. 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, for example, discloses several examples of robotic surgical tool systems in more detail and is incorporated herein by reference in its entirety.

[0220] While 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 fasteners other than staples, such as clamps or tacks. Furthermore, 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.

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

[0222] The entire contents of the following disclosures are incorporated herein by reference. - U.S. Patent No. 5,403,312, issued April 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE"; -U.S. Patent No. 7,000,818, issued February 21, 2006, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS"; -U.S. Patent No. 7,422,139, issued September 9, 2008, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK"; -U.S. Patent No. 7,464,849, issued December 16, 2008, entitled "Electro-Mechanical Surgical Instrument with Closure System and Anvil Alignment Components"; -U.S. Patent No. 7,670,334, issued March 2, 2010, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR"; -U.S. Patent No. 7,753,245, issued July 13, 2010, entitled "SURGICAL STAPLING INSTRUMENTS"; -U.S. Patent No. 8,393,514, issued March 12, 2013, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE"; -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, filed February 14, 2008, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES"; -U.S. Patent Application No. 12 / 031,873, filed February 15, 2008, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT" (now U.S. Patent No. 7,980,443); -U.S. Patent Application No. 12 / 235,782, 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, filed December 24, 2009, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY" (now U.S. Patent No. 8,220,688); -U.S. Patent Application No. 12 / 893,461, filed September 29, 2012, entitled "STAPLE CARTRIDGE" (now U.S. Patent No. 8,733,613); -U.S. Patent Application No. 13 / 036,647, filed February 28, 2011, entitled "SURGICAL STAPLING INSTRUMENT," (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, filed January 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM"; and -U.S. Patent Application Publication No. 2010 / 0264194, filed April 22, 2010, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR" (now U.S. Patent No. 8,308,040);

[0223] 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, according to various embodiments. The foregoing description and the following claims are intended to cover all such modifications and variations.

[0224] The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces 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 pieces 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 device, are all within the scope of the present application.

[0225] 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 they are 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.

[0226] While several embodiments have been shown and described, it is not the applicant's intention to restrict or limit the scope of the appended claims to such details. Numerous modifications, variations, changes, substitutions, combinations, and equivalents of these embodiments may be implemented and will occur to those skilled in the art without departing from the scope of the present disclosure. Moreover, the structure of each element associated with the described embodiments can alternatively be described as a means for providing the function performed by that element. Also, although materials are disclosed with respect to particular components, other materials may be used. It is therefore to be understood that the above description and the appended claims are intended to cover all such modifications, combinations, and variations as fall within the scope of the disclosed embodiments. The appended claims are intended to cover all such modifications, variations, changes, substitutions, modifications, and equivalents.

[0227] The above detailed description has set forth various aspects of the devices and / or processes via the use of block diagrams, flow diagrams, and / or examples. To the extent that such block diagrams, flow diagrams, and / or examples include one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation included in such block diagrams, flow diagrams, and / or examples can be individually and / or collectively implemented by various types of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will understand that all or part of some aspects of the embodiments disclosed herein may be equivalently implemented on an integrated circuit, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or substantially any combination thereof, and that designing circuitry and / or writing software and / or firmware code is within the skill of those skilled in the art in light of this disclosure. Additionally, those skilled in the art will understand that the subject mechanisms described herein can be distributed as one or more program products in a variety of forms, and that particular aspects of the subject matter described herein apply regardless of the particular type of signal-bearing medium used to actually effect the distribution.

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

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

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

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

[0232] As used in any aspect of this specification, an "algorithm" refers to a self-consistent sequence of steps leading to a desired result, and the "steps" refer to manipulations of physical quantities and / or logical states, which may, but need not, take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common practice to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities or are merely convenient labels applied to these quantities and / or states.

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

[0234] Unless expressly specified otherwise, as will be apparent from the foregoing disclosure, discussions throughout the foregoing disclosure using terms such as "processing," "computing," "calculating," "determining," "displaying," and the like will be understood to refer to the actions and processing of a computer system or similar electronic computing device that manipulates and transforms data represented as physical (electronic) quantities in the computer system's registers and memory into other data similarly represented as physical quantities in the computer system's memory or registers or other such information storage, transmission, or display device.

[0235] One or more components may be referred to herein as being "configured to," "configurable to," "operable / operative to," "adaptable," "capable to," "conformable / conformed to," etc. Those skilled in the art will understand that "configured to" may generally encompass active components and / or inactive components and / or standby components, unless the context requires otherwise.

[0236] Additionally, even when a specific number is explicitly stated in an introduced claim, those skilled in the art will recognize that such a statement should typically be interpreted to mean at least the recited number (e.g., a statement simply stating "two items" without other modifiers generally means at least two items, or two or more items). Furthermore, when notation similar to "at least one of A, B, and C, etc." is used, such syntax is generally intended in the sense that one skilled in the art would understand the notation (e.g., "a system having at least one of A, B, and C" includes, but is not limited to, systems having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C, etc.). When notation similar to "at least one of A, B, or C, etc." is used, such syntax is generally intended in the sense that one of ordinary skill in the art would understand the notation (e.g., "a system having at least one of A, B, or C" includes, but is not limited to, systems having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C, etc.). Furthermore, one of ordinary skill in the art will understand that any disjunctive word and / or phrase presenting two or more alternative terms should typically be understood, whether in the specification, claims, or drawings, to contemplate the possibility of including one of those terms, either of those terms, or both of those terms, unless the context requires otherwise. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B."

[0237] With respect to the appended claims, those skilled in the art will understand that the recited operations herein generally can be performed in any order. Also, while flow diagrams of various operations are shown in a sequence, it should be understood that the various operations may be performed in orders other than those shown, or may be performed simultaneously. Examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preliminary, additional, simultaneous, reverse, or other different orderings, unless the context requires otherwise. Furthermore, terms such as "responsive to," "related to," or other past-tense adjectives are generally not intended to exclude such variations, unless the context requires otherwise.

[0238] It is worth noting that any reference to "one embodiment," "embodiment," "exemplary," "one example," etc. means that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "exemplary," and "in one example" in various places throughout this specification do not necessarily all refer to the same embodiment. Furthermore, particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

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

[0240] The surgical tool systems described herein are powered by electric motors; however, the surgical tool systems described herein can be driven in any suitable manner. In certain cases, the motors disclosed herein can comprise one or more portions of a robotically controlled system. For example, U.S. Patent Application No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" (now U.S. Patent No. 9,072,535), discloses several examples of robotic surgical tool systems in more detail, the entire disclosure of which is incorporated herein by reference. International Publication No. 2017 / 083125, published May 18, 2017, entitled "STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE"; International Publication No. 2017 / 083126, published May 18, 2017, entitled "STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS"; International Publication No. 2015 / 153642, published October 8, 2015, entitled "SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION"; U.S. Patent Application Publication No. 2017 / 0265954, filed March 17, 2017, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL U.S. Patent Application Publication No. 2017 / 0265865, filed February 15, 2017, entitled "STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DISTAL PULLEY," and U.S. Patent Application Publication No. 2017 / 0290586, filed March 29, 2017, entitled "STAPLING CARTRIDGE," are incorporated herein by reference in their entireties.

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

[0242] Example 2 - The surgical tool system of Example 1, wherein the parameters of the motor include parameters of an output shaft attached to the motor.

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

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

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

[0246] Example 6 - The surgical instrument system of Examples 1, 2, 3, 4, or 5, wherein the motor parameters include dynamic braking of the motor during the middle phase of the firing stroke.

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

[0248] Example 8 - The surgical tool system of Examples 1, 2, 3, 4, 5, 6, or 7, wherein adjusting the motor control program includes recalibrating the motor control program based on the actual relationship.

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

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

[0251] Example 11 - The surgical instrument assembly of Example 10, further comprising an articulation joint attaching the end effector to the shaft, and wherein the expandable optical waveguide is attached to the shaft proximal to the articulation joint.

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

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

[0254] Example 14 - A surgical instrument assembly comprising: a shaft; an end effector attached to the shaft; and a firing member configured to move through the end effector during a firing stroke, the firing member including a plurality of windows defined in the firing member. The surgical instrument assembly further comprises a light source and an optical sensor configured to detect the light source, the plurality of windows being configured to pass between the light source and the optical sensor as the firing member moves through the firing stroke. The surgical instrument assembly further includes a control circuit configured to monitor signals received from the optical sensor to determine at least one parameter of the firing member during the firing stroke.

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

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

[0257] Example 17 - A surgical instrument system comprising a surgical instrument assembly including a shaft, an end effector attached to the shaft, and a firing member configured to move through the end effector during a firing stroke, the firing member including a magnet. The surgical instrument system further comprises a first Hall effect sensor positioned at a beginning of the firing stroke and a second Hall effect sensor positioned at an end of the firing stroke. The surgical instrument system further comprises a surgical control circuit including a motor, and a control circuit including a motor control program. The control circuit is configured to monitor rotation of the motor, compare the rotation of the motor with signals received from the first and second Hall effect sensors, determine whether the firing member has traveled an expected distance based on the comparison of the rotation of the motor with the signals received from the first and second Hall effect sensors, and recalibrate the motor control program if the firing member has not traveled the expected distance. The surgical tool system further comprises a sensing circuit including a stretchable resistive cable attached to the shaft and the firing member, the stretchable resistive cable configured to elongate as the firing member is moved through a firing stroke. The surgical tool system further comprises a control circuit configured to monitor the resistance of the sensing circuit to determine at least one parameter of the firing member during the firing stroke.

[0258] Example 18 - A surgical instrument comprising a shaft, an end effector attached to the shaft, and a firing system including an electric motor and a firing member configured to move through the end effector during a firing stroke. The surgical instrument further comprises a retractable optical waveguide attached to the shaft and the firing member, the retractable optical waveguide configured to extend as the firing member is moved through the firing stroke. The surgical instrument further comprises an optical sensor configured to sense a change in the presence of light in the retractable optical waveguide during the firing stroke, an encoder configured to evaluate rotation of the electric motor, and control circuitry. The control circuitry is configured to monitor signals received from the optical sensor and the encoder and determine a distortion of the firing member that causes movement of the firing member to deviate from an expected movement.

[0259] Example 19 - The surgical instrument of Example 18, further comprising an articulation joint attaching the end effector to the shaft, wherein the expandable optical waveguide is attached to the shaft proximal to the articulation joint, and wherein the firing member extends through the articulation joint, and wherein distortion of the firing member results from the articulation of the end effector.

[0260] Example 20 - A surgical instrument comprising: a shaft; an end effector attached to the shaft; and a firing member configured to move through the end effector during a firing stroke, the firing member comprising a plurality of windows defined in the firing member. The surgical instrument further comprises: an electric motor configured to drive the firing member; a light source; and an optical sensor configured to detect the light source, the plurality of windows configured to pass between the light source and the optical sensor as the firing member moves through the firing stroke. The surgical instrument further comprises an encoder configured to evaluate rotation of the electric motor; and a control circuit configured to monitor signals received from the optical sensor and the encoder to determine a distortion of the firing member that causes movement of the firing member to deviate from an expected movement.

[0261] Example 21 - The surgical instrument of Example 20, further comprising an articulation joint attaching the end effector to the shaft, the firing member extending through the articulation joint, and deflection of the firing member resulting from the articulation of the end effector.

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

[0263] Example 23 - The surgical instrument of Example 22, further comprising an articulation joint attaching the end effector to the shaft, the firing member extending through the articulation joint, and distortion of the firing member resulting from articulation of the end effector that is detectable by the control circuit.

[0264] Example Set 2 Example 1 - A surgical instrument assembly comprising: a shaft, an articulation joint, and an end effector attached to the shaft by the articulation joint, the end effector configured to be articulated about the articulation joint. The surgical instrument assembly further comprises a flex circuit extending through the shaft and connected to the end effector, the flex circuit including an articulation section aligned with the articulation joint. The articulation section includes a predetermined bend profile configured to extend predictably across the articulation joint when the end effector is articulated about the articulation joint.

[0265] Example 2 - The surgical instrument assembly of Example 1, wherein the articulating section includes a resilient connecting member configured to bias the articulating section into a predetermined bending profile.

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

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

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

[0269] Example 6 - The surgical instrument assembly of Example 5, wherein the elastic connecting member is oriented along a predetermined direction.

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

[0271] Example 8 - The surgical instrument assembly of Example 7, further comprising an articulation joint, wherein the pre-curved section extends across the articulation joint, and the pre-curved section is positioned off-center relative to a central shaft axis defined by the shaft.

[0272] Example 9 - A surgical instrument assembly comprising a shaft, an end effector attached to the shaft, and a flex circuit extending through the shaft, the flex circuit including a flex circuit contour plane and a pre-bent section, the flex circuit being bent such that the flex circuit contour plane is not aligned in a single plane across the pre-bent section.

[0273] Example 10 - The surgical instrument assembly of Example 9, further comprising an articulation joint, wherein the pre-bent section extends across the articulation joint, and the pre-bent section is positioned off-center relative to a central shaft axis defined by the shaft.

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

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

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

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

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

[0279] Example 16 - The surgical instrument assembly of Example 15, wherein the at least one location includes a scale location, the scale location defining a reference for at least one sensor of the wiring harness.

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

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

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

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

[0284] Example 21 - The surgical instrument of Examples 18, 19, or 20, wherein the wiring harness comprises a flex circuit constructed from polyimide layers.

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

[0286] Example 23 - The surgical instrument of Example 22, wherein the metallic electrical traces are comprised of metallic ink.

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

[0288] Example 25 - The surgical instrument of Example 24, wherein the metal electrical traces extend over the silicone regions.

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

[0290] Example 27 - The surgical instrument of Examples 22, 23, 24, 25, or 26, wherein the metallic electrical traces are comprised of conductive ink.

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

[0292] Example 29 - A surgical instrument comprising: a shaft defining a longitudinal axis, an end effector, and an articulation joint, the end effector rotatably mounted to the shaft about the articulation joint. The surgical instrument further comprises a flex circuit, the flex circuit including a shaft portion extending within the shaft and an end effector portion extending within the end effector.

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

[0294] Example 31 - The surgical instrument of Example 30, wherein the flex circuit further comprises metal electrical traces on the polyimide layer.

[0295] Example 32 - The surgical instrument of Example 31, wherein the metallic electrical traces are comprised of metallic ink.

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

[0297] Example 34 - The surgical instrument of Example 33, wherein the metal electrical traces extend over the silicone regions.

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

[0299] Example 36 - The surgical instrument of Examples 31, 32, 33, 34, 35, or 36, wherein the metallic electrical traces are comprised of conductive ink.

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

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

[0302] Example 39 - The surgical instrument of Examples 29, 30, 31, 32, 33, 34, 35, 36, 37, or 38, wherein the flex circuit further comprises an opening defined therein and a microchip positioned within the opening, the microchip in communication with electrical traces within the flex circuit.

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

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

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

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

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

[0308] Example 6 - The surgical instrument assembly of Example 5, wherein the discontinuous portion comprises a necked-down portion.

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

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

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

[0312] Example 10 - The surgical instrument assembly of Examples 5, 6, 7, 8, or 9, wherein the drive member further includes a primary body portion, and the discontinuous portion is configured to undergo more strain than the primary body portion.

[0313] Example 11 - A surgical instrument system comprising a batch of staple cartridges, each staple cartridge of the batch of staple cartridges comprising a predetermined load profile range. The surgical instrument system further comprises a surgical instrument assembly, wherein a staple cartridge of the batch of staple cartridges is configured to be installed within the surgical instrument assembly. The surgical instrument system further comprises a control circuit. The control circuit is configured to detect the predetermined load profile range of the installed staple cartridge, execute a motor control program to fire the installed staple cartridge with the surgical instrument assembly, and monitor the actual load profile of the installed staple cartridge as it is fired. The control circuit is further configured to compare the actual load profile with the predetermined load profile range, output a result of the comparison of the actual load profile with the predetermined load profile range, and modify the motor control program so that each subsequent staple cartridge of the batch of staple cartridges installed within the surgical instrument assembly is fired within the predetermined load profile range.

[0314] Example 12 - A surgical instrument assembly comprising a shaft, an end effector attached to the shaft, and a secondary component system configured to undergo strain within the surgical instrument assembly. The surgical instrument assembly further comprises a woven conductive cloth attached to the secondary component system. The woven conductive cloth includes a primary body portion and a plurality of conductive fibers extending through the primary body portion. The surgical instrument assembly further comprises a control circuit configured to monitor the resistance of the woven conductive cloth and determine a load on the secondary component based on the resistance of the woven conductive cloth.

[0315] Example 13 - The surgical instrument assembly of Example 12, wherein the plurality of conductive fibers are woven.

[0316] Exam...

Claims

1. 1. A surgical instrument system comprising:

1. A surgical instrument assembly comprising: A shaft and an end effector attached to the shaft; an actuation system configured to actuate each function of the end effector; a sensing system configured to sense parameters of the actuation system; a surgical instrument assembly including: a control circuit configured to lock the sensing capability of the sensing system in a limited state; The surgical tool system, wherein the control circuit is configured to receive input from a user to unlock the sensing system to a full capability state.

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