Surgical instrument having a firing member closure feature

Abstract

A surgical end effector having first and second jaws opened and closed by an axially movable firing member, the firing member configured to apply a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position to an end position, and the firing member further configured to move the second jaw toward the first jaw when the firing member is moved proximally from the home position.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This non-provisional application claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Patent Application No. 63 / 057,430, filed July 28, 2020, entitled "SURGICAL INSTRUMENTS WITH TORSION SPIN DRIVE ARRANGEMENTS," and U.S. Provisional Patent Application No. 63 / 057,432, filed July 28, 2020, entitled "ARTICULATION JOINT ARRANGEMENTS FOR SURGICAL INSTRUMENTS," the disclosures of which are incorporated herein by reference in their entireties. [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 devices. The surgical instruments may be configured for use in open surgical procedures, but have application in other types of surgery, such as laparoscopic, endoscopic, and robotic-assisted procedures, and may include an end effector that is articulatable relative to a shaft portion of the instrument to facilitate precise positioning within a patient. [Brief explanation of the drawings]

[0003] The novel features of the various aspects are set forth with particularity in the appended claims. However, the described aspects, both as to organization and method of operation, can best be understood by reference to the following description taken in conjunction with the accompanying drawings. [Figure 1] FIG. 1 is a perspective view of a surgical end effector portion of a surgical instrument according to at least one embodiment of the present disclosure. [Figure 2] FIG. 2 is a side view of the surgical end effector portion of FIG. 1 in a closed orientation. [Figure 3]FIG. 3 is an end view of the surgical end effector of FIG. 2. [Figure 4] FIG. 3 is a top view of the surgical end effector of FIG. 2. [Figure 5] FIG. 2 is an exploded view of a portion of the surgical instrument of FIG. 1. [Figure 6] FIG. 2 is an exploded view of the elongate shaft assembly of the surgical instrument of FIG. 1. [Figure 7] FIG. 7 is another exploded view of the elongate shaft assembly of FIG. [Figure 8] FIG. 1 is an exploded view of a firing system and a rotary drive system according to at least one aspect of the present disclosure. [Figure 9] FIG. 9 is a side view of a firing member and upper and lower flexible spine assemblies of a firing system engaged with the rotary drive screw of the rotary drive system of FIG. 8. [Figure 10] 10 is a cross-sectional view of the firing member and upper and lower flexible spine assemblies of FIG. 9. FIG. [Figure 11] FIG. 10 is a side view of the firing member and upper and lower flexible spine assemblies engaged with the rotary drive screw of FIG. [Figure 12] FIG. 12 is a cross-sectional end view of the surgical end effector of FIG. 4 taken along line 12-12 of FIG. 4. [Figure 13] 11 is an exploded perspective view of two adjacent upper vertebral members of the upper flexible spine assembly of FIG. 10. FIG. [Figure 14] FIG. 11 is an exploded perspective view of two adjacent lower vertebral members of the lower flexible spine assembly of FIG. 10. [Figure 15] FIG. 10 is a top view of the firing member and upper and lower flexible spine assemblies engaged with the rotary drive screw of FIG. [Figure 16] FIG. 9 is a perspective view of a CV drive shaft assembly of the rotary drive system of FIG. 8 in an articulated orientation. [Figure 17] FIG. 17 is a perspective view of the firing system of FIG. 8 in driving engagement with the CV drive shaft assembly of FIG. 16, according to at least one embodiment of the present disclosure. [Figure 18]FIG. 17 is a perspective view of a drive joint of the CV drive shaft assembly of FIG. [Figure 19] 19 is a cross-sectional view of a portion of the surgical instrument of FIG. 4 taken along line 19-19 of FIG. 4. [Figure 20] FIG. 2 is a partial perspective view of a proximal end portion of a surgical end effector and portions of a firing system and a rotational drive system of the surgical instrument of FIG. 1; [Figure 21] FIG. 2 is a perspective view of a rotational drive system of the surgical instrument of FIG. 1 in driving engagement with a firing system, according to at least one embodiment of the present disclosure. [Figure 22] FIG. 22 is an exploded perspective view of the rotary drive screw and thrust bearing assembly of the firing system of FIG. 21; [Figure 23] FIG. 23 is a side view of the rotary drive screw of FIG. 22. [Figure 24] 22 is a partial cross-sectional side view of a portion of the lower flexible spine assembly and a portion of the firing member of FIG. 21 in driving engagement with a portion of the rotary drive screw. [Figure 25] FIG. 2 is a perspective view of a firing member in a home or starting position within the surgical end effector of the surgical instrument of FIG. [Figure 26] 22 is a side view of the upper and lower flexible spine assemblies of FIG. 21 in driving engagement with the rotary drive screw after the firing member has been driven distally from a home or starting position. [Figure 27] FIG. 2 is a partial cross-sectional perspective view of a portion of a surgical end effector, a firing system, and a rotational drive system of the surgical instrument of FIG. 1 , with an outer elastomeric joint assembly of the articulation joint omitted for clarity, in accordance with at least one embodiment of the present disclosure; [Figure 28] FIG. 28 is another partial perspective view of a portion of the surgical end effector, firing system, and rotational drive system of FIG. 27, with portions of the outer elastomeric joint assembly and elongated shaft assembly of the articulation joint omitted for clarity. [Figure 29]FIG. 28 is a top view of the surgical end effector of FIG. 27 articulated in a first direction relative to a portion of the elongate shaft assembly, according to at least one embodiment of the present disclosure. [Figure 30] FIG. 30 is a side view of the surgical end effector of FIG. 29 articulated in another direction relative to a portion of the elongate shaft assembly, according to at least one embodiment of the present disclosure. [Figure 31] FIG. 30 is a perspective view of the surgical end effector of FIG. 29 articulated in multiple planes relative to a portion of the elongate shaft assembly, according to at least one embodiment of the present disclosure. [Figure 32] FIG. 10 is a side view of a portion of another surgical instrument employing another outer elastomeric coupling assembly in accordance with at least one embodiment of the present disclosure. [Figure 33] FIG. 33 is a partial cross-sectional perspective view of the surgical instrument of FIG. 32. [Figure 34] FIG. 33 is a perspective view of a portion of the outer elastomeric coupling assembly of FIG. 32. [Figure 35] 35 is a cross-sectional end view of a portion of the surgical instrument of FIG. 19 taken along line 35-35 of FIG. 19. [Figure 36] 36 is a cross-sectional end view of a portion of the surgical instrument of FIG. 19 taken along line 36-36 of FIG. 19. [Figure 37] FIG. 20 is a partial cross-sectional view of a portion of the anvil cap and upper vertebra member of the surgical instrument of FIG. 19, in accordance with at least one embodiment of the present disclosure. [Figure 38] FIG. 20 is a side view of a portion of the surgical end effector of the surgical instrument of FIG. 19 with the anvil in an open position and portions of the surgical end effector omitted for clarity in accordance with at least one embodiment of the present disclosure. [Figure 39] FIG. 39 is a partial cross-sectional side view of the surgical end effector of FIG. 38 with the anvil in an open position and the firing member in a home or starting position, according to at least one embodiment of the present disclosure. [Figure 40] FIG. 40 is another partial cross-sectional side view of the surgical end effector of FIG. 39 with the anvil in a partially closed position; [Figure 41] FIG. 40 is another partial cross-sectional side view of the surgical end effector of FIG. 39 with the anvil in a fully closed position and the firing member advanced distally through the surgical end effector; [Figure 42] FIG. 20 is a partial side view of the surgical end effector of FIG. 19 with parts omitted for clarity to show the anvil opening spring applying an opening motion to the anvil and with the firing member in a home or starting position. [Figure 43] FIG. 43 is another partial side view of the surgical end effector of FIG. 42 after the firing member has been moved proximally a short distance to apply a rapid closing motion to the anvil for grasping purposes. [Figure 44] FIG. 20 is a cross-sectional view of the surgical end effector of FIG. 19 with the jaws in a closed position and the firing member in a proximal-most position. [Figure 45] FIG. 45 is another cross-sectional view of the surgical end effector of FIG. 44 after the firing member has been advanced distally to a final position within the surgical end effector. [Figure 46] FIG. 10 is a perspective view of a portion of another surgical instrument. [Figure 47] FIG. 47 is a side view of the surgical end effector of the surgical instrument of FIG. 46 with the jaws in the open position; [Figure 48] FIG. 49 is another side view of the surgical end effector of FIG. 48 with the jaws in a closed position. [Figure 49] FIG. 47 is an exploded view of a portion of the surgical instrument of FIG. 46. [Figure 50] FIG. 47 is a perspective view of a firing member and portions of the upper and lower flexible spine assemblies of the firing system of the surgical instrument of FIG. [Figure 51] 51A-51C are cross-sectional side views of portions of the launch system shown in FIG. 50. [Figure 52] FIG. 52 is a partial exploded view of the upper and lower flexible spine assemblies shown in FIG. 51. [Figure 53] FIG. 51 is a partial cross-sectional end view of the upper portion of the firing member shown in FIG. 50. [Figure 54]FIG. 47 is a cross-sectional end view of the surgical end effector of the surgical instrument of FIG. 46 with the jaws in a closed position; [Figure 55] FIG. 47 is a view of the proximal surface of the annular rib member of the mobile exoskeleton assembly of the surgical instrument of FIG. [Figure 56] FIG. 56 is a view of the distal face of the annular rib member of FIG. 55. [Figure 57] FIG. 57 is a side view of the annular rib member of FIGS. 55 and 56. [Figure 58] FIG. 47 is a partial cross-sectional view of a portion of the surgical instrument of FIG. 46. [Figure 59] FIG. 47 is a side view of the articulation joint of the surgical instrument of FIG. 46 when the surgical end effector is in a non-articulated position; [Figure 60] FIG. 60 is another side view of the articulation joint of FIG. 59 when the surgical end effector is in an articulated position. [Figure 61] FIG. 47 is a partial perspective view of a portion of the surgical instrument of FIG. 46 with the surgical end effector omitted for clarity; [Figure 62] FIG. 47 is another partial perspective view of a portion of the surgical instrument of FIG. [Figure 63] FIG. 47 is another partial perspective view of a portion of the surgical instrument of FIG. [Figure 64] FIG. 47 is a perspective view of a portion of the CV drive shaft assembly and elongate shaft assembly of the surgical instrument of FIG. [Figure 65] FIG. 65 is another perspective view of the CV drive shaft assembly and elongated shaft assembly of FIG. 64 with an embodiment of a drive cover installed around the CV drive shaft assembly. [Figure 66] FIG. 65 is another perspective view of the CV drive shaft assembly and elongated shaft assembly of FIG. 64 with another drive cover embodiment installed around the CV drive shaft assembly. [Figure 67] FIG. 65 is another perspective view of the CV drive shaft assembly and elongated shaft assembly of FIG. 64 with another drive cover embodiment installed around the CV drive shaft assembly. [Figure 68]FIG. 68 is a side view of a portion of the firing system of the surgical instrument of FIG. 46 with the drive cover of FIG. 67 installed around the CV drive shaft assembly. [Figure 69] FIG. 70 is another side view of a portion of the firing system and drive cover of FIG. 68. DETAILED DESCRIPTION OF THE INVENTION

[0004] The applicant of the present application owns the following US patent applications, filed on even date herewith, each of which is incorporated herein by reference in its entirety: -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH TORSION SPIN DRIVE ARRANGEMENTS," Attorney Docket No. END9248USNP1 / 200084-1; -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH SEGMENTED FLEXIBLE DRIVE ARRANGEMENTS," Attorney Docket No. END9248USNP3 / 200084-3; -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH FLEXIBLE BALL CHAIN ​​DRIVE ARRANGEMENTS," Attorney Docket No. END9248USNP4 / 200084-4; -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH DOUBLE SPHERICAL ARTICULATION JOINTS WITH PIVOTABLE LINKS," Attorney Docket No. END9248USNP5 / 200084-5; -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH DOUBLE PIVOT ARTICULATION JOINT ARRANGEMENTS," Attorney Docket No. END9248USNP6 / 200084-6; -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH COMBINATION FUNCTION ARTICULATION JOINT ARRANGEMENTS," Attorney Docket No. END9248USNP7 / 200084-7; -U.S. Patent Application, entitled "METHOD OF OPERATING A SURGICAL INSTRUMENT," Attorney Docket No. END9248USNP8 / 200084-8M; -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH DUAL SPHERICAL ARTICULATION JOINT ARRANGEMENTS," Attorney Docket No. END9248USNP9 / 200084-9; -U.S. Patent Application, entitled "SURGICAL INSTRUMENTS WITH FLEXIBLE FIRING MEMBER ACTUATOR CONSTRAINT ARRANGEMENTS," Attorney Docket No. END9248USNP10 / 200084-10; -U.S. Patent Application, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION JOINTS COMPRISING FLEXIBLE EXOSKELETON ARRANGEMENTS," Attorney Docket No. END9248USNP11 / 200084-11; -U.S. Patent Application entitled "SURGICAL INSTRUMENTS WITH DIFFERENTIAL ARTICULATION JOINT ARRANGEMENTS FOR ACCOMMODATING FLEXIBLE ACTUATORS," Attorney Docket No. END9248USNP12 / 200084-12.

[0005] 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.

[0006] 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 instrument 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, a system, device, or apparatus element 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.

[0007] 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.

[0008] Reference to a singular item should be understood to include the plural item, and vice versa, unless expressly stated otherwise or obvious from the context. Grammatical conjunctions are intended to represent any and all disjunctive and conjunctive combinations of joined clauses, sentences, words, etc., unless otherwise stated or obvious from the context. Thus, the term "or" should generally be understood to mean "and / or," etc.

[0009] The description of ranges of values ​​in the present invention is intended to refer individually, rather than limiting, to any and all values ​​falling within that range, unless otherwise specified herein, and each separate value within such range is incorporated into the specification as if it were individually recited herein. Words such as "about," "approximately," and the like, when accompanying numerical values, should be interpreted as indicating a deviation that would be understood by one of ordinary skill in the art to function satisfactorily for the intended purpose. Similarly, approximation words such as "approximately" or "substantially," when used in reference to physical properties, should be interpreted to contemplate a range of deviation that would be recognized by one of ordinary skill in the art to function satisfactorily for the corresponding use, function, purpose, etc.

[0010] Any and all examples provided herein, i.e., the use of exemplary language (such as, for example, or the like), are intended merely to better elucidate each embodiment and do not impose limitations on the scope of the embodiments. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the embodiment.

[0011] 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.

[0012] During various laparoscopic surgical procedures, it is common practice to insert a surgical end effector portion of a surgical instrument through a trocar placed in the patient's abdominal wall to access a surgical site located within the patient's abdomen. In its simplest form, a trocar is a pen-shaped instrument with a sharp triangular tip on one end that is typically used within a hollow tube known as a cannula or sleeve to create an opening in a body cavity through which a surgical end effector may be introduced. Such a device forms an access port within a body cavity through which a surgical end effector may be inserted. The inner diameter of the trocar's cannula necessarily limits the size of the end effector and drive support shaft of a surgical instrument that may be inserted through the trocar.

[0013] Regardless of the specific type of surgical procedure being performed, once a surgical end effector is inserted into a patient through a trocar cannula, it is often necessary to move the surgical end effector relative to a shaft assembly positioned within the trocar cannula in order to properly position the surgical end effector relative to the tissue or organ being treated. This movement or positioning of the surgical end effector relative to the portion of the shaft that remains within the trocar cannula is often referred to as "articulation" of the surgical end effector. To facilitate such articulation of the surgical end effector, various articulation joints have been developed for attaching the surgical end effector to an associated shaft. As anticipated in many surgical procedures, it is desirable to use a surgical end effector that has as large a range of articulation as possible.

[0014] Due to size constraints imposed by the size of the trocar cannula, the components of the articulation joint must be sized to be freely insertable through the trocar cannula. These size constraints also limit the size and configuration of the various drive members and components operatively associated with the motor and / or other control system supported within the housing, which may be handheld or comprise part of a larger automated system. Often, these drive members must operatively pass through the articulation joint to be operatively coupled to or operatively associated with the surgical end effector. For example, one such drive member is commonly used to impart articulation-controlled motion to the surgical end effector. During use, the articulation drive member is inactivated to position the surgical end effector in a non-articulated position to facilitate insertion of the surgical end effector through the trocar, and can then be activated to articulate the surgical end effector to a desired position once the surgical end effector has entered the patient.

[0015] Thus, the aforementioned size constraints pose many challenges in developing an articulation system that can achieve a desired range of articulation and also accommodate the variety of different drive systems required to operate the various features of a surgical end effector. Furthermore, once the surgical end effector is positioned in a desired articulation position, the articulation system and articulation joint must be able to hold the surgical end effector in that position during actuation of the end effector and performance of a surgical procedure. Such an articulation joint device must also be able to withstand the external forces to which the end effector is subjected during use.

[0016] There are a variety of surgical end effectors configured to cut and staple tissue. Such surgical end effectors generally include a first jaw feature that supports a surgical staple cartridge and a second jaw with an anvil. The jaws are supported relative to one another so that they can move between open and closed positions to position and clamp target tissue therebetween. Many of these surgical end effectors employ an axially moving firing member. In some end effector designs, the firing member is configured to engage the first and second jaws such that when the firing member is initially advanced distally, the firing member moves the jaws to the closed position. Other end effector designs employ a separate closure system that is independent of the system that operates the firing member.

[0017] 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 a 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 be possible.

[0018] The staples are supported by staple drivers within the cartridge body. The drivers are movable between a first, or unfired, position and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained within the cartridge body by a retainer that extends around the bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and hold the retainer against the cartridge body. The drivers are movable between their unfired and fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled slides under the driver. TeDo Driver and the staples supported on the driver of Towards the Anvil including a plurality of ramps configured to lift nothing.

[0019] In addition to the above, in these surgical end effectors, 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 engaging the first jaw and a second cam engaging the second jaw. When the firing member is advanced distally, the first cam and the second cam can control the distance between the deck 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 fired forward of the knife.

[0020] Many surgical end effectors use an axially movable firing beam that is attached to a firing member and used to impart axial firing and retraction motions to the firing member. Many such firing beams include a laminated structure that provides the firing beam with some degree of flexure around the articulation joint. As the firing beam traverses the articulation joint, it can apply a disarticulation force to the joint and cause the beam to buckle. To prevent the firing beam from buckling under pressure, the articulation joint typically includes lateral supports or "blowout" plate features to support the portion of the beam that traverses the articulation joint. For example, to advance the firing beam through an angle greater than 60 degrees, a significant amount of axial force is required. This axial force must be applied to the firing member in a balanced manner to avoid binding of the firing member with the jaws as the firing member moves distally. Any binding of the firing member with the jaws can not only result in component damage and wear, but can also require an increased amount of axial drive force to drive the firing member through the clamped tissue.

[0021] Other end effector designs employ a rotary-powered firing member. In many such designs, a rotary drive shaft extends through the articulation joint and communicates with a rotatable firing member drive shaft that is rotatably supported in one of the jaws. The firing member threadably engages the rotatable firing member drive shaft, and as the rotatable firing member drive shaft is rotated, the firing member is driven through the end effector. In such devices, the support jaw must be larger to accommodate the firing member drive shaft. In such devices, the lower end of the firing member is generally operatively associated with the drive shaft, which can also result in the application of forces that tend to unbalance the firing member when driven distally.

[0022] 1-4 illustrate one form of a surgical instrument 10 that can address many of the challenges faced by surgical instruments having articulatable end effectors configured to cut and fasten tissue. In various embodiments, the surgical instrument 10 may comprise a handheld device. In other embodiments, the surgical instrument 10 may comprise an automated system, sometimes referred to as a robotic control system, for example. In various forms, the surgical instrument 10 comprises a surgical end effector 1000 operably coupled to an elongate shaft assembly 2000. The elongate shaft assembly 2000 may be operably attached to a housing 2002. In one embodiment, the housing 2002 may comprise a handle configured to be grasped, manipulated, and actuated by a clinician. In other embodiments, the housing 2002 may comprise a portion of a robotic system that houses or otherwise operably supports at least one drive system configured to generate and apply at least one control motion that can be used to actuate the surgical end effectors disclosed herein and their respective equivalents. Additionally, various components may be "housed" or contained within the housing, or various components may be "associated" with the housing. In such instances, the components may not be contained with or directly supported by the housing. For example, the surgical instruments disclosed herein may be used with the various robotic systems, instruments, components, and methods disclosed in U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," which is incorporated herein by reference in its entirety.

[0023] In one form, the surgical end effector 1000 includes a first jaw 1100 and a second jaw 1200. In the illustrated device, the first jaw 1100 includes an elongated channel 1110 having a proximal end 1112 and a distal end 1114 and configured to operably support a surgical staple cartridge 1300 therein. The surgical staple cartridge 1300 includes a cartridge body 1302 having an elongated slot 1304 therein. A plurality of surgical staples or fasteners (not shown) are stored therein on drivers (not shown) arranged in a row on each side of the elongated slot 1304. Each driver is associated with a corresponding staple cavity 1308 opening through a cartridge deck surface 1306. The surgical staple cartridge 1300 may be replaced after the staples / fasteners have been ejected therefrom. Other embodiments are contemplated in which the elongate channel 1110 and / or the entire surgical end effector 1000 may be disposed of after the surgical staple cartridge 1300 has been used. Such an end effector device may be referred to, for example, as a "disposable loading unit."

[0024] In the illustrated device, the second jaw 1200 includes an anvil 1210 including an elongated anvil body 1212 with a proximal end 1214 and a distal end 1216. In one device, a pair of reinforcing rods or members 1213 may be supported within the anvil body 1212 to provide additional stiffness and rigidity to the anvil body 1212. The anvil body 1212 includes a staple-forming lower surface 1218 facing the first jaw 1100 and may include a series of staple-forming pockets (not shown) corresponding to each of the staples or fasteners in the surgical staple cartridge 1300. The anvil body 1212 may further include a pair of downwardly extending tissue stop features 1220 formed adjacent the proximal end 1214 of the anvil body 1212. One tissue stop feature 1220 extends from each side of the anvil body 1212 such that the distal end 1222 of each tissue stop corresponds to the proximal-most staple / fastener in the surgical staple cartridge 1300. When the anvil 1210 is moved to a closed position on tissue positioned between the staple forming lower surface 1218 of the anvil 1210 and the cartridge deck surface 1306 of the surgical staple cartridge 1300, the tissue contacts the distal end 1222 of the tissue stop feature 1220, preventing the tissue from moving proximally beyond the proximal-most staple / fastener, thereby ensuring that the severed tissue is also stapled. When the surgical staple cartridge is "fired," as discussed in further detail below, the staples / fasteners supported within each staple cavity are driven through the clamped tissue, out of the staple cavity 1308, and into forming contact with the staple-forming lower surface 1218 of the anvil 1210.

[0025] 5 and 6, the proximal end 1214 of the anvil body 1212 comprises an anvil mounting portion 1230 including a pair of laterally extending mounting pins 1232 configured to be received in a corresponding mounting or pivot cradle 1120 formed in the proximal end 1112 of the elongated channel 1110. The mounting pins 1232 are pivotally retained within the mounting cradle 1120 by an anvil cap 1260, which may be attached to the proximal end 1112 of the elongated channel 1110 by mechanical snap features 1261 configured to engage retaining structures 1113 on the elongated channel 1110. See FIG. 5. In other arrangements, the anvil cap 1260 may be attached to the elongated channel 1110 by welding, adhesives, or the like. Such an arrangement facilitates pivotal advancement of the anvil 1210 relative to the surgical staple cartridge 1300 mounted within the elongate channel 1110 about a pivot axis PA between an open position ( FIG. 1 ) and a closed position ( FIGS. 2-5 ). Such pivot axis PA may be referred to herein as “fixed” in that the pivot axis PA does not translate or otherwise move when the anvil 1200 is pivoted from the open position to the closed position.

[0026] In the illustrated arrangement, the elongate shaft assembly 2000 defines a shaft axis SA and comprises a proximal shaft portion 2100 that may be operatively associated with a housing of a control portion of the surgical instrument 10 (e.g., a handheld unit, a robotic tool driver, etc.). The elongate shaft assembly 2000 further comprises an articulation joint 2200 attached to the proximal shaft portion 2100 and the surgical end effector 1000. In various examples, the proximal shaft portion 2100 comprises a hollow outer tube 2110 that may be operatively coupled to the housing 2002. See FIG. 2. As can be seen in FIG. 6, the proximal shaft portion 2100 may further comprise a rigid proximal support shaft 2120 that is supported within the hollow outer tube 2110 and extends from the housing to the articulation joint 2200. The proximal support shaft 2120 may comprise a first half 2120A and a second half 2120B that may be coupled together by, for example, welding, adhesive, etc. The proximal support member 2120 comprises a proximal end 2122 and a distal end 2124 and includes an axial passage 2126 extending therethrough from the proximal end 2122 to the distal end 2124.

[0027] As described above, many surgical end effectors use a firing member that is pushed distally through a surgical staple cartridge by an axially movable firing beam. The firing beam is typically attached to the firing member at a central region of the firing member body. This attachment location can create imbalance in the firing member as it is advanced through the end effector. Such imbalance can lead to undesirable friction between the firing member and the end effector jaws. Creating this additional friction can require the application of higher firing forces to overcome such friction and can cause undesirable wear on portions of the jaws and / or firing member. Applying higher firing forces to the firing beam can result in undesirable bending in the firing beam as it traverses the articulation joint. Such additional bending can cause the articulation joint to de-articulate, especially when the surgical end effector is articulated at relatively high articulation angles. The surgical instrument 10 uses a firing system 2300 that can address many, if not all, of these issues.

[0028] As can be seen in FIGS. 5-11 , in at least one embodiment, the firing system 2300 comprises a firing member 2310 including a vertically extending firing member body 2312 comprising an upper firing member feature 2320 and a lower firing member feature 2350. A tissue-cutting blade 2314 is attached to or formed within the vertically extending firing member body 2312. See FIGS. 9 and 11 . In at least one device, it is desirable for the firing member 2310 to pass through the anvil body 1212 with low friction, high strength, and high stiffness. In the illustrated device, the upper firing member feature 2320 comprises an upper tubular body 2322 having an upper axial passageway 2324 extending therethrough. See FIG. 10 . The lower firing member feature 2350 comprises a lower tubular body 2352 having a lower axial passageway 2354 extending therethrough. In at least one device, the upper firing member feature 2320 and the lower firing member feature 2350 are integrally formed with the vertically extending firing member body 2312. As can be seen in FIG. 12, the anvil body 1212 includes an axially extending anvil slot 1240 having a cross-sectional shape resembling a "keyhole." Similarly, the elongated channel 1110 includes an axially extending channel slot 1140 also having a keyhole cross-sectional shape.

[0029] Conventional firing member devices employ long, flexible cantilever wings extending from the upper and lower portions of the firing member. These cantilever wings slidably pass through slots in the anvil and channel, which are typically cut with rectangular T-cutters, which tend to create higher-friction surfaces. Such long cantilever wings minimize the surface area in contact with the anvil and channel, potentially resulting in wear and tear on these components. The keyhole-shaped channel slot 1140 and the keyhole-shaped anvil slot 1240 may be cut with a round T-cutter and finished with a reamer / borer, which creates a lower-friction surface. Additionally, the upper tubular body 2322 and the lower tubular body 2352 are stiffer than conventional cantilever wing devices and increase the surface area in contact with the anvil and channel, which may reduce wear and result in a stronger sliding connection, respectively. In other words, because the anvil slot 1240 and channel slot 1140 are keyhole shaped and less material is removed than with conventional rectangular slots, the geometry and increased material can result in a stiffer anvil and channel compared to conventional devices.

[0030] 9-11 , in one arrangement, the firing system 2300 further comprises an upper flexible spine assembly 2400 operably coupled to the upper firing member feature 2320 and a lower flexible spine assembly 2500 operably coupled to the lower firing member feature 2350. In at least one embodiment, the upper flexible spine assembly 2400 comprises an upper vertebra member 2420 that are loosely coupled together by an upper flexible coupler member 2402 attached to the upper firing member feature 2320. (i.e., upper spine component) The upper flexible coupler member 2402 may include an upper series 2410 of upper cables 2404 extending through an upper axial passage 2324 in the upper firing member feature 2320, the distal end 2406 of the upper cable 2404 being attached to a retainer ferrule 2408 secured in the upper axial passage 2324.

[0031] 13, each upper vertebra member 2420 comprises an upper vertebra body portion 2422 having a proximal end 2424 and a distal end 2428. An upper hollow passage 2429 extends through the upper vertebra body portion 2422 to accommodate the passage of the upper flexible coupler member 2402. Each upper vertebra member 2420 further comprises a downwardly extending upper drive feature or upper vertebra member tooth 2450 protruding from the upper vertebra body portion 2422. Each upper vertebra member tooth 2450 has a helical-shaped proximal upper surface portion 2452 and a helical-shaped distal upper surface portion 2454. Each proximal end 2424 of the upper vertebra body portion 2422 has an upper proximal mating feature 2426 therein, and each distal end 2428 has an upper distal mating feature 2430 formed therein. In at least one embodiment, the upper proximal mating feature 2426 comprises a concave recessed portion 2427, and each upper distal mating feature 2430 comprises a convex mound 2431. When positioned in the upper series 2410, the convex mound 2431 on one upper vertebra member 2420 contacts and mates with the concave recess 2427 on an adjacent upper vertebra member 2420 in the upper series 2410 to maintain the upper vertebra members 2420 in a generally aligned state, so that the spiral-shaped proximal upper surface portion 2452 and the spiral-shaped distal upper surface portion 2454 on each corresponding upper tooth 2450 can be drivingly engaged by the rotary drive screw 2700, as described in further detail below.

[0032] Similarly, in at least one embodiment, the lower flexible spine assembly 2500 comprises a lower vertebra member 2520 that is loosely coupled together by a lower flexible coupler member 2502 attached to the lower firing member feature 2350. (i.e., the lower spine component) The lower flexible coupler member 2502 may include a lower cable 2504 that extends through a lower axial passage 2354 in the lower firing member feature 2350, the distal end 2506 of the lower cable 2504 being attached to a retainer ferrule 2508 that is secured to the lower axial passage 2354.

[0033] 14, each lower vertebra member 2520 comprises a lower vertebra body portion 2522 having a proximal end 2524 and a distal end 2528. A lower hollow passage 2529 extends through the lower vertebra body portion 2522 to accommodate the passage of the lower flexible coupler member 2502. Each lower vertebra member 2520 further comprises an upwardly extending lower drive feature or lower vertebra member tooth 2550 protruding from the lower vertebra body portion 2522. Each lower vertebra member tooth 2550 has a helical-shaped proximal lower surface portion 2552 and a helical-shaped distal lower surface portion 2554. Each proximal end 2524 of the lower vertebra body portion 2522 has a lower proximal mating feature 2526 therein, and each distal end 2528 has a lower distal mating feature 2530 formed therein. In at least one embodiment, the lower proximal mating feature 2526 comprises a concave recess 2527, and each lower distal mating feature 2530 comprises a convex mound 2531. When positioned in the lower series 2510, the convex mound 2531 on one lower vertebra member 2520 contacts and mates with the concave recess 2527 on an adjacent lower vertebra member 2520 in the lower series 2510 to maintain the lower vertebra members 2520 in a generally aligned state, so that the spiral-shaped proximal lower surface portion 2552 and the spiral-shaped distal lower surface portion 2554 on each corresponding lower tooth 2550 can be drivingly engaged by the rotary drive screw 2700, as described in further detail below.

[0034] 5, 7, and 8, in at least one arrangement, the firing drive system 2300 further comprises a rotary drive screw 2700 configured to be in driving communication with the upper series 2410 of upper vertebral members 2420 and the lower series 2510 of lower vertebral members 2520. In the illustrated arrangement, the rotary drive screw 2700 is driven by a rotary drive system 2600 including a proximal rotary drive shaft 2610 rotatably supported in an axial passage 2126 in the proximal support shaft 2120. See FIG. 7. The proximal rotary drive shaft 2610 has a proximal end 2612 and a distal end 2614. The proximal end 2612 may be in communication with a gearbox 2004 or other device driven by a motor 2006 or other source of rotational motion contained within the housing of the surgical instrument. See FIG. 2. Such a source of rotational motion rotates the proximal rotational drive shaft about shaft axis SA within axial passage 2126 in proximal support shaft 2120 .

[0035] The proximal rotational drive shaft 2610 is operably supported within the elongate shaft assembly 2000 at a location proximal to the articulation joint 2200 and is in operative communication with a constant velocity (CV) drive shaft assembly 2620 that extends or axially through the articulation joint 2200. As seen in FIGS. 8 , 16 , and 17 , in at least one device, the CV drive shaft assembly 2620 comprises a proximal CV drive assembly 2630 and a distal CV drive shaft 2670. The proximal CV drive assembly 2630 comprises a proximal shaft segment 2632 comprising a mounting shaft 2634 configured to be non-rotatably received within a similarly shaped coupler cavity 2616 in the distal end 2614 of the proximal rotational drive shaft 2610. The proximal shaft segment 2632 is in operative communication with a series 2640 of movably coupled drive couplings 2650.

[0036] As can be seen in FIG. 18 , in at least one device, each drive coupling 2650 includes a first or distal spherical portion 2660 and a second or proximal spherical portion 2652. The distal spherical portion 2660 is larger than the proximal spherical portion 2652. The distal spherical portion 2660 includes a socket cavity 2662 configured to rotatably receive the proximal spherical portion 2652 of the adjacent drive coupling 2650 therein. Each proximal spherical portion 2652 includes a pair of diametrically opposed coupling pins 2654 configured to be movably received in corresponding pin slots 2664 in the distal spherical portion 2660 of the adjacent drive coupling 2650, as can be seen in FIG. 16 . The proximal spherical portion 2652P of the proximal-most drive coupling 2650P is rotatably received in the distal socket portion 2636 of the proximal shaft segment 2632, as shown in FIG. 16 . The coupling pin 2654P is received in a corresponding pin slot 2637 in the distal socket portion 2636. As can be further seen in FIG. 16 , the distal-most drive coupling 2650D in the series 2640 of movably coupled drive couplings 2650 is movably coupled to a distal CV drive shaft 2670.

[0037] In at least one device, the distal CV drive shaft 2670 includes a proximal spherical portion 2672 dimensioned to be movably received within a socket cavity 2662D in the distal-most drive coupling 2650D. The proximal spherical portion 2672 includes a coupling pin 2674 that is movably received within a pin slot 2664D in the distal-most drive coupling 2650D. The distal CV drive shaft 2670 further includes a distally extending shaft stem 2676 configured to be non-rotatably coupled to a rotary drive screw 2700 positioned distally of the articulation joint 2200. The distal CV drive shaft 2670 includes a flange 2677 and a mounting barrel portion 2678 for receiving a thrust bearing housing 2680 thereon.

[0038] In the illustrated arrangement, when the series 2640 of movably coupled drive couplings 2650 articulates, the coupling pin 2674 remains in the corresponding pin slot 2664 of the adjacent drive coupling 2650. In the example shown in FIG. 18, each drive coupling may be capable of approximately 18 degrees of articulation in the pitch and yaw directions. FIG. 16 shows the angle of the series 2640 of drive couplings 2650 when each drive coupling 2650 in the series is articulated a full 90 degrees in pitch and yaw, resulting in an angle α of approximately 100.9 degrees. In such an arrangement, the outer surface of each distal spherical portion 2660 has clearance with the outer surface of the adjacent or nearby proximal spherical portion 2652, allowing unlimited movement up to the 18-degree limit. The rigid design and limited small angle allow the series 2640 of movably coupled drive couplings 2650 to carry high loads in the torsional direction at large overall angles.

[0039] In the illustrated arrangement, the articulation joint 2200 includes an articulation joint spring 2230 supported within an outer elastomeric joint assembly 2210. The outer elastomeric joint assembly 2210 includes a distal end 2212 attached to the proximal end 1112 of the elongated channel 1110. For example, as can be seen in FIG. 6 , the distal end 2212 of the outer elastomeric joint assembly 2210 is attached to the proximal end 1112 of the elongated channel 1110 by a pair of cap screws 2722 extending through a distal mounting bushing 2720 so as to be threadably received in the proximal end 1112 of the elongated channel 1110. The proximal end 2214 of the elastomeric joint assembly 2210 is attached to the distal end 2124 of the proximal support shaft 2120. The proximal end 2214 of the elastomeric joint assembly 2210 is attached to the distal end 2124 of the proximal support member 2120 by a pair of cap screws 2732 extending through a proximal mounting bushing 2750 so as to be threadably received in a threaded insert 2125 mounted in the distal end 2124 of the proximal support shaft 2120.

[0040] To prevent the drive joint 2650 from buckling during articulation, the series 2640 of movably coupled drive joints 2650 extends through at least one low-friction articulation joint spring 2730 supported within the outer elastomeric joint assembly 2210. See FIG. 19 . The articulation joint spring 2730 is sized relative to the drive joint 2650 such that a slight radial clearance is provided between the articulation joint spring 2730 and the drive joint 2650. The articulation joint spring 2730 is designed to carry articulation loads that may be significantly lower than the torsional firing loads. The joint spring is longer than the series 2640 of drive joints 2650, which allows the drive joint to float axially. If the "hard stack" of the series 2640 of drive joints 2650 is longer than the hard stack of the articulation joint spring 2730, the drive joint 2650 may act as an articulation compression limiter, forcing firing and articulation loads to resolve axially through the series 2640 of drive joints 2650. When firing loads resolve axially through the series 2640 of drive joints 2650, the loads may tend to straighten the articulation joint 2200, or in other words, cause articulation disengagement. If the hard stack of the articulation joint spring 2730 is longer than the hard stack of the series 2640 of drive joints 2650, the firing loads will be contained within the end effector and will not resolve through the drive joint 2650 or through the spring 2730.

[0041] To further ensure that the drive joints 2650 are always engaged with one another, a proximal drive spring 2740 is used to apply an axial biasing force to the series 2640 of drive joints 2650. For example, as can be seen in FIGS. 8 , 19, and 20 , the proximal drive spring 2740 is disposed between the proximal mounting bushing 2734 and a support flange formed between the distal socket portion 2636 and the proximal barrel portion 2638 of the proximal shaft segment 2632. In one arrangement, the proximal drive spring 2740 may comprise an elastomeric O-ring / bushing received on the proximal barrel portion 2638 of the proximal shaft segment 2632. The proximal drive spring 2740 gently biases the drive joints 2650 together, reducing any clearance that may occur during articulation. This ensures that the drive joint 2650 transmits loads torsionally. However, it will be appreciated that in at least one device, the proximal drive spring 2740 does not apply a sufficiently high axial load to create a firing load to translate through the articulation joint 2200.

[0042] 9 and 10 , the upper firing member feature 2320 on the firing member 2310 includes a distal upper firing member tooth segment 2330 that corresponds to one half of the upper teeth 2450 on each upper vertebra member 2420. Additionally, a proximal upper firing member tooth 2336 that is identical to the upper tooth 2450 on each upper vertebra member 2420 is spaced apart from the distal upper firing member tooth segment 2330. The distal upper firing member tooth segment 2330 and the proximal upper firing member tooth 2336 may be integrally formed with the upper firing member feature 2320 of the firing member 2310. Similarly, the lower firing member feature 2350 of the firing member 2310 includes a distal lower firing member tooth 2360 and a proximal lower firing member tooth 2366 that are integrally formed on the lower firing member feature 2350. For example, in at least one device, firing member 2310 with rigidly attached teeth 2330, 2336, 2360, and 2366 may be fabricated at once as one unitary component using conventional metal injection molding techniques.

[0043] As discussed above, each of the upper vertebra members 2520 is movably received on an upper flexible coupler member 2402 in the form of an upper cable 2404. As discussed above, the distal end 2406 of the upper cable 2404 is secured to the upper firing member feature 2320 of the firing member 2310. Similarly, each of the lower vertebra members 2520 is movably received on a lower flexible coupler member 2502 in the form of a lower cable 2504. The distal end 2506 of the lower cable 2504 is secured to the lower firing member feature 2350 of the firing member 2310. In at least one device, the upper cable 2404 and the lower cable 2504 extend through the proximal shaft portion 2100 and may interface with a bailout device supported within the housing to retract the firing member 2310 to its home or starting position in the event of a failure of the firing member drive system, as described in further detail below.

[0044] Referring again to FIG. 8, the axial length AL of the upper series 2410 of the upper vertebral members 2420 u and the axial length AL of the lower series 2510 of the lower vertebra member 2520 land must be equal and long enough to facilitate full distal advancement of the firing member 2310 from a home or starting position to a distal-most end position within the staple cartridge while the most proximal upper vertebra member 2420 in the upper series 2410 of upper vertebra members 2420 and the most proximal lower vertebra member 2520 in the lower series 2510 of lower vertebra members 2520 remain in driving engagement with the rotary drive screw 2700. As can be seen in FIG. 8 , the upper compression limit spring 2421 is configured to interface with the most proximal upper vertebra member 2420P in the upper series 2410 of upper vertebra members 2420. The upper compression limit spring 2421 is held in biasing engagement with the proximal-most upper vertebra member 2420P by an upper spring holder 2423 journaled on the upper cable 2404 and held in place by an upper ferrule 2425 crimped onto the upper cable 2404. The upper cable 2404 extends through an upper hypotube 2433 supported in the proximal support shaft. Similarly, the lower compression limit spring 2521 is configured to interface with the proximal-most lower vertebra member 2520P in the lower series 2510 of lower vertebra members 2520. The lower compression spring 2521 is held in biasing engagement with the proximal-most lower vertebra member 2520P by a lower spring holder 2523 journaled on the lower cable 2504 and held in place by a lower ferrule 2525 crimped onto the lower cable 2504. The lower cable 2504 extends through a lower hypotube 2533 that is supported within the proximal support shaft.

[0045] As the upper vertebra member 2420 and the lower vertebra member 2520 angle through the articulation joint (after the end effector is placed in an articulated position), the gap between the respective vertebra members 2420, 2520 increases in each series 2410, 2510, causing the springs 2421, 2521 to become tighter. The compression limit springs 2421, 2521 provide sufficient slack in the cables 2404, 2504, respectively, to allow the vertebra members 2420, 2520 to angle over the most extreme articulation angles. If the cables 2404, 2504 are pulled too tight, the spring holders 2423, 2523 will contact their respective proximal-most vertebra members 2420P, 2520P. Such a compression limiter ensures that the vertebra members 2420, 2520 in each series 2410, 2510 always remain close enough together so that the rotary drive screw 2700 will always drivingly engage them in a manner discussed in more detail below. Once the vertebra members 2420, 2520 are again linearly aligned, the compression limit springs 2421, 2521 can partially relax while still maintaining some compression between the vertebra members.

[0046] As described above, when the upper vertebra members 2420 are disposed in the upper series 2410 and the lower vertebra members 2520 are disposed in the lower series 2510, the convex mounds and concave grooves of each vertebra member and the compression limiter springs function to maintain the upper and lower vertebra members in a relatively linear alignment for driving engagement by the rotary drive screw 2700. As can be seen in Figures 9 and 10, when the upper vertebra members 2420 are linearly aligned, the upper teeth 2450 are spaced apart from one another by open spaces generally designated 2460 which facilitate driving engagement with the helical drive threads 2170 on the rotary drive screw. Similarly, when the lower vertebra member 2520 is linearly aligned, the lower vertebra member teeth 2550 are spaced apart from one another by open spaces generally designated 2560 which facilitate driving engagement with the helical drive threads 2170 of the rotary drive screw 2700.

[0047] 8 and 22, the rotary drive screw 2700 includes a screw body 2702 having a socket 2704 therein for receiving the distally extending shaft stem 2676 of the distal CV drive shaft 2670. Internal radial grooves 2714 (FIG. 10) are formed in the screw body 2702 for supporting a plurality of ball bearings 2716 therein. In one arrangement, for example, twelve ball bearings 2716 are employed. The radial grooves 2714 support the ball bearings 2716 between the screw body 2702 and the distal end of the thrust bearing housing 2680. The ball bearings 2716 function to distribute the axial load of the rotary drive screw 2700 and significantly reduce friction through the rolling motion of the balls.

[0048]

[00137] As can be seen in FIG. 23, a helical drive thread 2710 is provided around the screw body 2702 and functions to form a proximal thread scoop feature 2712. The proximal thread scoop feature 2712 is formed with a first pitch 2713, and the remainder of the helical drive thread 2710 is formed with a second pitch 2715 that is different from the first pitch 2713. In FIGS. 22 and 23, region 2718 indicates where the first pitch 2713 and the second pitch 2715 converge. In at least one embodiment, the first pitch 2713 is greater than the second pitch 2715 to ensure that the rotary drive screw 2700 captures and "scoops up" or drivingly engages all of the upper vertebral members 2420 and all of the lower vertebral members 2520. 24, the proximal end 2717 of the helical drive thread 2710 having a first pitch 2713 is scooped into the open space 2560 between two adjacent lower vertebra member teeth 2550A and 2550B, while the central portion 2719 of the helical drive thread 2710 having a second pitch 2715 is drivingly engaged with the helical distal lower surface portion 2554 on the lower vertebra member tooth 2550B and the helical proximal lower surface portion 2552 on the proximal lower firing member tooth 2366. As can also be understood, the scoop feature 2712 may not contact the helical distal lower surface portion 2554A of the lower vertebra member tooth 2550A when scooping the lower vertebra member tooth 2550B when driving the firing member 2310 distally. The helical drive threads 2710 interface with the teeth 2450 of the upper vertebra member 2420 in a similar manner.

[0049] The power screw is a threaded rod with a nut that extends a full 360 degrees around it. Rotation of the power screw advances or moves the nut longitudinally. However, in the present device, due to space constraints, a full 360-degree nut cannot fit inside the end effector. In a general sense, the upper and lower flexible spine assemblies 2400 and 2500 comprise radially / longitudinal segmented "power screw nuts" that are rotatably driven by a rotary drive screw 2700. When the rotary drive screw is rotated in a first rotational direction, the rotary drive screw 2700 drives one or more vertebra members in each of the upper and lower series of vertebra members longitudinally, while the vertebra members 2420, 2520 remain radially in the same location. The upper and lower series 2410, 2510 are constrained to rotate around the rotary drive screw 2700 and can only move longitudinally. In one arrangement, the upper vertebral members 2420 of the upper series 2410 and the lower vertebral members 2520 of the lower series 2510 each surround the rotary drive screw 2700 by less than 10 degrees each.

[0050] FIG. 25 shows the firing member 2310 in a home or starting position. As can be seen in FIG. 25, a portion of the helical drive thread 2710 on the rotary drive screw 2700 is engaged between the distal upper firing member tooth segment 2330 and the proximal upper firing member tooth 2336, and another portion of the helical drive thread 2710 is engaged between the distal lower firing member tooth 2360 and the proximal lower firing member tooth 2366 on the firing member 2310. Such an arrangement allows the rotary drive screw 2700 to precisely control the distal and proximal movement of the firing member 2310, which can result in precise movement of the anvil 1210, as discussed in further detail below. When the firing member 2310 is advanced sufficiently distally during the firing stroke, the helical drive thread 2710 operably engages the teeth on the upper and lower vertebrae. See FIG. 26.

[0051] The surgical instrument 10 also includes an articulation system 2240 configured to impart articulation to the surgical end effector 1000 to articulate the surgical end effector relative to the elongate shaft assembly 2000. In at least one arrangement, for example, the articulation system includes four articulation cables 2242, 2246, 2250, and 2254 extending through the elongate shaft assembly 2000. See FIG. 27. In the illustrated arrangement, the articulation cables 2242, 2246 pass through a proximal mounting bushing 2750, the proximal end 2214 of the elastomeric joint assembly 2210, and a central rib segment 2216 that is secured to the distal end 2212 of the elastomeric joint assembly 2210 or another portion of the surgical instrument. Similarly, articulation cables 2250 and 2254 pass through proximal mounting bushing 2750, proximal end 2214 of elastomeric joint assembly 2210, and central rib segment 2218 that is secured to distal end 2212 of elastomeric joint assembly 2210 or other portion of the surgical end effector. Cables 2242, 2246, 2250, and 2254 are operatively associated with an articulation control system supported within the housing of surgical instrument 10. For example, a proximal portion of each cable 2242, 2246, 2250, and 2254 may be wound onto a corresponding rotating spool or cable management system 2007 ( FIG. 2 ) within the housing portion of surgical instrument 10 that is configured to pay out and retract each cable 2242, 2246, 2250, and 2254 in a desired manner. The spool / cable management system may be motor-driven or manual (e.g., ratcheting device). Figure 29 illustrates articulation of the surgical end effector 1000 relative to the elongate shaft assembly 2000 through a first plane of articulation. Figure 30 illustrates articulation of the surgical end effector 1000 relative to the elongate shaft assembly 2000 through a second plane of articulation. Figure 31 illustrates articulation of the surgical end effector 1000 relative to the elongate shaft assembly 2000 through multiple planes of articulation.

[0052] 32-34 illustrate an alternative articulation joint 2200' in the form of an elastomeric joint assembly 2210'. As can be seen in FIG. 33, each articulation cable passes through a corresponding spring 2215' attached to a rib 2216' of the elastomeric joint assembly 2210'. For example, cable 2242 extends through spring 2244. Cable 2246 extends through spring 2248. Cable 2250 extends through spring 2252, and cable 2254 extends through spring 2256. As described above, the end effector is articulated by pulling or releasing the appropriate cables 2242, 2246, 2250, and 2254. To achieve a greater angle of articulation with greater joint stability, each of the springs 2244, 2248, 2252, and 2256 can slide through the ribs of the elastomeric joint to push against the end effector and pull on the cables extending therethrough. The springs 2244, 2248, 2252, and 2256 also retract into the ribs when the cables 2242, 2246, 2250, and 2254 are pulled tight. Each of the springs 2244, 2248, 2252, and 2256 loosely seats on the particular cable that passes through it. Each cable and corresponding spring can be supported within the elongate shaft assembly 2000 and terminate in or otherwise coupled to a corresponding solid rod that can be pushed or pulled from its proximal end. When a cable is pulled, the corresponding spring carries little or no load. When the spring is compressed, the cable carries little load but serves to limit the movement of the end effector. This linkage between the cable and the spring can facilitate higher angles of articulation, which can approach 90 degrees, for example.

[0053] Because the radially / longitudinal segmented power screw nut arrangement disclosed herein does not have the same constraints as a 360-degree nut, the upper vertebra members 2420 of the upper series 2410 and the lower vertebra members 2520 of the lower series 2510 are constrained to ensure that their loads are transferred to the firing member in the longitudinal direction. To maintain each of the upper vertebra members 2420 in a desired orientation and to prevent the upper vertebra members 2420 from binding or losing orientation as they move through the articulation joint 2200, the upper vertebra members 2420 are aligned to pass through an upper sleeve 2470 that extends through the upper portion of the outer elastomeric joint assembly 2210 of the articulation joint 2200. See FIGS. 27, 28, and 35. The distal end 2472 of the upper sleeve 2470 is supported within the proximal end 1112 of the elongate channel 1110, and the proximal end 2474 of the upper sleeve 2470 is supported within the distal end of the proximal support shaft 2120. The upper sleeve 2470 is fabricated from a polymer or plastic material that has a low coefficient of friction and is flexible to allow the upper sleeve 2470 to flex with the outer elastomeric coupling assembly 2210. The upper sleeve 2470 prevents the upper vertebra member 2420 from contacting the outer elastomeric coupling assembly 2210, which is fabricated from an elastomeric material that may have a higher coefficient of friction than the coefficient of friction of the material of the upper sleeve 2470. In other words, the upper sleeve 2470 forms a low-friction, flexible, continuous, uninterrupted, and completely enclosed path for the upper vertebra member 2420 as it traverses the articulation joint 2200.

[0054] Similarly, a lower sleeve 2570 is employed to support the lower vertebra member 2520 as it passes through the articulation joint 2200. The distal end 2572 of the lower sleeve 2570 is supported within the proximal end of the elongated channel, and the proximal end of the lower sleeve 2570 is supported within the distal end of the proximal support shaft 2120. Similar to the upper sleeve 2470, the lower sleeve 2570 is fabricated from a polymer or plastic material that has a low coefficient of friction and is flexible to allow the lower sleeve 2570 to flex along with the outer elastomeric joint assembly 2210. The lower sleeve 2570 prevents contact between the lower vertebra member 2520 and the outer elastomeric joint assembly 2210 as it passes through the articulation joint 2200. Stated another way, the lower sleeve 2570 forms a low-friction, flexible, continuous, uninterrupted, and fully enclosed path for the lower vertebral member 2520 as it traverses the articulation joint 2200. In various embodiments, the upper sleeve 2470 and the lower sleeve 2570 are configured to bend freely without kinking. To prevent kinks from forming in the sleeves, in at least one device, the sleeves 2470, 2570 are supported within the outer elastomeric joint assembly 2210 so that the sleeves can move axially. For example, when the articulation joint angles upward, the lower sleeve 2570 can slide distally and have a larger bend radius. The upper sleeve 2470 in the same example can slide proximally and have a tighter bend radius. The axial movement reduces the amount of material exposed to the outside of the fitting assembly 2210 that may otherwise be susceptible to kinking under tight bend radii. In at least one arrangement, the distal end 2472 of the upper sleeve 2470 is formed with an upper scoop 2476 configured to feed the upper vertebra member 2420 into the anvil cap 1260. Similarly, the distal end of the lower sleeve 2570 can be formed with a lower scoop configured to feed the lower vertebra member 2520 into the channel slot 1140 in the elongated channel 1110.

[0055] As described above, the anvil mounting portion 1230 may include a pair of laterally extending mounting pins 1232 configured to be received in corresponding mounting or pivot cradles 1120 formed in the proximal end 1112 of the elongated channel 1110. The mounting pins 1232 are pivotally retained within the mounting cradle 1120 by an anvil cap 1260 attached to the proximal end 1112 of the elongated channel 1110 in the manner described above. The anvil cap 1260 includes a proximal end 1262 and a distal end 1264 and has a keyhole-shaped vertebra passage 1266 extending therethrough to accommodate passage therethrough of the upper firing member feature 2320 and the upper vertebra member 2420. FIG. 36 illustrates the vertebra passage 1266 within the anvil cap 1260. As the rotary drive screw 2700 applies a load to the upper vertebra member 2420, the vertebra member 2420 tends to tilt around region A in FIG. 37, so the upper vertebra member teeth 2450 are no longer perpendicular to the rotary drive screw 2700 and may instead experience higher pressure line contact. Region B in FIG. 37 indicates where the upper vertebra member 2420 stops tilting. To ensure that the majority of the load remains longitudinal and performs useful work, the upper vertebra member teeth 2450 must be angled the same amount as the upper vertebra member 2420 tilts. Thus, as the upper vertebra member 2420 tilts, the upper vertebra member teeth 2450 still maintain surface contact with the helical drive member 2710 on the rotary drive screw 2700 and all of the load is directed longitudinally and not vertically. The slightly angled teeth 2450 of the upper vertebra member allow the vertebra member 2420 to behave like a square thread when tilted, better distributing the load and reducing pressure contact. By directing the majority of the load longitudinally, normal loads are avoided, which can result in the establishment of friction that opposes the longitudinal load. The upper vertebra member 2420 reacts similarly as it passes through the keyhole-shaped anvil slot 1240. Similarly, the lower vertebra member 2520 reacts similarly as it passes through the keyhole-shaped, axially extending channel slot 1140 in the elongated channel 1110.

[0056] In the illustrated device, the anvil 1210 is moved to the open position by a pair of anvil springs 1270 supported within the proximal end of the elongated channel. See Figures 38, 42, and 43. The springs 1270 are positioned to apply a pivotal biasing force to corresponding anvil control arms 1234 that may be integrally formed with and extend downwardly from the anvil mounting portion 1230. See Figure 38.

[0057] 39-41 show portions of the anvil 1210, firing member 2310, and anvil cap 1260 when the anvil 1210 is open (FIG. 39), when the anvil 1210 is partially closed (FIG. 40), and after the firing member has been advanced distally from a home or starting position (FIG. 41). As seen in FIG. 39, when the firing member 2310 is in a home or starting position, the upper firing member feature 2320 is fully received within the vertebra passage 1266 in the anvil cap 1260. During the firing stroke, the upper firing member feature 2320 and the upper vertebra members 2420 in the upper series 2410 must transition from the vertebra passage 1266 in the anvil cap 1260 into the keyhole-shaped anvil slot 1240. Therefore, it is desirable to minimize any gap "G" between the anvil mounting portion 1230 and the distal end 1264 of the anvil cap 1260. To minimize this gap G while facilitating unhindered pivotal advancement of the anvil 1210, the distal end 1264 of the anvil cap 1260 is formed with a curved cap surface 1265 that matches a curved mating surface 1231 on the anvil mounting portion 1230. Both surfaces 1265, 1231 are curved and concentric about the pivot axis PA or some other reference point. Such an arrangement allows the anvil 1210 to move radially and not interfere with the anvil cap 1260 while maintaining a minimal gap G therebetween. The gap G between the anvil mounting portion 1230 and the distal end 1264 of the anvil cap 1260 is significantly shorter than the length of the upper vertebra members 2420, which facilitates easy transition of each upper vertebra member 2420 from the vertebra passage 1266 in the anvil cap 1260 into the keyhole-shaped anvil slot 1240. Additionally, to further assist the transition of the upper firing member feature 2320 into the keyhole-shaped anvil slot 1240, a ramp 1241 is formed adjacent to the curved mating surface 1231 on the anvil mounting portion 1230. When the firing member 2310 is initially advanced distally from a home or starting position, the distal end of the upper firing member feature 2320 contacts the ramp surface 1241 and begins to impart a closing motion to the anvil 1210, as seen in FIG.Further distal advancement of the firing member 2310 during the firing stroke or firing sequence will cause the upper firing member feature to enter the keyhole-shaped anvil slot 1240, fully closing the anvil 1210 and holding the anvil 1210 in the closed position during the firing sequence. See FIG. 41 .

[0058] Generally, the highest firing forces established in an endocutter are associated with cutting and stapling tissue. If these same forces can be used to close the anvil, the forces generated during pre-clamping and grasping of tissue can be similarly high. In at least one device, the firing member body 2312 further includes firing member wings or tabs 2355 extending laterally from each side of the firing member body 2312. See FIGS. 15 and 36 . The firing member wings 2355 are positioned to contact corresponding anvil control arms 1234 when the firing member 2310 is driven in the proximal direction PD from a home or starting position to rapidly close the anvil 1210 for grasping purposes. In at least one device, when the firing member 2310 is in the home or starting position, the firing member wings 2355 are located distal to the anvil control arms 1234, as shown in FIG. 42 . As the firing member 3210 is moved proximally, the firing member wing 2355 pushes against the anvil control arm 1234 (pivot direction C) against the bias of the anvil spring 1270. See FIG. 42. In one arrangement, the firing member 2310 only needs to move a short distance D to pivot the anvil 1210 to the closed position. In one embodiment, the distance D may be approximately 0.070 inches in length, for example. This short movement allows for a rapid response. Because the anvil pivot point or pivot axis PA is relatively far from the firing member wing 2355 creating a substantial moment arm, proximal movement of the firing member 2310 (and firing member wing 2355) results in a high preload torque being applied to the anvil 1210, moving the anvil 1210 to the closed position. Thus, the firing member wing 2355 may be referred to herein as a "preload feature." See FIG. 43. Thus, by advancing the firing member 2310 proximally a short distance D to quickly pivot the anvil 1210 to a closed position, the clinician can use the surgical end effector 1000 to grasp and manipulate tissue between the anvil 1210 and the surgical staple cartridge 1300 without cutting the tissue and forming staples.

[0059] The firing member 2310 can be moved in the proximal direction PD by rotating the rotary drive screw 2700 in a second rotational direction. Thus, when the firing member 2310 is in a "home" or starting position, the anvil 1210 can be biased to a fully open position by the anvil spring 1270. Actuating the rotary drive system 2600 to impart rotational motion to the rotary drive screw 2700 in a first rotational direction advances the firing member 2310 distally from the home or starting position and imparts an anvil closing motion to the anvil 1210, closing and moving the anvil to clamp the target tissue between the anvil 1210 and the surgical staple cartridge 1300. Continued rotation of the rotary drive screw in the first rotational direction continues to advance the firing member 2310 distally through the surgical end effector 1000. As the firing member 2310 moves distally, it contacts a sled 1312 ( FIG. 19 ) supported within the surgical staple cartridge 1300, driving the sled 1312 distally through the staple cartridge body 1302. When the firing member 2310 is in a home or starting position, the surgeon may desire to grasp and manipulate tissue using the surgical end effector. To do so, the rotational drive system is actuated to impart a second rotational drive motion to the rotary drive screw 2700 in a second rotational direction opposite the first rotational direction. Such rotational motion of the rotary drive screw 2700 in the second rotational direction will drive the firing member 2310 proximally from the starting position and rapidly pivot the anvil 1210 to the closed position. Thus, according to at least one embodiment, the “home or starting position” of the firing member 2310 is not its proximal-most position.

[0060] If the rotational drive system 2600 stops rotating during the firing process, the firing member 2310 may become stuck within the surgical end effector. In such an instance, the upper firing member feature 2320 may remain engaged with the anvil 1210 and the lower firing member feature 2350 may remain engaged with the elongated channel 1110, thereby preventing the surgeon from moving the anvil 1210 to the open position and releasing the tissue clamped between the anvil 1210 and the surgical staple cartridge 1300. This may occur, for example, if the motor or other control device that provides the rotational drive motion to the rotational drive shaft 2610 fails or otherwise becomes inoperable. In such an instance, the firing member 2310 may be retracted to a home or starting position within the surgical end effector 1000 by pulling the upper cable 2404 and the lower cable 2504 proximally. For example, the proximal portions of the upper cable 2404 and the lower cable 2505 may be wound on a rotating spool or cable management system 2009 ( FIG. 2 ) within the housing portion of the surgical instrument 10, which is configured to pay out the upper cable 2404 and the lower cable 2504 during the firing stroke and to retract the cables 2404, 2504 proximally when it is necessary to retract the firing member 2310. The cable management system 2009 may be motor-driven or manual (such as a ratchet device) to impart retraction motion to the cables 2404, 2504. As the cables 2404, 2504 are retracted, the upper vertebra member 2420 and the lower vertebra member 2520 rotate the rotary drive screw 2700 in an opposite direction.

[0061] The following equation determines whether the rotary drive screw 2700 rotates in the reverse direction, taking into account the lead (L), pitch diameter (d p ), tooth angle (α), and friction (μ).

[0062]

number

[0063] The rotary drive screw 2700 can self-lock if the above equation is true. In most cases, in many instances, the pitch diameter is nearly fixed for the endocutter, but the lead angle and tooth angle are variable. Because the upper and lower vertebral member teeth 2450, 2550 are nearly square, the rotary drive screw 2700 is likely back-drivable (cos(90)=1). The lead of the upper and lower vertebral member teeth 2450, 2550 can also be advantageous in that the rolling friction between the vertebral members 2420, 2520 and the rotary drive screw 2700 is more likely to allow the rotary drive screw 2700 to be back-driven. Thus, in an emergency, the surgeon can perform a quick "bail-out" by pulling the upper and lower cables 2404, 2504 proximally and fully retracting the firing member 2310.

[0064] As described above, the relative control motion for the rotational drive system 2600 and the various cable management systems used in connection with the firing system 2300 and articulation control system 2240 may be supported within a housing 2002, which may be handheld or may comprise a portion of a larger automated surgical system. The firing system 2300, articulation control system 2240, and rotational drive system 2600 may be motor controlled and operated by one or more control circuits, for example.

[0065] One method of using the surgical instrument 10 may include using the surgical instrument 10 to cut and staple target tissue within a patient using laparoscopic techniques. For example, one or more trocars may be placed through a patient's abdominal wall to provide access to target tissue within the patient. The surgical end effector 1000 may be inserted through one trocar, and one or more cameras or other surgical instruments may be inserted through the other trocars. To allow the surgical end effector 1000 to pass through a trocar cannula, the surgical end effector 1000 must be positioned in an unarticulated orientation and the jaws 1100 and 1200 closed. For example, to hold the jaws 1100 and 1200 in a closed position for insertion, the rotary drive system 2600 may be actuated to impart a second rotational motion to the rotary drive screw 2700, moving the firing member 2310 proximally from a start position and moving the anvil 1210 (jaws 1200) to a closed position. See FIG. 44. The rotary drive system 2600 is deactivated to hold the firing member 2310 in position. Once the surgical end effector is through the trocar and into the abdomen, the rotary drive system 2600 can be activated such that the rotary drive screw 2700 drives the firing member 2310 distally back to the starting position, where the anvil spring 1270 pivots the anvil 1210 to the open position. See FIG. 38.

[0066] Once inside the abdomen, the surgeon may need to articulate the surgical end effector 1000 to a favorable position before engaging the target tissue. The articulation control system 2240 is then actuated to articulate the surgical end effector in one or more planes relative to a portion of the elongate shaft assembly 2000 received within the trocar cannula. Once the surgeon orients the surgical end effector 1000 to a desired position, the articulation control system 2240 is deactuated to hold the surgical end effector 1000 in the articulated orientation. The surgeon can then use the surgical end effector to grasp the target tissue or adjacent tissue by actuating the rotary drive system to rotate the rotary drive screw in a second rotational direction to move the firing member proximally and rapidly close the anvil 1210 to grasp tissue between the anvil 1210 and the surgical staple cartridge 1300. The anvil 1210 may be released by reversing the rotation of the rotary drive screw 2700. This process may be repeated as necessary until the target tissue is properly positioned between the anvil 1210 and the surgical staple cartridge 1300.

[0067] Once the target tissue is positioned between the anvil 1210 and the surgical staple cartridge, the surgeon can initiate the closure and firing process by actuating the rotational drive system 2600 to drive the firing member 2310 distally from a start position. As the firing member 2310 moves distally from the start position, it imparts a closing motion to the anvil 1210, moving the anvil 1210 from the open position to the closed position in the manner described above. As the firing member 2310 moves distally, it holds the anvil 1210 in the closed position, thereby clamping the target tissue between the anvil 1210 and the surgical staple cartridge 1300. As the firing member 2310 moves distally, it contacts a sled 1312 supported within the surgical staple cartridge 1300 and drives the sled 1312 distally through the staple cartridge body 1302. The sled 1312 sequentially drives an array of drivers supported within the staple cartridge toward the clamped target tissue. Each driver has one or more surgical staples or fasteners supported thereon, which are then driven through the target tissue and into forming contact with the underside of the anvil 1210. As the firing member 2310 moves distally, a tissue-cutting edge 2314 thereon cuts the stapled tissue.

[0068] After the firing member 2310 is driven distally to an end position within the surgical end effector 1000 ( FIG. 45 ), the rotational drive system 2600 is reversed, causing the firing member 2310 to retract proximally back to a home or starting position. Once the firing member 2310 returns to the starting position, the anvil spring 1270 pivots the anvil 1210 to an open position, allowing the surgeon to release the stapled tissue from the surgical end effector 1000. Once the stapled tissue has been released, the surgical end effector may be withdrawn from the patient through the trocar cannula. To do so, the surgeon must first actuate the articulation control system 2240 to return the surgical end effector 1000 to a non-articulated position and actuate the rotational drive system to drive the firing member 2310 proximally from the home or starting position to close the jaws. The surgical end effector 1000 may then be withdrawn from the trocar cannula. If the firing system becomes inoperable during the firing or retraction process, the surgeon may retract the firing member 2310 to the starting position by applying a pulling motion to the cables 2404, 2505 in the proximal direction in various manners described herein.

[0069] 46-68 illustrate another surgical instrument 22010 that is in many respects identical to or very similar to the surgical instrument 10 described above, except for various differences discussed below. Like the surgical instrument 10, the surgical instrument 22010 can address many of the challenges faced by surgical instruments having articulatable end effectors configured to cut and fasten tissue. In various embodiments, the surgical instrument 22010 can comprise a handheld device. In other embodiments, the surgical instrument 22010 can comprise an automated system, sometimes referred to as a robotic control system, for example. In various forms, the surgical instrument 22010 comprises a surgical end effector 23000 operably coupled to an elongate shaft assembly 24000. The elongate shaft assembly 24000 can be operably attached to a handheld housing or can otherwise comprise part of a robotic system, as described above.

[0070] As seen in FIG. 49 , in one form, the surgical end effector 23000 includes a first jaw 23100 and a second jaw 23200. In the illustrated device, the first jaw 23100 includes an elongated channel 23110 having a proximal end 23112 and a distal end 23114 and configured to operably support a surgical staple cartridge 1300 therein. The elongated channel 23110 has an open bottom to facilitate ease of assembly and includes a channel cover 23113 configured to be attached (e.g., welded) thereto to cover the opening and add rigidity to the elongated channel 23110. In the illustrated device, the second jaw 23200 includes an anvil 23210 including an elongated anvil body 23212 having a proximal end 23214 and a distal end 23216. In one arrangement, an anvil cover 23213 is provided to facilitate assembly of the device and to add rigidity to the anvil 23210 when the anvil 23210 is attached (e.g., welded) to the anvil body 23212. The anvil body 23212 includes a staple-forming lower surface 23218 facing the first jaw 23100 and may include a series of staple-forming pockets (not shown) corresponding to each of the staples or fasteners in the surgical staple cartridge 1300. The proximal end 23214 of the anvil body 23212 includes an anvil mounting portion 23230 including a pair of laterally extending mounting pins 23232 configured to be received in corresponding mounting or pivot cradles 23120 formed in the proximal end 23112 of the elongated channel 23110. The mounting pin 23232 is pivotally retained within the mounting cradle 23120 by an anvil cap 23260, which may be attached to the proximal end 23112 of the elongated channel 23110 by screws 23261. In other arrangements, the anvil cap 23260 may be attached to the elongated channel 23110 by welding, adhesive, or the like. Such arrangements facilitate pivotal advancement of the anvil 23210 relative to the surgical staple cartridge 1300 mounted within the elongated channel 23110 about a pivot axis PA between an open position ( FIG. 47 ) and a closed position ( FIG. 48 ).Such a pivot axis PA may be referred to herein as "fixed" in that the pivot axis does not translate or otherwise move when the anvil 23210 is pivoted from the open position to the closed position.

[0071] In the illustrated arrangement, the anvil 23210 is moved to the open position by a pair of anvil springs 23270 supported within the proximal end 23112 of the elongate channel 23110. See FIGS. 49 and 62. The springs 23270 are positioned to apply a pivotal biasing force to a corresponding portion of the anvil 23210 to apply an opening force. See FIG. 47.

[0072] In the illustrated device, the elongate shaft assembly 24000 defines a shaft axis SA and comprises a proximal shaft portion 24100 that may be operatively associated with a housing of a control portion of the surgical instrument 22010 (e.g., a handheld unit, a robotic tool driver, etc.). The elongate shaft assembly 24000 further comprises an articulation joint 24200 attached to the proximal shaft portion 24100 and the surgical end effector 23000. In various examples, the proximal shaft portion 24100 comprises a hollow outer tube 24110 that may be operatively coupled to the housing in various manners as described above. As can be seen in FIG. 49 , the proximal shaft portion 24100 may further comprise a rigid proximal support shaft 24120 that is supported within the hollow outer tube 24110 and extends from the housing to the articulation joint 24200. The rigid proximal support shaft 24120 may comprise a first half 24120A and a second half 24120B that may be coupled together by, for example, welding, adhesive, etc. The rigid proximal support shaft 24120 comprises a proximal end 24122 and a distal end 24124 and includes an axial passage 24126 extending therethrough from the proximal end 24122 to the distal end 24124.

[0073] As described above, many surgical end effectors use a firing member that is pushed distally through a surgical staple cartridge by an axially movable firing beam. The firing beam is typically attached to the firing member at a central region of the firing member body. This attachment location can create imbalance in the firing member as it is advanced through the end effector. Such imbalance can lead to undesirable friction between the firing member and the end effector jaws. Creating this additional friction can require the application of higher firing forces to overcome such friction and can cause undesirable wear on portions of the jaws and / or firing member. Applying higher firing forces to the firing beam can result in undesirable bending in the firing beam as it traverses the articulation joint. Such additional bending can cause the articulation joint to de-articulate, particularly when the surgical end effector is articulated at relatively high articulation angles. The surgical instrument 22010 employs a firing system 24300 that is identical in many respects to, or very similar to, the firing system 2300 described above. Therefore, only those aspects of the firing system 24300 that are necessary to understand the operation of the surgical instrument 22010 are discussed below.

[0074] As can be seen in FIGS. 50-54 , in at least one embodiment, the firing system 24300 comprises a firing member 24310 including a vertically extending firing member body 24312 comprising an upper firing member feature 24320 and a lower firing member feature 24350. A tissue-cutting blade 24314 is attached to or formed within the vertically extending firing member body 24312. See FIGS. 50 and 51 . In at least one device, it is desirable for the firing member 24310 to pass through the anvil body 23212 with low friction, high strength, and high stiffness. In the illustrated device, the upper firing member feature 24320 comprises a T-shaped body 24322 having two laterally extending tabs 24323 projecting therefrom and an upper axial passage 24324 extending therethrough. See FIG. 53 . The lower firing member feature 24350 comprises a T-shaped body 24352 having two laterally extending tabs 24353 projecting therefrom and a lower axial passage 24354 extending therethrough. See FIG. 50 . In at least one device, the upper firing member feature 24320 and the lower firing member feature 24350 are integrally formed with the vertically extending firing member body 24312. As seen in FIG. 54 , the anvil body 23212 comprises an axially extending anvil slot 23240 defining two opposed ledges 23241 for slidably receiving the laterally extending tabs 24323 thereon. Similarly, the elongated channel 23110 comprises an axially extending channel slot 23140 defining an axially extending channel ledge 23141 configured to slidably receive the laterally extending tabs 24353 thereon.

[0075] In the illustrated device, the firing system 24300 comprises an upper flexible spine assembly 24400 operably coupled to an upper firing member feature 24320 of a firing member 24310. In at least one embodiment, the upper flexible spine assembly 24400 comprises an upper series 24410 of upper vertebra members 24420 loosely coupled together by an upper flexible coupler member 24440 that extends through each of the upper vertebra members 24420 and is attached to the upper firing member feature 24320.

[0076] 52, each upper vertebra member 24420 is substantially T-shaped when viewed from its end. In one aspect, each upper vertebra member 24420 comprises an upper vertebra body portion 24422 having a proximal end 24424 and a distal end 24428. Each upper vertebra member 24420 further comprises a downwardly extending upper drive feature or upper vertebra member tooth 24450 protruding from the upper vertebra body portion 24422. Each upper vertebra member tooth 24450 has a spiral-shaped proximal upper surface portion 24452 and a spiral-shaped distal upper surface portion 24454. Each proximal end 24424 of the upper vertebra body portion 24422 has an arcuate or slightly concave curved shape, and each distal end 24428 has an arcuate or slightly convex curved shape. When positioned in the upper series 24410, the convex distal end 24428 on one upper vertebra member 24420 contacts and mates with the concave proximal end 24424 on an adjacent upper vertebra member 24420 in the upper series 24410 to maintain the upper vertebra members 24420 in approximate alignment, so that the helical-shaped proximal upper surface portion 24452 and the helical-shaped distal upper surface portion 24454 on each respective upper vertebra member tooth 24450 can be drivingly engaged by the rotational drive screw 2700 in various manners disclosed herein. These curved mating surfaces on the upper vertebra members 24420 allow for better load transfer between them, even when the upper vertebra members 24420 are angled.

[0077] In at least one embodiment, an upper alignment member 24480 is used to aid in aligning the upper vertebra members 24420 in the upper series 24410. In one arrangement, the alignment member 24480 comprises a spring member or metal cable, which may be fabricated from nitinol wire, spring steel, or the like, and may be formed with a distal upper loop end 24482 and two upper leg portions 24484 that extend through corresponding upper passages 24425 in each upper vertebra body portion 24422. An upper flexible coupler member 24440 extends through the upper passages 24429 of each of the upper vertebra members 24420 to attach to the firing member 24310. In particular, the distal end portion 24442 extends through the upper axial passage 24324 in the upper firing member feature 24320 and is secured therein by an upper retention lug 24444. The proximal portion of the upper flexible coupler member 24440 may interface with a corresponding rotating spool or cable management system of various types and designs disclosed herein that functions to pay out and take up the upper flexible coupler member 24440 and maintain a desired amount of tension therein during movement and articulation of the surgical end effector 23000. The cable management system may be motor-powered or manual (such as a ratchet device) to maintain the desired amount of tension in the upper flexible coupler member 24440. The amount of tension in each flexible coupler member may vary depending on the relative positioning of the surgical end effector 23000 with respect to the elongate shaft assembly 24000.

[0078] The firing system 24300 further comprises a lower flexible spine assembly 24500 operably coupled to the lower firing member feature 24350. The lower flexible spine assembly 24500 comprises a lower series 24510 of lower vertebra members 24520 that extend through each of the lower vertebra members 24520 and are loosely coupled together by a lower flexible coupler member 24540 that is attached to the lower firing member feature 24350. As can be seen in FIG. 52 , each lower vertebra member 24520 is substantially T-shaped when viewed from its end. In one aspect, each lower vertebra member 24520 comprises a lower vertebra body portion 24522 having a proximal end 24524 and a distal end 24528. Each lower vertebra member 24520 further comprises an upwardly extending lower drive feature or lower vertebra member tooth 24550 protruding from the lower vertebra body portion 24522. Each lower vertebra member tooth 24550 has a spiral-shaped proximal lower surface portion 24552 and a spiral-shaped distal lower surface portion 24554. The proximal end 24524 of the lower vertebra body portion 24522 has an arcuate or slightly concave curved shape, and each distal end 24528 has an arcuate or slightly convex curved shape. When positioned in the lower series 24510, the convex distal end 24528 on one lower vertebra member 24520 contacts and mates with the concave proximal end 24524 on an adjacent lower vertebra member 24520 in the lower series 24510 to maintain the lower vertebra members 24520 in approximate alignment, so that the helical proximal lower surface portion 24552 and the helical distal lower surface portion 24554 on each respective lower vertebra member tooth 24550 can be drivingly engaged by the rotational drive screw 2700 in various manners disclosed herein. These curved mating surfaces on the lower vertebra members 24520 allow for better load transfer between them, even when the lower vertebra members 24520 are angled.

[0079] In at least one embodiment, a lower alignment member 24580 is used to aid in aligning the lower vertebra members 24520 in the lower series 24510. In one arrangement, the lower alignment member 24580 comprises a spring member or metal cable which may be made from nitinol wire, spring steel, or the like, and may be formed with a distal lower loop end 24582 and two lower leg portions 24584 that extend through corresponding lower passages 24525 in each lower vertebra body portion 24522. A lower flexible coupler member 24540 extends through the lower passage 24529 of each of the lower vertebra members 24520 for attachment to the firing member 24310. In particular, the distal end portion 24542 of the lower flexible coupler member 24540 extends through a lower axial passage 24354 in the lower firing member feature 24350 and is secured therein by a lower retaining lug 24544. The proximal portion of the lower flexible coupler member 24540 may interface with a corresponding rotating spool or cable management system of various types and designs disclosed herein that functions to pay out and take up the lower flexible coupler member 24540 and maintain a desired amount of tension therein during movement and articulation of the surgical end effector 23000. The cable management system may be motor-powered or manually operated (such as a ratchet device) to maintain the desired amount of tension in the lower flexible coupler member 24540. The amount of tension in each flexible coupler member may vary depending on the relative positioning of the surgical end effector 23000 with respect to the elongate shaft assembly 24000.

[0080] According to at least one embodiment, a large surface area is advantageous for distributing forces between the vertebra members as they push so that they cannot twist relative to one another. The available area within the anvil and channel is limited, and the anvil and channel must remain rigid. The T-shaped upper vertebra member 24420 and the T-shaped lower vertebra member 24520 are designed to fit within the limited space available within the anvil 23210 and elongated channel 23110 while ensuring that there is a large area for distributing firing loads. The curved surfaces on each upper vertebra member 24420 and each lower vertebra member 24520 allow each of these vertebrae to better transfer loads between themselves, even when they are angled. The upper alignment member 24480 and the lower alignment member 24580 may also function to prevent the upper vertebra member 24420 and the lower vertebra member 24520 from twisting relative to one another. The large surface area may also help prevent wear on the vertebra members and / or the anvil and channel. The upper flexible spine assembly 24400 and the lower flexible spine assembly 24500 are otherwise operatively associated with the rotary drive screw 2700 apparatus as disclosed herein. The upper flexible coupler member 24440 and the lower flexible coupler member 24540 may also be used in the manner described above to retract the firing member 24310 to its starting position in the event of a failure of the firing drive system 24300 during the firing stroke.

[0081] 51 , the upper firing member feature 24320 on the firing member 24310 includes a distal upper firing member tooth segment 24330 that corresponds to one half of the upper vertebra member teeth 24450 on each upper vertebra member 24420. In addition, two proximal upper firing member teeth 24336 that are identical to the upper vertebra member teeth 24450 on each upper vertebra member 24420 are spaced apart from the distal upper firing member tooth segment 24330. The distal upper firing member tooth segment 24330 and the proximal upper firing member tooth 24336 may each be integrally formed with the upper firing member feature 24320 of the firing member 24310. Similarly, the lower firing member feature 24350 of the firing member 24310 includes a distal lower firing member tooth 24360 and two proximal lower firing member teeth 24366 integrally formed on the lower firing member feature 24350. For example, in at least one device, the firing member 24310, having rigidly attached teeth 24330, 24336, 24360, and 24366, may be fabricated at once as one unitary component using conventional metal injection molding techniques. Those skilled in the art will recognize that the firing member 24310 operates in essentially the same manner as the firing member 2310 described in detail herein.

[0082] 55-58 , according to at least one embodiment, the articulation joint 24200 comprises a mobile exoskeleton assembly 24800. In one form, the mobile exoskeleton assembly 24800 comprises a series 24802 of movably associated annular rib members 24810. As seen in FIGS. 55-57 , each annular rib member 24810 comprises a first or proximal surface 24820 comprising a convex or dome-shaped portion 24822. Each annular rib member 24810 further comprises a second or distal surface 24830 that is concave or dished. Each annular rib member 24810 further comprises an upper spine passage 24840 configured to accommodate passage of the upper flexible spine assembly 24400 therethrough, and a lower spine passage 24842 configured to accommodate passage of the lower flexible spine assembly 24500 therethrough. Additionally, each annular rib member 24810 further includes four articulation passageways 24850, 24852, 24854, and 24856 for accommodating passage therethrough of articulation actuators in the form of articulation cables 24242, 24246, 24250, and 24254. See FIG. 49. Each annular rib member 24810 further includes a central drive passageway 24860 configured to accommodate passage therethrough of a constant velocity (CV) drive shaft assembly 2620.

[0083] 58 , the mobile exoskeleton assembly 24800 comprises a proximal attachment rib 24870 configured to attach the mobile exoskeleton assembly 24800 to the distal end 24124 of the proximal support shaft 24120 by cap screws 24880 or other suitable fastener devices. The proximal attachment rib 24870 comprises a first or distal surface 24872 that is concave or dished to receive or otherwise movably cooperate with the convex or dome-shaped portion 24822 of the proximal surface 24820 of the proximal-most annular rib member 24810P. Similarly, the mobile exoskeleton assembly 24800 comprises a distal attachment rib 24890 configured to attach the mobile exoskeleton assembly 24800 to the proximal end 23112 of the elongate channel 23110 by cap screws 24882 or other suitable fastener devices. The distal mounting rib 24890 includes a first or proximal surface 24892 including a convex or dome-shaped portion 24894 configured to be received within or movably engage the concave or dished distal surface 24832 of the distal-most annular rib member 24810D. In various embodiments, the annular rib members 24810, 24810P, and 24810D may be fabricated from any suitable metal (e.g., stainless steel, titanium, etc.) or other suitable material. The annular rib members 24810, 24810P, and 24810D may be formed by machining or casting, by a suitable drawing or forming operation. The proximal and distal surfaces 24820, 24830 may be polished or otherwise finished to a desired smooth finish to reduce friction and facilitate movement between the annular rib members 24810, 24810P, and 24810D. According to one aspect, all edges on each annular rib member 24810, 24810P, 24810D are rounded to facilitate relative movement between the annular rib members. The proximal attachment rib 24870 and distal attachment rib 24890 may be formed with similar attributes.

[0084] The surgical instrument 22010 also includes an articulation system 24240 configured to impart articulation to the surgical end effector 23000 to articulate the surgical end effector 23000 relative to the elongate shaft assembly 24000. In at least one arrangement, for example, as described above, the articulation system 24240 includes four articulation cables 24242, 24246, 24250, and 24254 extending through the elongate shaft assembly 2400. See FIG. 49 . In the illustrated arrangement, the articulation cables 24242, 24246 pass through the proximal attachment rib 24870, through each of the annular rib members 24810P, 24810, and 24810D, and are secured to the distal attachment rib 24890. For example, in one device, each of the articulation cables 24242, 24246 is secured to the distal attachment rib 24890 by a corresponding attachment lug 24243. See FIGS. 61 and 63. Similarly, the articulation cables 24250 and 24254 extend through the proximal attachment rib 24870 and through each of the annular rib members 24810P, 24810, and 24810D and are secured to the distal attachment rib 24890 by a corresponding attachment lug 24243.

[0085] In one arrangement, each of the articulation cables 24242, 24246, 24250, and 24254 extends through a corresponding coil spring 24896 that is supported within a cavity 24125 in the distal end 24124 of the rigid proximal support shaft 24120. Additionally, each coil spring 24896 is associated with a tensioning lug 24897 that is also journaled on and secured to each respective articulation cable 24242, 24246, 24250, and 24524 to achieve a desired amount of compression in each spring 24896 that serves to hold the annular rib members 24810P, 24810, and 24810D in movably engagement with one another and with the proximal and distal attachment ribs 24870 and 24890. The cables 24242, 24246, 24250, and 24254 are operatively associated with an articulation control system supported within the housing of the surgical instrument 22010. For example, as described above, a proximal portion of each cable 24242, 24246, 24250, and 24254 may be wound onto a corresponding rotating spool or cable management system 2007 ( FIG. 2 ) within the housing portion of the surgical instrument 22010 configured to pay out and retract each cable 24242, 24246, 24250, and 24254 in a desired manner. The spool / cable management system may be motor-powered or manually powered (such as a ratchet device). FIG. 59 illustrates the articulation joint 24200 in a non-articulated position, and FIG. 60 illustrates the articulation joint in one articulated configuration. Such an arrangement allows the surgical end effector 23000 to articulate relative to the elongate shaft assembly 24000 through multiple planes of articulation.

[0086] As seen in FIGS. 49, 58, and 64, the surgical instrument 22010 employs a constant velocity (CV) drive shaft assembly 2620 that spans or extends axially through the articulation joint 24200. The operation and construction of the CV drive shaft assembly 2620 have been described in detail above and will not be repeated here beyond the extent necessary to understand the operation of the surgical instrument 22010. Briefly, as noted above, the CV drive shaft assembly 2620 comprises a proximal CV drive assembly 2630 and a distal CV drive shaft 2670. The proximal CV drive assembly 2630 comprises a proximal shaft segment 2632 comprised of a mounting shaft 2634 configured to be non-rotatably received within a similarly shaped coupler cavity 2616 in the distal end 2614 of the proximal rotational drive shaft 2610. The proximal shaft segment 2632 is in operative association with a series 2640 of movably coupled drive couplings 2650. As seen in FIG. 58 and described above, to ensure that the drive couplings 2650 are engaged with one another, a proximal drive spring 2740 is used to apply an axial biasing force to the series 2640 of drive couplings 2650. For example, as can be seen in FIG. 58 , the proximal drive spring 2740 is disposed between the proximal mounting bushing 2734 and a support flange formed between the distal socket portion 2636 and the proximal barrel portion 2638 of the proximal shaft segment 2632. In one arrangement, the proximal drive spring 2740 may comprise an elastomeric O-ring received on the proximal barrel portion 2638 of the proximal shaft segment 2632. The proximal drive spring 2740 lightly biases the drive couplings 2650 together to reduce any clearance that occurs during articulation. This ensures that the drive couplings 2650 transmit loads torsionally. However, it will be appreciated that in at least one device, the proximal drive spring 2740 does not apply a sufficiently high axial load to create a firing load to translate through the articulation joint 2200.

[0087] To further prevent the drive couplings 2650 from buckling during articulation, the series 2640 of movably coupled drive couplings 2650 extend through at least one low-friction drive cover 24730 that extends through a central drive passage 24860 of each of the annular rib members 24810. In the device shown in FIGS. 63 and 65 , the drive cover 24730 comprises outer and inner cut hypotubes 24732. Such hypotubes 24732 may be made from metal (e.g., stainless steel, etc.) and may have multiple series of cuts or slits therein, which may be made using a laser cutting device. In the illustrated device, the hypotubes 24732 may be fabricated with an upper relief passage 24734 that provides clearance for the upper flexible spine assembly 24400 to pass over during operation while the surgical end effector 23000 is in an articulated position. Additionally, the hypotube 24732 may have a lower relief passage 24736 to provide similar clearance for the lower flexible spine assembly 24500. Also, as seen in FIG. 65, the hypotube 24732 may be molded with diametrically opposed lateral tab portions 24738 to provide lateral stability during articulation. FIG. 66 shows an alternative drive cover 24730' comprising an internally cut hypotube 24732'. FIGS. 58, 67, 68, and 69 illustrate an alternative drive cover 24730'' comprising flexible heat shrink tubing 24732'' applied over the constant speed (CV) drive shaft assembly 2620. In yet other arrangements, the drive cover may also comprise a coil spring or coil member.

[0088] Various embodiments of the present disclosure offer advantages over previous surgical endocutter designs capable of articulation. For example, pushing a firing member forward in an articulating end effector typically requires a significant amount of force that must be balanced. For example, when firing a firing member at angles greater than 60 degrees, it becomes very difficult to push the beam through the articulation joint. The joint also experiences significant loads that can disarticulate the articulation joint. By employing upper and lower flexible drives that are flexible through the articulation joint but become rigid distally to the articulation joint, a large degree of articulation (e.g., articulation angles greater than 70 degrees) can be enabled while applying a balancing load to the firing member that is constrained by the firing member rather than the articulation joint. Stated another way, instead of a longitudinal load that can disarticulate the end effector, a torsional load is applied proximal to the articulation joint. The torsional load is converted into a longitudinal load distal to the articulation joint. Thus, the rotary drive screw functions to actually translate torsional motion or load into a longitudinal load that is applied to the firing member at a location distal to the articulation joint.

[0089] Additionally, by longitudinally disassembling the threaded drive, the threaded drive passes through the articulation joint while also effectively reducing the length of the surgical end effector. For example, each single vertebra tooth is significantly shorter than multiple rigidly connected pitches. The vertebra can angle as it passes through the articulation joint. This flexible interconnection allows the rotary drive screw to be positioned closer to the articulation joint than would be significantly farther away if all of the pitches were rigidly connected.

[0090] Example 1 - A surgical end effector includes a first jaw and a second jaw configured to move relative to the first jaw between an open position and a closed position. A firing member is supported for axial advancement within the surgical end effector between a home position corresponding to the open position of the second jaw and an end position. The firing member is configured to impart a first closing motion to the second jaw, moving the second jaw from the open position to the closed position, when the firing member is moved distally from the home position to the end position. The firing member is further configured to impart a second closing motion to the second jaw, moving the second jaw toward the first jaw, when the firing member is moved proximally from the home position.

[0091] Example 2 - The surgical end effector of Example 1, wherein the firing member comprises a vertically extending firing member body including an upper firing member feature configured to impart a first closing motion to the second jaw. The firing member further comprises a lower firing member feature configured to slidably engage the first jaw when the firing member is moved between the home position and an end position. The at least one preload feature is configured to contact a portion of the second jaw when the firing member is moved proximally from the home position.

[0092] Example 3 - The surgical end effector of example 2, wherein the second jaw is supported for pivotal advancement relative to the first jaw between open and closed positions about a jaw pivot axis, and the at least one preload feature is configured to contact a portion of the second jaw at a preload location distal to the jaw pivot axis.

[0093] Example 4 - The surgical end effector of Examples 1, 2, or 3, wherein the second jaw comprises a second jaw body having a proximal end and a distal end. The second jaw further comprises a pivot feature on the proximal end defining a jaw pivot axis. A portion of the second jaw comprises a jaw closure arm protruding from the proximal end, the jaw closure arm configured to be contacted by the at least one preload feature when the firing member is moved proximally from the home position.

[0094] Example 5 - A surgical end effector as described in Example 2, 3, or 4, wherein the upper firing member feature comprises an upper tubular feature protruding from an upper end of the vertically extending firing member body, and the lower firing member feature comprises a lower tubular feature protruding from a lower end of the vertically extending firing member body.

[0095] Example 6 - A surgical end effector as described in Example 5, wherein the first jaw comprises a lower keyhole-shaped passage configured to slidably accommodate a lower tubular feature on the firing member when the firing member is moved between the home position and the end position, and the second jaw comprises an upper keyhole-shaped passage configured to slidably accommodate an upper tubular feature on the firing member when the firing member is moved between the home position and the end position.

[0096] Example 7 - The surgical end effector of Examples 1, 2, 3, 4, 5, or 6, wherein the firing member is configured to operatively engage a rotational drive member configured to impart an initial drive motion to the firing member to drive the firing member distally from the home position to a closed position in which the firing member imparts a first closing motion to the second jaw. The rotational drive member is further configured to impart a reverse drive motion to the firing member to drive the firing member proximally from the home position.

[0097] Example 8 - The surgical end effector of Example 5, wherein the firing member is configured to operably engage a rotational drive member configured to impart an initial driving motion to the firing member to drive the firing member distally from a home position to a closed position in which the firing member imparts a first closing motion to the second jaw. The rotational drive member is further configured to impart a reverse driving motion to the firing member to drive the firing member proximally.

[0098] Example 9 - A surgical end effector described in Examples 5, 6, or 8, wherein the upper tubular feature includes upper teeth configured to interface with the rotational drive member and the lower tubular feature includes at least one lower tooth configured to interface with the rotational drive member.

[0099] Example 10 - A surgical end effector as described in Examples 7, 8, or 9, further comprising means for applying a bailout motion to the firing member to move the firing member from a distal position to a home position relative to the home position in the proximal direction without applying a reverse drive motion to the firing member with the rotational drive member.

[0100] Example 11 - The surgical end effector of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, wherein the surgical end effector is configured to be operably coupled to a surgical instrument comprising an upper flexible spine assembly attached to an upper portion of the firing member and a lower flexible spine assembly attached to a lower portion of the firing member. The surgical instrument further comprises a rotational drive member operably associated with the upper and lower flexible spine assemblies such that the rotational drive member causes the upper and lower flexible spine assemblies to impart an axial drive motion to the firing member to move it between a home position and an end position.

[0101] Example 12 - A surgical end effector as described in Example 11, wherein the upper flexible spine assembly comprises an upper series of upper vertebral members loosely connected together, and the lower flexible spine assembly comprises a lower series of lower vertebral members loosely connected together.

[0102] Example 13 - A surgical end effector as described in Example 12, wherein the upper vertebra members are connected to an upper portion of the firing member and are movably supported relative to each other by upper flexible coupler members extending through each of the upper vertebra members, and the lower vertebra members are connected to a lower portion of the firing member and are movably supported relative to each other by lower flexible coupler members extending through each of the lower vertebra members.

[0103] Example 14 - The surgical end effector of Examples 2, 3, 4, 5, 6, 8, 9, 10, 11, 12, or 13, wherein the first jaw comprises a channel configured to operably support a surgical staple cartridge, the surgical staple cartridge comprising a cartridge body operably supporting a plurality of surgical staples therein. The cartridge sled is movably supported within the cartridge body and configured to move between a start position and a finish position within the cartridge body to drive the surgical staples from the cartridge body. The second jaw comprises an anvil supported for pivotal advancement between an open position and a closed position relative to the surgical staple cartridge. At least one preload feature on the firing member is configured to drive the cartridge sled from the start position to the finish position when the firing member is driven distally from the home position to the finish position.

[0104] Example 15 - A surgical instrument comprising an elongate shaft operably supporting a firing drive system therein. A surgical end effector is operably coupled to the elongate shaft and comprises a first jaw and a second jaw configured to move relative to the first jaw between an open position and a closed position. A firing member is operably associated with the firing drive system such that the firing drive system is configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position. When the firing member is moved distally from the home position, the firing member imparts a first closing motion to the second jaw, moving it from the open position to the closed position. The firing drive system is configured to move the firing member proximally from the home position such that when the firing member is moved proximally from the home position, the firing member imparts a second closing motion to the second jaw, moving it toward the first jaw.

[0105] Example 16 - The surgical instrument of Example 15, wherein the firing drive system includes a rotational drive member configured to impart an axial drive motion to the firing member.

[0106] Example 17 - The surgical instrument of Example 16, further comprising an upper flexible spine assembly attached to an upper portion of the firing member and operatively associated with the rotational drive member such that rotation of the rotational drive member causes the upper flexible spine assembly to impart an upper axial drive motion to the firing member. A lower flexible spine assembly attached to a lower portion of the firing member and operatively associated with the rotational drive member such that rotation of the rotational drive member causes the lower flexible spine assembly to impart a lower axial drive motion to the firing member.

[0107] Example 18 - A surgical instrument as described in Example 17, wherein the upper flexible spine assembly comprises an upper series of upper vertebral members loosely coupled together, and the lower flexible spine assembly comprises a lower series of lower vertebral members loosely coupled together.

[0108] Example 19 - A surgical instrument comprising an elongate shaft operably supporting a firing drive system therein. A surgical end effector is operably coupled to the elongate shaft and comprises a first jaw and a second jaw configured to move relative to the first jaw between an open position and a closed position. A firing member is operably associated with the firing drive system such that the firing drive system is configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position. When the firing member is moved distally from the home position, the firing member imparts a first closing motion to the second jaw to move the second jaw from the open position to the closed position. When the firing member is moved proximally from the home position, the firing member imparts a second closing motion to the second jaw. The surgical instrument further comprises means for imparting a rotational motion to the firing member to move the firing member distally and proximally from the home position. The means for applying is further configured to apply additional rotational motion to a drive mechanism associated with the firing member to apply axial drive motion to the firing member.

[0109] Example 20 - The surgical instrument of example 19, further comprising means for applying a retraction force to the firing member to move the firing member from a position distal to the home position without actuating the applying means.

[0110] 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 circuitry, and any combination thereof. Control circuitry may be embodied collectively or individually as circuitry that forms 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 analog or digital form, or some combination thereof.

[0111] 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.

[0112] 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.

[0113] Those skilled in the art will understand that the terms used herein generally, and in the appended claims in particular (e.g., the body of the appended claims), are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). Furthermore, those skilled in the art will understand that where a specific number is intended in an introduced claim recitation, such intention will be clearly recited in the claim; and, in the absence of such recitation, no such intention exists. For example, as an aid to understanding, the appended claims below may include the introductory phrases “at least one” and “one or more” to introduce the claim recitation. However, the use of such phrases should not be construed as suggesting that when a claim is introduced by the indefinite article "a" or "an," any particular claim containing such introduced claim language is limited to claims containing only one such recitation, even if the same claim contains an introductory phrase such as "one or more" or "at least one" and the indefinite article "a" or "an" (e.g., "a" and / or "an" should normally be construed to mean "at least one" or "one or more"). The same applies when a definite article is used to introduce a claim.

[0114] 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."

[0115] 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.

[0116] It is worth noting that any reference to "one embodiment," "embodiment," "exemplary," "one illustrative embodiment," 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 illustrative embodiment" 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.

[0117] Any patent application, patent, non-patent publication, or other disclosure material referenced herein and / or listed in any Application Data Sheet is incorporated herein by reference to the extent the incorporated material is not inconsistent with this specification. As such, and to the extent necessary, the disclosure material explicitly set forth herein shall supersede any conflicting statements incorporated herein by reference. Any material, or portions thereof, that is said to be incorporated herein by reference but that conflicts with current definitions, views, or other disclosure material set forth herein shall be incorporated only to the extent that no conflict arises between the incorporated material and the current disclosure material.

[0118] In summary, many benefits have been described that result from using the concepts described herein. The foregoing description of one or more embodiments has been presented for purposes of illustration and description. It is not intended to be exhaustive or to be limited to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The one or more embodiments have been selected and described to illustrate the principles and practical applications, thereby enabling those skilled in the art to utilize various embodiments, with various modifications, as suited to the particular use contemplated. It is intended that the claims presented herewith define the overall scope.

[0119] 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.

[0120] 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 examples, the motors disclosed herein can comprise one or more portions of a robotically controlled system. Furthermore, any of the end effectors and / or tool assemblies disclosed herein can be utilized with robotic surgical tool systems. For example, U.S. Patent Application No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" (U.S. Patent No. 9,072,535), discloses several examples of robotic surgical tool systems in more detail.

[0121] 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, now U.S. Patent No. 8,733,613, entitled "STAPLE CARTRIDGE"; U.S. Patent Application No. 13 / 036647, filed February 28, 2011, now U.S. Patent No. 8,561,870, entitled "SURGICAL STAPLING INSTRUMENT"; 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.

[0122] 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.

[0123] 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 devices, are all within the scope of the present application.

[0124] 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.

[0125] While this invention has been described as having an exemplary design, the invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

[0126] [Embodiment] (1) A surgical end effector, comprising: First Joe and a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member supported for axial advancement within the surgical end effector between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position to the end position, and the firing member further configured to impart a second closing motion to the second jaw to move the second jaw toward the first jaw when the firing member is moved proximally from the home position. (2) The launching member is a vertically extending firing member body, an upper firing member feature configured to impart the first closing motion to the second jaw; a lower firing member feature configured to slidably engage the first jaw when the firing member is moved between the home position and the end position; 2. The surgical end effector of claim 1, comprising a vertically extending firing member body having at least one preload feature configured to contact a portion of the second jaw when the firing member is moved proximally from the home position. (3) The surgical end effector of embodiment 2, wherein the second jaw is supported for pivotal advancement relative to the first jaw between the open position and the closed position about a jaw pivot axis, and the at least one preload feature is configured to contact the portion of the second jaw at a preload location distal to the jaw pivot axis. (4) The second jaw is a second jaw body having a proximal end and a distal end; A surgical end effector as described in embodiment 3, comprising: a pivot feature on the proximal end, the pivot feature defining the jaw pivot axis, and the portion of the second jaw comprising a jaw closure arm protruding from the proximal end, the jaw closure arm configured to be contacted by the at least one preload feature when the firing member is moved proximally from the home position. (5) A surgical end effector as described in embodiment 2, wherein the upper firing member feature comprises an upper tubular feature protruding from an upper end of the vertically extending firing member body, and the lower firing member feature comprises a lower tubular feature protruding from a lower end of the vertically extending firing member body.

[0127] (6) A surgical end effector according to embodiment 5, wherein the first jaw comprises a lower keyhole-shaped passage configured to slidably accommodate the lower tubular feature on the firing member when the firing member is moved between the home position and the end position, and the second jaw comprises an upper keyhole-shaped passage configured to slidably accommodate the upper tubular feature on the firing member when the firing member is moved between the home position and the end position. (7) The surgical end effector of embodiment 1, wherein the firing member is configured to be operably engaged with a rotational drive member configured to apply an initial drive motion to the firing member to drive the firing member distally from the home position to a closed position in which the firing member applies the first closing motion to the second jaw, and the rotational drive member is configured to apply a reverse drive motion to the firing member to drive the firing member proximally from the home position. (8) The surgical end effector of embodiment 5, wherein the firing member is configured to be operably engaged with a rotational drive member configured to apply an initial drive motion to the firing member to drive the firing member distally from the home position to a closed position in which the firing member applies the first closing motion to the second jaw, and the rotational drive member is configured to apply a reverse drive motion to the firing member to drive the firing member in the proximal direction. (9) The surgical end effector of claim 8, wherein the upper tubular feature includes upper teeth configured to engage with the rotational drive member, and the lower tubular feature includes at least one lower tooth configured to engage with the rotational drive member. (10) A surgical end effector as described in embodiment 9, further comprising means for applying a bailout motion to the firing member to move the firing member proximally from a position distal to the home position without applying the reverse drive motion to the firing member with the rotational drive member.

[0128] (11) The surgical end effector is configured to be operably coupled to a surgical instrument, the surgical instrument comprising: an upper flexible spine assembly attached to an upper portion of the firing member; a lower flexible spine assembly attached to a lower portion of the firing member; 3. The surgical end effector of claim 2, further comprising: a rotational drive member operatively associated with the upper flexible spine assembly and operatively associated with the lower flexible spine assembly, the rotational drive member causing the upper flexible spine assembly and the lower flexible spine assembly to apply an axial drive motion to the firing member to move the firing member between the home position and the end position. (12) A surgical end effector according to claim 11, wherein the upper flexible spine assembly comprises an upper series of upper vertebral members loosely coupled together, and the lower flexible spine assembly comprises a lower series of lower vertebral members loosely coupled together. (13) A surgical end effector as described in embodiment 12, wherein the upper vertebral members are connected to the upper portion of the firing member and are movably supported relative to each other by upper flexible connector members extending through each of the upper vertebral members, and the lower vertebral members are connected to the lower portion of the firing member and are movably supported relative to each other by lower flexible connector members extending through each of the lower vertebral members. (14) The first jaw includes a channel configured to operably support a surgical staple cartridge, the surgical staple cartridge comprising: a cartridge body operably supporting a plurality of surgical staples therein; A surgical end effector as described in embodiment 3, comprising a cartridge sled movably supported within the cartridge body, the cartridge sled configured to move between a start position and a finish position within the cartridge body to drive the surgical staples from the cartridge body, the second jaw comprising an anvil supported for pivotal advancement between the open position and the closed position relative to the surgical staple cartridge, and the at least one preload feature on the firing member configured to drive the cartridge sled from the start position to the finish position when the firing member is driven distally from the home position to the finish position. (15) A surgical instrument, an elongated shaft operably supporting a firing drive system therein; a surgical end effector operably coupled to the elongate shaft, the surgical end effector comprising: First Joe and a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member operatively associated with the firing drive system, the firing drive system configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position, and the firing drive system configured to move the firing member proximally from the home position such that when the firing member is moved proximally from the home position, the firing member imparts a second closing motion to the second jaw to move the second jaw toward the first jaw.

[0129] (16) The surgical instrument of claim 15, wherein the firing drive system includes a rotational drive member configured to impart an axial drive motion to the firing member. (17) an upper flexible spine assembly attached to an upper portion of the firing member, the upper flexible spine assembly operatively associated with the rotational drive member such that rotation of the rotational drive member causes the upper flexible spine assembly to impart an upper axial drive motion to the firing member; 17. The surgical instrument of claim 16, further comprising: a lower flexible spine assembly attached to a lower portion of the firing member, the lower flexible spine assembly operatively associated with the rotational drive member such that rotation of the rotational drive member causes the lower flexible spine assembly to impart a lower axial drive motion to the firing member. (18) The surgical instrument of claim 17, wherein the upper flexible spine assembly comprises an upper series of upper vertebral members loosely coupled together, and the lower flexible spine assembly comprises a lower series of lower vertebral members loosely coupled together. (19) A surgical instrument, an elongated shaft operably supporting a firing drive system therein; a surgical end effector operably coupled to the elongate shaft, the surgical end effector comprising: First Joe and a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member operatively associated with the firing drive system, the firing drive system configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position, and the firing member configured to impart a second closing motion to the second jaw when the firing member is moved proximally from the home position, the surgical instrument further comprising means for imparting a rotational motion to the firing member to move the firing member distally and proximally from the home position, the means for applying being further configured to apply an additional rotational motion to a driver associated with the firing member to impart an axial drive motion to the firing member. (20) The surgical instrument of claim 19, further comprising means for applying a retraction force to the firing member to move the firing member from a position distal to the home position without actuating the applying means.

Claims

1. 1. A surgical end effector, comprising: The first Joe, a second jaw configured to move relative to the first jaw between an open position and a closed position, the second jaw being supported for pivotal advancement relative to the first jaw about a jaw pivot axis between the open position and the closed position; a firing member supported for axial advancement within the surgical end effector between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position to the end position, and the firing member further configured to impart a second closing motion to the second jaw to move the second jaw toward the first jaw when the firing member is moved proximally from the home position; the firing member is configured to drive a sled supported on the first jaw in a distal direction when moved distally, the sled being configured, as driven, to slide under a driver and lift the driver and a surgical staple supported thereon toward a staple-forming undersurface of the second jaw; the firing member includes at least one preload feature configured to contact a portion of the second jaw at a preload location distal to the jaw pivot axis when the firing member is in the home position and to press against the portion of the second jaw when the firing member is moved in the proximal direction from the home position; the second jaw includes an anvil, the jaw pivot axis is located on the anvil, the anvil has an anvil control arm extending from the jaw pivot axis in a direction perpendicular to a longitudinal direction of the anvil, and the at least one preload feature is located distal to the anvil control arm.

2. The firing member a vertically extending firing member body, an upper firing member feature configured to slidably engage the second jaw and impart the first closing motion to the second jaw when the firing member is moved between the home position and the end position; a lower firing member feature configured to slidably engage the first jaw when the firing member is moved between the home position and the end position; The surgical end effector of claim 1 , comprising a vertically extending firing member body comprising the at least one preload feature.

3. The surgical end effector of claim 1 , wherein the preload location is below and distal to the jaw pivot axis.

4. The anvil an anvil body having a proximal end and a distal end; 2. The surgical end effector of claim 1, comprising: a pivot feature on the proximal end, the pivot feature defining the jaw pivot axis, the portion of the second jaw defined by the anvil control arm, the anvil control arm configured to contact the at least one preload feature when the firing member is in the home position and to be pushed by the at least one preload feature when the firing member is moved proximally from the home position.

5. 3. The surgical end effector of claim 2, wherein the upper firing member feature comprises an upper tubular feature protruding from an upper end of the vertically extending firing member body, and the lower firing member feature comprises a lower tubular feature protruding from a lower end of the vertically extending firing member body.

6. 6. The surgical end effector of claim 5, wherein the first jaw comprises a lower keyhole-shaped passage configured to slidably receive the lower tubular feature on the firing member when the firing member is moved between the home position and the end position, and the second jaw comprises an upper keyhole-shaped passage configured to slidably receive the upper tubular feature on the firing member when the firing member is moved between the home position and the end position.

7. 2. The surgical end effector of claim 1, wherein the firing member is configured to operatively engage a rotational drive member configured to impart an initial drive motion to the firing member to drive the firing member distally from the home position to a closed position in which the firing member imparts the first closing motion to the second jaw, and wherein the rotational drive member is configured to impart a reverse drive motion to the firing member to drive the firing member proximally from the home position.

8. 6. The surgical end effector of claim 5, wherein the firing member is configured to operatively engage a rotational drive member configured to impart an initial drive motion to the firing member to drive the firing member distally from the home position to a closed position in which the firing member imparts the first closing motion to the second jaw, and the rotational drive member is configured to impart a reverse drive motion to the firing member to drive the firing member in the proximal direction.

9. 9. The surgical end effector of claim 8, wherein the upper tubular feature includes upper teeth configured to interface with the rotational drive member, and the lower tubular feature includes at least one lower tooth configured to interface with the rotational drive member.

10. 10. The surgical end effector of claim 9, further comprising means for applying a retraction motion to the firing member to move the firing member proximally from a position distal to the home position without applying the reversing drive motion to the firing member with the rotational drive member.

11. The surgical end effector is configured to be operably coupled to a surgical instrument, the surgical instrument comprising: an upper flexible spine assembly attached to an upper portion of the firing member; a lower flexible spine assembly attached to a lower portion of the firing member; 3. The surgical end effector of claim 2, comprising: a rotational drive member operatively associated with the upper flexible spine assembly and operatively associated with the lower flexible spine assembly, the rotational drive member causing the upper and lower flexible spine assemblies to impart an axial drive motion to the firing member to move it between the home position and the end position.

12. The surgical end effector of claim 11, wherein the upper flexible spine assembly comprises an upper series of upper spine components loosely coupled together and the lower flexible spine assembly comprises a lower series of lower spine components loosely coupled together.

13. 13. The surgical end effector of claim 12, wherein the upper spine members are coupled to the upper portion of the firing member and movably supported relative to one another by upper flexible coupler members extending through each of the upper spine members, and the lower spine members are coupled to the lower portion of the firing member and movably supported relative to one another by lower flexible coupler members extending through each of the lower spine members.

14. the first jaw includes a channel configured to operably support a surgical staple cartridge; the anvil is supported for pivotal advancement relative to the surgical staple cartridge between the open position and the closed position; the surgical staple cartridge comprises a cartridge body operably supporting a plurality of the surgical staples therein; the sled is a cartridge sled movably supported within the cartridge body, the cartridge sled including an inclined surface configured to slide beneath the drivers supported within the surgical staple cartridge and lift the drivers and the surgical staples supported on the drivers toward an underside of the anvil having the staple-forming lower surface formed thereon as the cartridge sled moves, and is configured to move between a start position and a finish position within the cartridge body to drive the surgical staples from the cartridge body; 2. The surgical end effector according to claim 1, wherein the at least one preload feature on the firing member is configured to drive the cartridge sled from the start position to the completion position when the firing member is driven distally from the home position to the end position.

15. A surgical instrument comprising: an elongated shaft operably supporting a firing drive system therein; a surgical end effector operably coupled to the elongate shaft, the surgical end effector comprising: The first Joe, a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member operatively associated with the firing drive system, the firing drive system configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position, and the firing drive system configured to move the firing member proximally from the home position such that when the firing member is moved proximally from the home position, the firing member imparts a second closing motion to the second jaw to move the second jaw toward the first jaw; the second jaw includes an anvil having an anvil control arm extending from an anvil pivot axis in a direction perpendicular to a longitudinal direction of the anvil, the firing member including a preload feature configured to press against the anvil control arm when the firing member is moved proximally from the home position, the preload feature located distal to the anvil control arm; the firing member is configured to drive a sled supported on the first jaw distally as the firing member moves distally, the sled being configured, as driven, to slide under a driver and lift the driver and a surgical staple supported thereon toward a staple-forming undersurface of the second jaw.

16. The surgical instrument of claim 15, wherein the firing drive system comprises a rotational drive member configured to impart an axial drive motion to the firing member.

17. an upper flexible spine assembly attached to an upper portion of the firing member, the upper flexible spine assembly operatively associated with the rotational drive member such that rotation of the rotational drive member causes the upper flexible spine assembly to impart an upper axial drive motion to the firing member; 17. The surgical instrument of claim 16, further comprising a lower flexible spine assembly attached to a lower portion of the firing member, the lower flexible spine assembly in operative communication with the rotational drive member such that the rotation of the rotational drive member causes the lower flexible spine assembly to impart a lower axial drive motion to the firing member.

18. 18. The surgical instrument of claim 17, wherein the upper flexible spine assembly comprises an upper series of upper spine components loosely coupled together and the lower flexible spine assembly comprises a lower series of lower spine components loosely coupled together.

19. 1. A surgical instrument comprising: an elongated shaft operably supporting a firing drive system therein; a surgical end effector operably coupled to the elongate shaft, the surgical end effector comprising: The first Joe, a second jaw configured to move relative to the first jaw between an open position and a closed position; a firing member operatively associated with the firing drive system, the firing drive system configured to move the firing member between a home position corresponding to the open position of the second jaw and an end position, the firing member configured to impart a first closing motion to the second jaw to move the second jaw from the open position to the closed position when the firing member is moved distally from the home position, and to impart a second closing motion to the second jaw when the firing member is moved proximally from the home position; the second jaw includes an anvil having an anvil control arm extending from an anvil pivot axis in a direction perpendicular to a longitudinal direction of the anvil, the firing member including a preload feature configured to press against the anvil control arm when the firing member is moved proximally from the home position, the preload feature located distal to the anvil control arm; the surgical instrument further comprises means for imparting a rotational motion to the firing member to move the firing member distally and proximally from the home position, the means for imparting being further configured to impart an additional rotational motion to a drive mechanism associated with the firing member to impart an axial drive motion to the firing member; the firing member is configured to drive a sled supported on the first jaw distally as the firing member moves distally, the sled being configured, as driven, to slide under a driver and lift the driver and a surgical staple supported thereon toward a staple-forming undersurface of the second jaw.

20. 20. The surgical instrument of claim 19, further comprising means for applying a retraction force to the firing member to move the firing member from a position distal to the home position to the home position without actuating the means for applying.

21. 15. The surgical end effector of claim 14, wherein the surgical staple cartridge supports an array of drivers therein, and wherein, as the cartridge sled is driven distally, the array of drivers is driven sequentially toward target tissue clamped between the first and second jaws, thereby driving the surgical staples supported on each driver through the target tissue and into forming contact with the staple-forming lower surface of the anvil.

22. The surgical end effector of claim 21, wherein the firing member further comprises a tissue cutting edge for severing the clamped and stapled target tissue upon distal movement.

Images