Staple fasteners with jaw mounts

Abstract

A surgical instrument is disclosed that includes a first jaw, a movable second jaw, and one or more mounting brackets that hold the second jaw to the first jaw.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of U.S. Provisional Patent Application No. 63 / 194,621, entitled "SURGICAL INSTRUMENT," filed on May 28, 2021, and U.S. Provisional Patent Application No. 63 / 234,396, entitled "STAPLING INSTRUMENT INCLUDING CARTRIDGE INSERTION CONTROL," filed on August 18, 2021, under 35 U.S.C. § 119(e), the entire disclosures of which are incorporated herein by reference.

Background Art

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

Brief Description of the Drawings

[0003] The various features of the embodiments described herein, together with their advantages, can be understood by implementing the following invention in conjunction with the accompanying drawings below. [Figure 1] A perspective view of a surgical instrument according to at least one embodiment. [Figure 1B] A left - side view of the surgical instrument of FIG. 1. [Figure 1C] A right - side view of the surgical instrument of FIG. 1. [Figure 1D] A front view of the surgical instrument of FIG. 1. [Figure 1E] [ A rear view of the surgical instrument of FIG. 1. [Figure 1F] A plan view of the surgical instrument of FIG. 1. [Figure 1G] A bottom view of the surgical instrument of FIG. 1. [Figure 2] A partial perspective view of the surgical instrument of FIG. 1. [Figure 3]Figure 1 is a partial perspective view of the shaft of a surgical instrument. [Figure 4] Figure 3 is a perspective view of the shaft nozzle. [Figure 5] Figure 1 is an elevation view of the orientation switch for a surgical instrument. [Figure 6] This is a partial perspective view of a surgical instrument according to at least one embodiment, comprising a handle including an orientation sensor and a shaft equipped with a magnetic element detectable by the orientation sensor. [Figure 7] This is a partial elevation view of a surgical instrument according to at least one embodiment, comprising a handle and articulated actuators on both sides of the handle. [Figure 8] Figure 7 is a partial plan view of a surgical instrument. [Figure 9] This is a perspective view of a surgical instrument according to at least one embodiment, comprising a handle and a rotating shaft including articulated actuators on both sides of the shaft. [Figure 10] Figure 9 is an end view of the shaft. [Figure 11] This is a perspective view of a surgical instrument according to at least one embodiment, comprising a handle and a rotating shaft including two articulated actuators on both sides of the shaft. [Figure 12] Figure 11 is an end view of the shaft. [Figure 13] This is a perspective view of a surgical instrument according to at least one embodiment, comprising a slidable joint movement actuator including two positions and a stopper between those two positions. [Figure 14] This figure shows a capacitive switch comprising a first side and a second side, a first light within the first side that illuminates when the first side is in contact, and a second light within the second side that illuminates when the second side is in contact. [Figure 15] This figure shows a two-stage rocker switch for articulating the end effector of a surgical instrument according to at least one embodiment. [Figure 16]This is a partial top view of a surgical instrument according to at least one embodiment, comprising an end effector and lights positioned on either side of the end effector that illuminate to indicate the direction in which the end effector is articulating. [Figure 17] Figure 16 is a partial elevation view of a surgical instrument. [Figure 18] A partial elevation view of a surgical instrument according to at least one embodiment, comprising a directional indicator illuminated to indicate the direction in which the end effector is articulated. [Figure 19] This is a perspective view of a surgical instrument according to at least one embodiment, which includes a sliding joint movement switch with three positions: left joint movement position, right joint movement position, and center or home position. [Figure 20] This is an elevation view of a surgical instrument according to at least one embodiment, including an articulated joystick that is operable along a longitudinal axis. [Figure 21] This is an elevation view of a surgical instrument according to at least one embodiment, including an end effector and an articulation joystick that can be operated to articulate the end effector around two or more axes. [Figure 22A] This is a front view of a surgical instrument according to at least one embodiment, which includes multiple joint movement control units. [Figure 22B] Figure 22A is a partial side view of a surgical instrument. [Figure 23] This is an elevation view of a surgical instrument according to at least one embodiment, including a four-directional tactile joint movement control unit. [Figure 24] This is a partial elevation view of a surgical instrument according to at least one embodiment, which includes a four-directional tactile joint movement control unit including a center or home actuator. [Figure 25] This is an elevation view of a surgical instrument according to at least one embodiment, which includes a four-directional capacitive surface. [Figure 26A]A diagram showing a surgical instrument according to at least one embodiment, including an end effector and lights positioned on both sides of the end effector that are illuminated to indicate the direction in which the end effector is articulating. [Figure 26B] A perspective view of the surgical instrument of FIG. 26A. [Figure 27] A diagram showing a surgical instrument according to at least one embodiment, including an articulation joint, an end effector that is articulable about the articulation joint, and a translatable articulation actuator configured to rotate the end effector about the articulation joint. [Figure 28] A partial perspective view of an articulable end effector, an articulation actuator configured to rotate the end effector about an articulation joint, and demarcations on the articulation actuator that indicate the direction and / or the direction in which the end effector is articulating. [Figure 29] A perspective view of a surgical instrument according to at least one embodiment, comprising a handle, a rotatable shaft extending from the handle, and a rotatable actuator on the handle configured to rotate the shaft about its longitudinal axis. [Figure 30] A perspective view of the surgical instrument of FIG. 29 showing the shaft in a rotated position. [Figure 31] A perspective view of the surgical instrument of FIG. 29, shown with a portion of the handle housing removed. [Figure 32] A partial detailed view of the articulation joint of the surgical instrument of FIG. 1, shown with some components removed. [Figure 33] A partial detailed view of an articulation joint according to at least one alternative embodiment that can be used with the surgical instrument of FIG. 1. [Figure 34] A partial perspective view of an articulation drive pin extending from the frame of the end effector of the embodiment of FIG. 33. [Figure 35] A partial detailed view of the embodiment of FIG. 33 showing the end effector in an articulated position. [Figure 36] This is a detailed view of the embodiment of Figure 33, showing an end effector in a different joint movement position. [Figure 37] This is a detailed view of the embodiment of Figure 33, showing an end effector in a different joint movement position. [Figure 38] This is a cross-sectional view of the end effector of the surgical instrument shown in Figure 1, in an open configuration. [Figure 39] Figure 1 is a partial cross-sectional view of the end effector of a surgical instrument, showing the tissue fixation device of the end effector. [Figure 40] Figure 1 is a partial cross-sectional view of the end effector of a surgical instrument, showing the pivot joint between the staple cartridge jaw and the anvil jaw of the end effector. [Figure 41] Figure 40 is a partial plan view of the staple cartridge jaw, where a staple cartridge is not positioned within the staple cartridge jaw. [Figure 42] Figure 40 is a partial perspective view of Anvil Jaw. [Figure 43] Figure 40 is a partial top view of the pivot joint. [Figure 44] This is a partial cross-sectional view of a staple cartridge jaw of an end effector according to at least one embodiment, shown without a staple cartridge inside the staple cartridge jaw. [Figure 45A] This is a partial cross-sectional view of the end effector in Figure 44, which is in an open configuration. [Figure 45B] This is a partial cross-sectional view of the end effector in a closed configuration, as shown in Figure 44. [Figure 46] This is a partial cross-sectional view of the end effector of the surgical instrument shown in Figure 1, indicating the launching element in the non-launching position. [Figure 47] Figure 1 is a partial cross-sectional view of the end effector of a surgical instrument, showing a cartridge stopper on an anvil jaw configured to prevent proximal insertion of a staple cartridge into the staple cartridge jaw. [Figure 48]Figure 1 is a partial perspective view of the anvil jaw of a surgical instrument, showing a surface configured to control the position of the firing member of Figure 46 in the non-firing position while the end effector is in an open configuration. [Figure 49] Figure 1 is a partial elevation view of a surgical instrument. [Figure 50] Figure 1 is a partial perspective view of a surgical instrument. [Figure 51] This is a partial elevation view of a surgical instrument according to at least one embodiment. [Figure 52] Figure 51 is a partial perspective view of a surgical instrument. [Figure 53] This is a partial elevation view of a surgical instrument according to at least one embodiment. [Figure 54] Figure 53 is a partial perspective view of a surgical instrument. [Figure 55] Figure 1 is a perspective view of the surgical instrument. [Figure 56] This is a partial perspective view of a surgical instrument according to at least one embodiment. [Figure 57] Figure 56 is a partial perspective view of the shaft of a surgical instrument. [Figure 58] Figure 56 shows a control algorithm implemented using surgical instruments. [Figure 59] This is a partial perspective view of the shaft of a surgical instrument according to at least one embodiment. [Figure 60] This is a partial perspective view of the shaft of a surgical instrument according to at least one embodiment. [Figure 61] This is a partial perspective view of the shaft of a surgical instrument according to at least one embodiment. [Figure 62] This is a partial perspective view of the shaft of a surgical instrument according to at least one embodiment. [Figure 63] This is a perspective view of a slip ring assembly for a surgical instrument according to at least one embodiment. [Figure 64] Figure 63 is another perspective view of the slip ring assembly. [Figure 65] Figure 63 is a perspective view of the shaft components of a surgical instrument. [Figure 66] Figure 63 is a partial perspective view of a surgical instrument. [Figure 67] This is a schematic diagram representing a shaft orientation sensor array according to at least one embodiment. [Figure 68] A partial elevation view of an end effector comprising an anvil jaw and a cartridge jaw, wherein the anvil jaw has a distal portion rotatable between a first operating orientation and a second operating orientation different from the first operating orientation, and the distal portion of the anvil jaw is shown in the first operating orientation. [Figure 69] Figure 68 is a partial perspective view of the anvil jaw, showing the distal portion of the anvil jaw in a partially rotated orientation. [Figure 69A] This figure shows the connector that holds the distal portion of the anvil jaw in Figure 68. [Figure 70] Figure 68 is a partial elevation view of the end effector, showing the distal portion of the anvil jaw in a second operating orientation. [Figure 71] Figure 68 is a partial perspective view of the end effector, showing the distal portion of the anvil jaw in a second operating orientation. [Figure 72] This is a perspective view of the distal end of a proximal joint movement rod according to at least one embodiment. [Figure 73] This is a perspective view of the interface between the proximal joint movement rod and the distal joint movement rod of a joint movement drive unit according to at least one embodiment. [Figure 73A] Figure 73 is a detailed diagram of the interface between the proximal joint movement rod and the joint movement lock. [Figure 74] Figure 72 is a perspective view of the interface between the proximal joint movement rod and Figure 73 is a distal joint movement rod. [Figure 74A] This is a detailed diagram of the interface between the proximal joint movement rod (Figure 72) and the distal joint movement lock (Figure 73A). [Figure 75] Figure 73A is a perspective view of joint movement lock. [Figure 76]Figure 73A is another perspective view of joint movement lock. [Figure 77] Figure 73 shows the range of motion of the distal joint movement rod. [Figure 78] This is a diagram of an algorithm used by a control system to evaluate and acquire the position of a joint movement system. [Figure 79] Figure 1 shows the end effector of a surgical instrument and the speed chart algorithm of the staple firing system during the staple firing stroke. [Figure 80] This figure shows a velocity chart algorithm for the end effector and staple launching system of the surgical instrument shown in Figure 1, according to at least one embodiment. [Figure 81] Figure 1 shows the end effector of a surgical instrument and the speed chart algorithm of the staple firing system during the staple firing stroke. [Figure 82A] This graph shows the duty cycle and firing force experienced by the staple firing system of the surgical instrument shown in Figure 1 during three staple firing strokes. [Figure 82B] This graph shows the duty cycle and firing force experienced by the staple firing system of the surgical instrument shown in Figure 1 during three staple firing strokes at firing velocities faster than those shown in Figure 82A. [Figure 83A] This graph shows the duty cycle, firing force, and firing velocity experienced by the staple firing system of the surgical instrument shown in Figure 1 during a staple firing stroke penetrating 1.35 mm thick jejunal tissue. [Figure 83B] This graph shows the duty cycle, firing force, and firing velocity experienced by the staple firing system of the surgical instrument shown in Figure 1 during a staple firing stroke penetrating 4 mm thick gastric tissue. [Figure 84A] This graph compares the firing force that penetrates tissues with that of tissue analogues. [Figure 84B] This graph compares the firing force that penetrates tissues with that of tissue analogues. [Figure 85A]This graph shows the duty cycle and firing rate experienced by the staple firing system of the surgical instrument shown in Figure 1 during several staple firing strokes. [Figure 85B] This graph shows the duty cycle and firing rate experienced by the staple firing system of the surgical instrument shown in Figure 1 during several staple firing strokes. [Figure 86A] Figure 1 shows a graph of the duty cycle of the staple launching system of the surgical instrument during a staple launching stroke that penetrates thin jejunal tissue. [Figure 86B] Figure 1 shows a graph of the duty cycle of the staple firing system of the surgical instrument during a staple firing stroke that penetrates thick jejunal tissue. [Figure 86C] Figure 1 shows a graph of the duty cycle of the staple firing system of the surgical instrument during the staple firing stroke as it penetrates gastric tissue. [Figure 87] Figure 1 shows a graph of the duty cycle of the staple firing system of the surgical instrument during a staple firing stroke in which the control system increased the speed of the staple firing stroke. [Figure 88] Figure 1 shows a graph of the duty cycle of the staple firing system of the surgical instrument during a staple firing stroke, where the control system maintained substantially the same speed throughout the entire staple firing stroke. [Figure 89] Figure 1 shows a graph of the duty cycle of the staple firing system of the surgical instrument during a staple firing stroke in which the control system reduced the speed of the staple firing stroke. [Figure 90] This is an elevation view of a surgical instrument including a handle and a shaft, according to at least one embodiment. [Figure 91] Figure 90 is a partial elevation view of a surgical instrument with some components removed. [Figure 92] This is a perspective view of the handle frame of Figure 90, connected to the shaft frame of Figure 90. [Figure 93]Figure 92 is an exploded view of the handle frame and shaft frame. [Figure 94] Figure 90 is a perspective view of the handle. [Figure 95] This is a partial perspective view of the handle in Figure 90, with some components removed. [Figure 96] This is a partial cross-sectional view of the handle switch in Figure 90. [Figure 97] This is a partial perspective view of the handle and shaft of a surgical instrument according to at least one embodiment. [Figure 98] This is a partial cross-sectional view of the shaft in Figure 97, shown in the first rotation position. [Figure 99] This is a partial cross-sectional view of the shaft in Figure 97, shown in the second rotation position. [Figure 100] This is a diagram showing the control system for surgical instruments in Figure 97. [Figure 101] Figure 90 is an elevation view of the handle, with some components removed, showing the closing actuator of the handle in the partially closed position. [Figure 102] This is a detailed view of the handle closing system shown in Figure 90 in a partially closed configuration. [Figure 103] This is a partial detail view of the handle closing system shown in Figure 90 in a fully closed configuration. [Figure 104] This is a partial elevation view of a surgical instrument including a handle and a shaft, according to at least one embodiment. [Figure 105] This is a partial elevation view of a surgical instrument shown in a partially closed configuration in Figure 104. [Figure 106] This is a partial elevation view of the surgical instrument shown in its complete firing configuration in Figure 104. [Figure 107] This is a partial elevation view of a surgical instrument including a handle and a shaft, according to at least one embodiment. [Figure 108] Figure 107 is a partial elevation view of a surgical instrument showing an operable closing lock. [Figure 109]Figure 90 is a partial perspective view of the handle of a surgical instrument, with some components removed. [Figure 110] Figure 90 is a partial perspective view of the closure system of a surgical instrument. [Figure 111] This is a partial perspective view of a closing system according to at least one embodiment. [Figure 112A] Figure 110 shows the spring of the closing system. [Figure 112B] This figure shows a spring in a closing system according to at least one embodiment. [Figure 112C] This figure shows the spring system of the closing system in Figure 111. [Figure 113] This graph shows the forces generated by the spring system in Figure 112C. [Figure 114] Figure 90 is a partial elevation view of a surgical instrument, shown with an illuminated joint movement control unit, when the closure system is in a fully closed configuration. [Figure 115] Figure 90 is a partial elevation view of a surgical instrument, shown with an illuminated joint movement control unit when the closure system is in an open configuration. [Figure 116] This figure shows the control system for surgical instruments. [Figure 117] This figure shows the control system for surgical instruments. [Figure 118] Figure 90 is a partial perspective view of the shaft and end effector of a surgical instrument, with some components removed. [Figure 119] Figure 90 is a perspective view of the components of a joint movement lock surgical instrument. [Figure 120] Figure 119 is a partial perspective view of the joint movement locking component. [Figure 121] This is a plan view of a joint movement lock according to at least one embodiment. [Figure 122] Figure 121 is a plan view of the locking tab of the joint lock. [Figure 123]This is a partial perspective view of the shaft and end effector of a surgical instrument according to at least one embodiment, with some components removed. [Figure 124] This figure shows the joint movement lock of the surgical instrument in the unlock configuration shown in Figure 123. [Figure 125] This figure shows the joint movement lock in the unlock configuration of Figure 124. [Figure 126] Figure 124 is a perspective view of some components of the joint lock. [Figure 127] Figure 90 is a partial elevation view of the end effector of a surgical instrument, shown in a fully clamped configuration. [Figure 128] This is a partial elevation view of the end effector shown in Figure 90 in an open configuration. [Figure 129] This is a cross-sectional view of the end effector shown in Figure 90 in a partially closed configuration. [Figure 130] Figure 127 is a partial cross-sectional view of the end effector channel. [Figure 131] Figure 90 is a partial cross-sectional view of the shaft of a surgical instrument, with some components removed. [Figure 132] This is a partial cross-sectional view of the shaft in Figure 90, with additional components removed. [Figure 133] Figure 90 is a partial perspective view of the inner frame of the shaft. [Figure 134] Figure 90 is a partial cross-sectional view of the shaft. [Figure 135] This is a partial plan view of the shaft and end effector of a surgical instrument according to at least one embodiment, with some components removed. [Figure 136] Figure 135 is a partial plan view of the shaft and end effector, with additional components removed. [Figure 137] Figure 135 is a partial plan view of the shaft and end effector, with additional components removed. [Figure 138]Figure 135 is a partial perspective view of the shaft frame. [Figure 139] Figure 135 is a partial perspective view of the components of the shaft frame. [Figure 140] Figure 135 is a partial perspective view of the components of the shaft frame. [Figure 141] Figure 135 is a partial cross-sectional view of the shaft frame. [Figure 142] Figure 135 is a partial cross-sectional view of the shaft and end effector, with some components removed. [Figure 143] Figure 135 is a plan view of the components of a jointed surgical instrument. [Figure 144] Figure 135 is a plan view of the end effector of a surgical instrument, shown in a non-articular movement position. [Figure 145] This figure shows the end effector of Figure 144 in articulated in the first direction. [Figure 146] This figure shows the end effector of Figure 144 in articulated in the second direction. [Figure 147] Figure 90 is a partial plan view of the jaws of a surgical instrument end effector, including a staple firing lockout. [Figure 148] Figure 147 is a partial elevation view of the staple launching system and staple launching lockout. [Figure 149] Figure 90 shows a portion of the power control circuit of a surgical instrument. [Figure 149A] This figure shows another part of the power adjustment circuit shown in Figure 90. [Figure 150] Figure 90 is a partial perspective view of the handle. [Figure 151] Figure 90 shows the handle cover. [Figure 152] Figure 90 shows a cover analog used during the manufacture of surgical instruments. [Figure 153] Figure 90 shows the control circuit of the handle. [Figure 154]This is a perspective view of a surgical instrument comprising, according to at least one embodiment, a handle, a shaft extending from the handle, and an end effector rotatably connected to the shaft about an articulated joint. [Figure 155] Figure 154 is an elevation view of a surgical instrument. [Figure 156] Figure 154 is a plan view of a surgical instrument. [Figure 157] Figure 154 is an exploded view of the shaft of a surgical instrument. [Figure 158] Figure 154 is an exploded view of a surgical instrument joint. [Figure 159] Figure 154 is an exploded view of the handle of a surgical instrument. [Figure 160] Figure 154 is a partial cross-sectional elevation view of a surgical instrument, showing an open-configuration end effector. [Figure 161] Figure 154 is a partial cross-sectional elevation view of a surgical instrument, with some components removed. [Figure 162] Figure 154 is a perspective view of the launching member of a surgical instrument. [Figure 163] Figure 154 is a plan view of the end effector of a surgical instrument in a non-articular movement configuration. [Figure 164] This is a plan view of the end effector of the surgical instrument shown in Figure 154, which has articulated joints in the first direction. [Figure 165] This is a plan view of the end effector of the surgical instrument shown in Figure 154, which is in a position where it is moving in the second direction. [Figure 166] This is a partial plan view of the surgical instrument in Figure 154, in a non-articular movement configuration, with some components removed. [Figure 167] This is a partial plan view of the surgical instrument in the joint movement configuration of Figure 154, with some components removed. [Figure 168] Figure 154 is a perspective view of a surgical instrument used to lock joint movement. [Figure 169]Figure 154 is a perspective view of the clutch assembly of a surgical instrument in the engaged position, where the joint movement drive of the surgical instrument is engaged with the firing drive of the surgical instrument by the clutch assembly. [Figure 170] Figure 169 is a perspective view of the clutch assembly in the disengaged position, where the joint motion drive unit is not engaged with the firing drive unit. [Figure 171] This is a partial cross-sectional view of the surgical instrument of Figure 154, showing the clutch assembly of Figure 169 in the disengaged position of Figure 170. [Figure 172] This is a detailed view of the joint movement drive unit of Figure 169, which is engaged with the firing drive unit. [Figure 173] This is a detailed view of the joint movement drive unit of Figure 169, which has been disengaged from the firing drive unit. [Figure 174] Figure 154 is a detailed view of the firing drive mechanism of the surgical instrument, which is moving relative to the joint movement drive mechanism. [Figure 175] Figure 162 is a detailed diagram of the interconnection between the launching member and the launching rod of the launching drive unit. [Figure 176] This is a partial perspective view of the handle in Figure 159, with some components removed. [Figure 177] This is a partial perspective view of the handle in Figure 159, with additional components removed. [Figure 178] Figure 154 shows the motor of the firing drive unit of the surgical instrument, and Figure 159 is a partial perspective view of the handle. [Figure 179] Figure 159 is an elevation view of the handle with the housing removed. [Figure 180] Figure 154 is a partial perspective view of a surgical instrument with its components removed. [Figure 181] Another partial perspective view of the surgical instrument in Figure 154, showing an orientation switch configured to affect the operation of the joint movement control unit. [Figure 182] This is a cross-sectional view of the surgical instrument shown in Figure 154, showing the orientation switch in Figure 181 in the closed position. [Figure 183] This is a cross-sectional view of the surgical instrument shown in Figure 154, showing the orientation switch in Figure 181 in the open position. [Figure 184] A perspective view of an end effector of a surgical instrument according to at least one embodiment. [Figure 185] Figure 184 is an exploded view of the end effector. [Figure 186] This is another exploded view of the end effector shown in Figure 184. [Figure 187] This is a partial plan view of the end effector shown in Figure 184. [Figure 188] A perspective view of an end effector of a surgical instrument according to at least one embodiment. [Figure 189] Figure 188 is an exploded view of the end effector. [Figure 190] This is a partial cross-sectional view of the end effector in Figure 188. [Figure 191] A perspective view of an end effector of a surgical instrument according to at least one embodiment, shown with the staple cartridge not seated in the cartridge jaws of the end effector. [Figure 192] Figure 191 is a partial cross-sectional view of the end effector, showing the staple cartridge seated within the cartridge jaws in an open configuration. [Figure 193] This is a partial cross-sectional view of the end effector in Figure 191, shown in a clamp configuration. [Figure 194] This is a partial perspective view of a surgical staple fastener according to at least one embodiment, comprising a handle and a shaft assembly rotatable relative to the handle, wherein the handle comprises an articular movement actuator and a visual indicator configured to indicate the state of the articular movement actuator and the orientation of the shaft assembly relative to the handle. [Figure 195] Figure 194 is an elevation view of a surgical staple fastening device. [Figure 196]Figure 194 is an elevation view of a surgical staple fastener, where the indicator light shows that the control system of the surgical staple fastener has modified the output of the control system in response to the joint movement actuator. [Figure 197] A display for a surgical hub, according to at least one embodiment, showing the orientation of the anvil jaw. [Figure 198] A display for a surgical hub, according to at least one embodiment, showing the status of joint movement actuators of a surgical instrument assembly. [Figure 199] This is a partial cross-sectional view of a surgical staple fastening assembly according to at least one embodiment, comprising a handle, a shaft assembly, and a sensing system configured to monitor and detect the orientation of the shaft assembly relative to the handle. [Figure 200] This is a partial cross-sectional view of a surgical staple fastening assembly according to at least one embodiment, comprising a handle, a shaft assembly, and a sensing system configured to monitor and detect the orientation of the shaft assembly relative to the handle. [Figure 201] Figure 200 is a perspective view of the nozzle of a surgical staple fastening assembly. [Figure 202] Figure 201 shows the magnetic ring of the sensing system in Figure 200 inside the nozzle. [Figure 203] Figure 200 shows different magnetic rings for use with the sensing system. [Figure 204] Figure 204 shows an elevation view of a surgical staple fastener according to at least one embodiment, comprising a handle, a shaft assembly, and an end effector articulated relative to the shaft assembly, further comprising a visual indicator configured to show the user of the surgical staple fastener whether articulation by the end effector of the surgical staple fastener is possible. The anvil jaw of the end effector in the fully open position is also shown. [Figure 205]Figure 204 is an elevation view of a surgical stapling device showing the anvil jaw in the first partial clamp position. [Figure 206] Figure 204 is an elevation view of a surgical stapling device showing the anvil jaw in the second partial clamp position. [Figure 207] Figure 204 is an elevation view of a surgical stapling device, showing the anvil jaw in the fully clamped position. [Figure 208] This is a partial perspective view of a surgical instrument assembly according to at least one embodiment, comprising a closing drive unit including a closing trigger and a sensing system configured to sense the movement and position of the closing trigger. [Figure 209] This is a partial perspective view of a surgical instrument assembly according to at least one embodiment, comprising a transmission system that selectively connects a firing drive unit and a joint movement drive unit of a surgical instrument assembly, and a sensing system configured to sense the movement and position of the transmission collar of the transmission system.

[0004] Throughout the drawings, corresponding reference numerals indicate corresponding parts. The examples described herein illustrate various embodiments of the invention in one form and should not be construed as limiting the scope of the invention in any way. [Modes for carrying out the invention]

[0005] The applicant of this application also owns the following U.S. patent applications filed on the same day as this application, each of which is incorporated herein by reference in its entirety: - US Patent Application, Invention Title "STAPLING INSTRUMENT COMPRISING A FIRING LOCKOUT", Agent Reference Number END9361USNP1 / 210202-1 - US Patent Application, Invention Title: "STAPLING INSTRUMENT COMPRISING A CONTROL SYSTEM THAT CONTROLS A FIRING STROKE LENGTH", Agent Reference Number: END9361USNP2 / 210202-2 - US Patent Application, Invention Title: "STAPLING INSTRUMENT COMPRISING A MOUNTED SHAFT ORIENTATION SENSOR", Agent Reference Number: END9361USNP3 / 210202-3 - U.S. Patent Application, Title of Invention "STAPLING INSTRUMENT COMPRISING A STAPLE CARTRIDGE INSERTION STOP", Agent Reference Number END9361USNP5 / 210202-5, and - U.S. Patent Application, Invention Title: "STAPLING INSTRUMENT COMPRISING AN ARTICULATION CONTROL DISPLAY", Agent Reference Number: END9361USNP6 / 210202-6.

[0006] The applicant of this application also owns the following U.S. patent applications filed on October 29, 2020, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 17 / 084,190, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A STOWED CLOSURE ACTUATOR STOP", - U.S. Patent Application No. 17 / 084,198, Title of Invention: "SURGICAL INSTRUMENT COMPRISING AN INDICATOR WHICH INDICATES THAT AN ARTICULATION DRIVE IS ACTUATABLE", - U.S. Patent Application No. 17 / 084,205, Title of Invention: "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION INDICATOR", - U.S. Patent Application No. 17 / 084,258, Title of Invention: "METHOD FOR OPERATING A SURGICAL INSTRUMENT", - U.S. Patent Application No. 17 / 084,206, Title of Invention: "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", - U.S. Patent Application No. 17 / 084,215, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A JAW ALIGNMENT SYSTEM", - U.S. Patent Application No. 17 / 084,229, Title of Invention: "SURGICAL INSTRUMENT COMPRISING SEALABLE INTERFACE", - U.S. Patent Application No. 17 / 084,180, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A LIMITED TRAVEL SWITCH", - U.S. Design Patent Application No. 29 / 756,615, Title of Invention: "SURGICAL STAPLING ASSEMBLY", - U.S. Design Patent Application No. 29 / 756,620, Title of Invention: "SURGICAL STAPLING ASSEMBLY", - U.S. Patent Application No. 17 / 084,188, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A STAGED VOLTAGE REGULATION START-UP SYSTEM", and - U.S. Patent Application No. 17 / 084,193, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A SENSOR CONFIGURED TO SENSE WHETHER AN ARTICULATION DRIVE OF THE SURGICAL INSTRUMENT IS ACTUATABLE".

[0007] The applicant of this application also owns the following U.S. patent applications filed on April 11, 2020, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 16 / 846,303, Title of Invention: "Methods for Stapling Tissue Using a Surgical Instrument" - U.S. Patent Application No. 16 / 846,304, Title of Invention: "ARTICULATION ACTUATORS FOR A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 846,305, Title of Invention: "ARTICULATION DIRECTIONAL LIGHTS ON A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 846,307, Title of Invention: "SHAFT ROTATION ACTUATOR ON A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 846,308, Title of Invention: "ARTICULATION CONTROL MAPPING FOR A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 846,309, Title of Invention: "INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 846,310, Title of Invention: "INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 846,311, Title of Invention: "ROTATABLE JAW TIP FOR A SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 846,312, Title of Invention "TISSUE STOP FOR A SURGICAL INSTRUMENT", and - U.S. Patent Application No. 16 / 846,313, Title of Invention: "ARTICULATION PIN FOR A SURGICAL INSTRUMENT".

[0008] The entire disclosure of U.S. Provisional Patent Application No. 62 / 840,715, filed on April 30, 2019, with the title of the invention, "SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM," is incorporated herein by reference.

[0009] The applicant of this application owns the following U.S. patent applications filed on February 21, 2019, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 16 / 281,658, Title of Invention: "Methods for Controlling a Powered Surgical Stapler That Has Separate Rotary Closure and Fire Systems," - U.S. Patent Application No. 16 / 281,670, Title of Invention: "STAPLE CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING MEMBER", - U.S. Patent Application No. 16 / 281,675, Title of Invention: "SURGICAL STAPLERS WITH ARRANGEMENTS FOR MAINTAINING A FIRING MEMBER THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE HAS BEEN INSTALLED THEREIN", - U.S. Patent Application No. 16 / 281,685, Title of Invention: "SURGICAL INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES", - U.S. Patent Application No. 16 / 281,693, Title of Invention: "SURGICAL STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT", - U.S. Patent Application No. 16 / 281,704, Title of Invention: "SURGICAL STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN", - U.S. Patent Application No. 16 / 281,707, Title of Invention: "STAPLING INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT", - U.S. Patent Application No. 16 / 281,741, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT", - U.S. Patent Application No. 16 / 281,762, Title of Invention: "SURGICAL STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING LOCKOUT ARRANGEMENTS", - U.S. Patent Application No. 16 / 281,666, Title of Invention: "SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS", - U.S. Patent Application No. 16 / 281,672, Title of Invention: "SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES", - U.S. Patent Application No. 16 / 281,678, Title of Invention: "ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND CHANNEL ENGAGEMENT FEATURES", and - U.S. Patent Application No. 16 / 281,682, Title of Invention: "SURGICAL STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING".

[0010] The applicant of this application owns the following U.S. provisional patent applications filed on February 19, 2019, each of which is incorporated herein by reference in its entirety. - U.S. Provisional Patent Application No. 62 / 807,310, Title of Invention: "Methods for Controlling a Powered Surgical Stapler That Has Separate Rotary Closure and Fire Systems," - U.S. Provisional Patent Application No. 62 / 807,319, Title of Invention: "SURGICAL STAPLING DEVICES WITH IMPROVED LOCKOUT SYSTEMS", - U.S. Provisional Patent Application No. 62 / 807,309, Title of Invention: "SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS".

[0011] The applicant of this application owns the following U.S. provisional patent applications filed on March 28, 2018, each of which is incorporated herein by reference in its entirety. - U.S. Provisional Patent Application No. 62 / 649,302, Title of Invention: "INTERACTIVE SURGICAL SYSTEMS WITH encrypted COMMUNICATION CAPABILITIES", - U.S. Provisional Patent Application No. 62 / 649,294, Title of Invention: "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD", - U.S. Provisional Patent Application No. 62 / 649,300, Title of Invention: "SURGICAL HUB SITUATIONAL AWARENESS", - U.S. Provisional Patent Application No. 62 / 649,309, Title of Invention: "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER", - U.S. Provisional Patent Application No. 62 / 649,310, Title of Invention: "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS", - U.S. Provisional Patent Application No. 62 / 649,291, Title of Invention: "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT", - U.S. Provisional Patent Application No. 62 / 649,296, Title of Invention: "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES", - U.S. Provisional Patent Application No. 62 / 649,333, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER", - U.S. Provisional Patent Application No. 62 / 649,327, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES", - U.S. Provisional Patent Application No. 62 / 649,315, Title of Invention: "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK", - U.S. Provisional Patent Application No. 62 / 649,313, Title of Invention: "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES", - U.S. Provisional Patent Application No. 62 / 649,320, Title of Invention: "Drive arrangements for robot-asposed surgical platforms," - U.S. Provisional Patent Application No. 62 / 649,307, Title of Invention: "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", and - U.S. Provisional Patent Application No. 62 / 649,323, Title of Invention: "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS".

[0012] The applicant of this application owns the following U.S. provisional patent application filed on March 30, 2018, which is incorporated herein by reference in its entirety. - U.S. Provisional Patent Application No. 62 / 650,887, Title of Invention: "SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES".

[0013] The applicant of this application owns the following U.S. patent application filed on December 4, 2018, which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 16 / 209,423, Title of Invention: "Method of Compressing Tissue Within a Stapling Device and Simultaneously Displaying the Location of the Tissue Within the Jaws."

[0014] The applicant of this application owns the following U.S. patent applications filed on August 20, 2018, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 16 / 105,101, Title of Invention: "METHOD FOR FAbricating SURGICAL STAPLER ANVILS", - U.S. Patent Application No. 16 / 105,183, Title of Invention: "REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL", - U.S. Patent Application No. 16 / 105,150, Title of Invention: "SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE STABILITY FEATURES", - U.S. Patent Application No. 16 / 105,098, Title of Invention: "FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS", - U.S. Patent Application No. 16 / 105,140, ​​Title of Invention: "SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH", - U.S. Patent Application No. 16 / 105,081, Title of Invention: "METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT", - U.S. Patent Application No. 16 / 105,094, Title of Invention: "SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS", - U.S. Patent Application No. 16 / 105,097, Title of Invention: "POWERED SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS", - U.S. Patent Application No. 16 / 105,104, Title of Invention: "POWERED ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A FIRING DRIVE SYSTEM", - U.S. Patent Application No. 16 / 105,119, Title of Invention: "ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS", - U.S. Patent Application No. 16 / 105,160, Title of Invention: "SWITCHING ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL INSTRUMENTS", and - U.S. Design Patent Application No. 29 / 660,252, Title of Invention: "SURGICAL STAPLER ANVILS".

[0015] The applicant of this application owns the following U.S. patent applications and U.S. patents, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 15 / 386,185, Title of Invention: "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF" (currently U.S. Patent Application Publication No. 2018 / 0168642), - U.S. Patent Application No. 15 / 386,230, Title of Invention: "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS" (currently U.S. Patent Publication No. 2018 / 0168649), - U.S. Patent Application No. 15 / 386,221, Title of Invention: "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS" (currently U.S. Patent Publication No. 2018 / 0168646), - U.S. Patent Application No. 15 / 386,209, Title of Invention: "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF" (currently U.S. Patent Application Publication No. 2018 / 0168645), - U.S. Patent Application No. 15 / 386,198, Title of Invention: "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES" (currently U.S. Patent Application Publication No. 2018 / 0168644), - U.S. Patent Application No. 15 / 386,240, Title of Invention: "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR" (currently U.S. Patent Application Publication No. 2018 / 0168651), - U.S. Patent Application No. 15 / 385,939, Title of Invention: "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN" (currently U.S. Patent Application Publication No. 2018 / 0168629), - U.S. Patent Application No. 15 / 385,941, Title of Invention: "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS" (currently U.S. Patent Application Publication No. 2018 / 0168630), - U.S. Patent Application No. 15 / 385,943, Title of Invention: "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS" (currently U.S. Patent Publication No. 2018 / 0168631), - U.S. Patent Application No. 15 / 385,950, Title of Invention: "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES" (currently U.S. Patent Application Publication No. 2018 / 0168635), - U.S. Patent Application No. 15 / 385,945, Title of Invention: "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN" (currently U.S. Patent Application Publication No. 2018 / 0168632), - U.S. Patent Application No. 15 / 385,946, Title of Invention: "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS" (currently U.S. Patent Publication No. 2018 / 0168633), - U.S. Patent Application No. 15 / 385,951, Title of Invention: "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE" (currently U.S. Patent Application Publication No. 2018 / 0168636), - U.S. Patent Application No. 15 / 385,953, Title of Invention "METHODS OF STAPLING TISSUE" (currently U.S. Patent Application Publication No. 2018 / 0168637), - U.S. Patent Application No. 15 / 385,954, Title of Invention: "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS" (currently U.S. Patent Publication No. 2018 / 0168638), - U.S. Patent Application No. 15 / 385,955, Title of Invention: "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS" (currently U.S. Patent Application Publication No. 2018 / 0168639), - U.S. Patent Application No. 15 / 385,948, Title of Invention: "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS" (currently U.S. Patent Application Publication No. 2018 / 0168584), - U.S. Patent Application No. 15 / 385,956, Title of Invention: "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES" (currently U.S. Patent Publication No. 2018 / 0168640), - U.S. Patent Application No. 15 / 385,958, Title of Invention: "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT" (currently U.S. Patent Publication No. 2018 / 0168641), - U.S. Patent Application No. 15 / 385,947, Title of Invention: "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN" (currently U.S. Patent Publication No. 2018 / 0168634), - U.S. Patent Application No. 15 / 385,896, Title of Invention: "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT" (currently U.S. Patent Application Publication No. 2018 / 0168597), - U.S. Patent Application No. 15 / 385,898, Title of Invention: "STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES" (currently U.S. Patent Application Publication No. 2018 / 0168599), - U.S. Patent Application No. 15 / 385,899, Title of Invention: "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL" (currently U.S. Patent Publication No. 2018 / 0168600), - U.S. Patent Application No. 15 / 385,901, Title of Invention: "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN" (currently U.S. Patent Application Publication No. 2018 / 0168602), - U.S. Patent Application No. 15 / 385,902, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER" (currently U.S. Patent Publication No. 2018 / 0168603), - U.S. Patent Application No. 15 / 385,904, Title of Invention: "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT" (currently U.S. Patent Publication No. 2018 / 0168605), - U.S. Patent Application No. 15 / 385,905, Title of Invention "FIRING ASSEMBLY COMPRISING A LOCKOUT" (currently U.S. Patent Application Publication No. 2018 / 0168606), - U.S. Patent Application No. 15 / 385,907, Title of Invention: "SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT" (currently U.S. Patent Application Publication No. 2018 / 0168608), - U.S. Patent Application No. 15 / 385,908, Title of Invention: "FIRING ASSEMBLY COMPRISING A FUSE" (currently U.S. Patent Application Publication No. 2018 / 0168609), - U.S. Patent Application No. 15 / 385,909, Title of Invention: "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE" (currently U.S. Patent Application Publication No. 2018 / 0168610), - U.S. Patent Application No. 15 / 385,920, Title of Invention: "STAPLE-FORMING POCKET ARRANGEMENTS" (currently U.S. Patent Application Publication No. 2018 / 0168620), - U.S. Patent Application No. 15 / 385,913, Title of Invention: "ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS" (currently U.S. Patent Publication No. 2018 / 0168614), - U.S. Patent Application No. 15 / 385,914, Title of Invention: "Method of Deforming Staples from Two Different Types of Staple Cartridges with the Same Surgical Stapling Instrument" (currently U.S. Patent Publication No. 2018 / 0168615), - U.S. Patent Application No. 15 / 385,893, Title of Invention: "BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS" (currently U.S. Patent Application Publication No. 2018 / 0168594), - U.S. Patent Application No. 15 / 385,929, Title of Invention: "Closure Members with Cam Surface Arrangements for Surgical Instruments with Separate and Distinct Closure and Fire Systems" (currently U.S. Patent Publication No. 2018 / 0168626), - U.S. Patent Application No. 15 / 385,911, Title of Invention: "SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS" (currently U.S. Patent Publication No. 2018 / 0168612), - U.S. Patent Application No. 15 / 385,927, Title of Invention: "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES" (currently U.S. Patent Application Publication No. 2018 / 0168625), - U.S. Patent Application No. 15 / 385,917, Title of Invention: "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS" (currently U.S. Patent Application Publication No. 2018 / 0168617), - U.S. Patent Application No. 15 / 385,900, Title of Invention: "STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS" (currently U.S. Patent Application Publication No. 2018 / 0168601), - U.S. Patent Application No. 15 / 385,931, Title of Invention: "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS" (currently U.S. Patent Publication No. 2018 / 0168627), - U.S. Patent Application No. 15 / 385,915, Title of Invention "FIRING MEMBER PIN ANGLE" (currently U.S. Patent Application Publication No. 2018 / 0168616), - U.S. Patent Application No. 15 / 385,897, Title of Invention: "STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES" (currently U.S. Patent Application Publication No. 2018 / 0168598), - U.S. Patent Application No. 15 / 385,922, Title of Invention: "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES" (currently U.S. Patent Application Publication No. 2018 / 0168622), - U.S. Patent Application No. 15 / 385,924, Title of Invention: "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS" (currently U.S. Patent Publication No. 2018 / 0168624), - U.S. Patent Application No. 15 / 385,910, Title of Invention: "ANVIL HAVING A KNIFE SLOT WIDTH" (currently U.S. Patent Application Publication No. 2018 / 0168611), - U.S. Patent Application No. 15 / 385,903, Title of Invention: "Closure Member Arrangements for Surgical Instruments" (currently U.S. Patent Publication No. 2018 / 0168604), - U.S. Patent Application No. 15 / 385,906, Title of Invention: "FIRING MEMBER PIN CONFIGURATIONS" (currently U.S. Patent Application Publication No. 2018 / 0168607), - U.S. Patent Application No. 15 / 386,188, Title of Invention: "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES" (currently U.S. Patent Publication No. 2018 / 0168585), - U.S. Patent Application No. 15 / 386,192, Title of Invention: "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES" (currently U.S. Patent Application Publication No. 2018 / 0168643), - U.S. Patent Application No. 15 / 386,206, Title of Invention: "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES" (currently U.S. Patent Application Publication No. 2018 / 0168586), - U.S. Patent Application No. 15 / 386,226, Title of Invention: "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS" (currently U.S. Patent Publication No. 2018 / 0168648), - U.S. Patent Application No. 15 / 386,222, Title of Invention: "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES" (currently U.S. Patent Publication No. 2018 / 0168647), - U.S. Patent Application No. 15 / 386,236, Title of Invention: "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS" (currently U.S. Patent Publication No. 2018 / 0168650), - U.S. Patent Application No. 15 / 385,887, Title of Invention: "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT" (currently U.S. Patent Application Publication No. 2018 / 0168589), - U.S. Patent Application No. 15 / 385,889, Title of Invention: "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM" (currently U.S. Patent Application Publication No. 2018 / 0168590), - U.S. Patent Application No. 15 / 385,890, Title of Invention: "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS" (currently U.S. Patent Application Publication No. 2018 / 0168591), - U.S. Patent Application No. 15 / 385,891, Title of Invention: "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS" (currently U.S. Patent Application Publication No. 2018 / 0168592), - U.S. Patent Application No. 15 / 385,892, Title of Invention: "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM" (currently U.S. Patent Application Publication No. 2018 / 0168593), - U.S. Patent Application No. 15 / 385,894, Title of Invention: "SHAFT ASSEMBLY COMPRISING A LOCKOUT" (currently U.S. Patent Application Publication No. 2018 / 0168595), - U.S. Patent Application No. 15 / 385,895, Title of Invention: "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS" (currently U.S. Patent Application Publication No. 2018 / 0168596), - U.S. Patent Application No. 15 / 385,916, Title of Invention: "SURGICAL STAPLING SYSTEMS" (currently U.S. Patent Publication No. 2018 / 0168575), - U.S. Patent Application No. 15 / 385,918, Title of Invention: "SURGICAL STAPLING SYSTEMS" (currently U.S. Patent Publication No. 2018 / 0168618), - U.S. Patent Application No. 15 / 385,919, Title of Invention "SURGICAL STAPLING SYSTEMS" (currently U.S. Patent Publication No. 2018 / 0168619), - U.S. Patent Application No. 15 / 385,921, Title of Invention: "SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES" (currently U.S. Patent Publication No. 2018 / 0168621), - U.S. Patent Application No. 15 / 385,923, Title of Invention "SURGICAL STAPLING SYSTEMS" (currently U.S. Patent Publication No. 2018 / 0168623), - U.S. Patent Application No. 15 / 385,925, Title of Invention: "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR" (currently U.S. Patent Application Publication No. 2018 / 0168576), - U.S. Patent Application No. 15 / 385,926, Title of Invention: "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS" (currently U.S. Patent Publication No. 2018 / 0168577), - U.S. Patent Application No. 15 / 385,928, Title of Invention: "Protective Cover Arrangements for a Joint Interface Between a Movable Jaw and Actuator Shaft of a Surgical Instrument" (currently U.S. Patent Publication No. 2018 / 0168578), - U.S. Patent Application No. 15 / 385,930, Title of Invention: "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS" (currently U.S. Patent Application Publication No. 2018 / 0168579), - U.S. Patent Application No. 15 / 385,932, Title of Invention: "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT" (currently U.S. Patent Publication No. 2018 / 0168628), - U.S. Patent Application No. 15 / 385,933, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK" (currently U.S. Patent Application Publication No. 2018 / 0168580), - U.S. Patent Application No. 15 / 385,934, Title of Invention: "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM" (currently U.S. Patent Application Publication No. 2018 / 0168581), - U.S. Patent Application No. 15 / 385,935, Title of Invention: "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION" (currently U.S. Patent Publication No. 2018 / 0168582), - U.S. Patent Application No. 15 / 385,936, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES" (currently U.S. Patent Application Publication No. 2018 / 0168583), - U.S. Patent Application No. 14 / 318,996, Title of Invention: "FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS" (currently U.S. Patent Application Publication No. 2015 / 0297228), - U.S. Patent Application No. 14 / 319,006, Title of Invention: "FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER CONTROL FEATURES" (currently U.S. Patent No. 10,010,324), - U.S. Patent Application No. 14 / 318,991, Title of Invention: "SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS" (currently U.S. Patent No. 9,833,241), - U.S. Patent Application No. 14 / 319,004, Title of Invention: "SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS" (currently U.S. Patent No. 9,844,369), - U.S. Patent Application No. 14 / 319,008, Title of Invention: "FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS" (currently U.S. Patent Application Publication No. 2015 / 0297232), - U.S. Patent Application No. 14 / 318,997, Title of Invention: "FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS" (currently U.S. Patent Publication No. 2015 / 0297229), - U.S. Patent Application No. 14 / 319,002, Title of Invention: "FASTENER CARTRIDGE COMPRISING TISSUE CONTROL FEATURES" (currently U.S. Patent No. 9,877,721), - U.S. Patent Application No. 14 / 319,013, Title of Invention "FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS" (currently U.S. Patent Application Publication No. 2015 / 0297233), and - U.S. Patent Application No. 14 / 319,016, title of invention "FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO" (currently U.S. Patent Application Publication No. 2015 / 0297235).

[0016] The applicant of this application owns the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 15 / 191,775, Title of Invention: "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES" (currently U.S. Patent Application Publication No. 2017 / 0367695), - U.S. Patent Application No. 15 / 191,807, Title of Invention: "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES" (currently U.S. Patent Application Publication No. 2017 / 0367696), - U.S. Patent Application No. 15 / 191,834, Title of Invention: "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME" (currently U.S. Patent Publication No. 2017 / 0367699), - U.S. Patent Application No. 15 / 191,788, Title of Invention "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES" (currently U.S. Patent Application Publication No. 2017 / 0367698), and - U.S. Patent Application No. 15 / 191,818, Title of Invention: "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS" (currently U.S. Patent Application Publication No. 2017 / 0367697).

[0017] The applicant of this application owns the following U.S. patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety.

[0018] - U.S. Design Patent Application No. 29 / 569,218, Title of Invention: "SURGICAL FASTENER" (currently U.S. Design Patent No. D826,405), - U.S. Design Patent Application No. 29 / 569,227, Title of Invention: "SURGICAL FASTENER" (currently U.S. Design Patent No. D822,206), - U.S. Design Patent Application No. 29 / 569,259, Title of Invention "SURGICAL FASTENER CARTRIDGE", and - U.S. Design Patent Application No. 29 / 569,264, Title of Invention: "SURGICAL FASTENER CARTRIDGE".

[0019] The applicant of this application owns the following patent applications filed on April 1, 2016, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 15 / 089,325, Title of Invention: "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM" (currently U.S. Patent Application Publication No. 2017 / 0281171), - U.S. Patent Application No. 15 / 089,321, Title of Invention: "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY" (currently U.S. Patent No. 10,271,851), - U.S. Patent Application No. 15 / 089,326, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD" (currently U.S. Patent Publication No. 2017 / 0281172), - U.S. Patent Application No. 15 / 089,263, Title of Invention: "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION" (currently U.S. Patent Application Publication No. 2017 / 0281165), - U.S. Patent Application No. 15 / 089,262, Title of Invention: "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM" (currently U.S. Patent Publication No. 2017 / 0281161), - U.S. Patent Application No. 15 / 089,277, Title of Invention: "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER" (currently U.S. Patent Publication No. 2017 / 0281166), - U.S. Patent Application No. 15 / 089,296, Title of Invention: "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS" (currently U.S. Patent Application Publication No. 2017 / 0281168), - U.S. Patent Application No. 15 / 089,258, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION" (currently U.S. Patent Application Publication No. 2017 / 0281178), - U.S. Patent Application No. 15 / 089,278, Title of Invention: "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE" (currently U.S. Patent Application Publication No. 2017 / 0281162), - U.S. Patent Application No. 15 / 089,284, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT" (currently U.S. Patent Publication No. 2017 / 0281186), - U.S. Patent Application No. 15 / 089,295, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT" (currently U.S. Patent Application Publication No. 2017 / 0281187), - U.S. Patent Application No. 15 / 089,300, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT" (currently U.S. Patent Publication No. 2017 / 0281179), - U.S. Patent Application No. 15 / 089,196, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT" (currently U.S. Patent Application Publication No. 2017 / 0281183), - U.S. Patent Application No. 15 / 089,203, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT" (currently U.S. Patent Application Publication No. 2017 / 0281184), - U.S. Patent Application No. 15 / 089,210, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT" (currently U.S. Patent Application Publication No. 2017 / 0281185), - U.S. Patent Application No. 15 / 089,324, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM" (currently U.S. Patent Application Publication No. 2017 / 0281170), - U.S. Patent Application No. 15 / 089,335, Title of Invention: "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS" (currently U.S. Patent Publication No. 2017 / 0281155), - U.S. Patent Application No. 15 / 089,339, Title of Invention: "SURGICAL STAPLING INSTRUMENT" (currently U.S. Patent Publication No. 2017 / 0281173), - U.S. Patent Application No. 15 / 089,253, Title of Invention: "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS" (currently U.S. Patent Application Publication No. 2017 / 0281177), - U.S. Patent Application No. 15 / 089,304, Title of Invention: "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET" (currently U.S. Patent Application Publication No. 2017 / 0281188), - U.S. Patent Application No. 15 / 089,331, Title of Invention: "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS" (currently U.S. Patent Publication No. 2017 / 0281180), - U.S. Patent Application No. 15 / 089,336, Title of Invention: "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES" (currently U.S. Patent Publication No. 2017 / 0281164), - U.S. Patent Application No. 15 / 089,312, Title of Invention: "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT" (currently U.S. Patent Publication No. 2017 / 0281189), - U.S. Patent Application No. 15 / 089,309, Title of Invention "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM" (currently U.S. Patent Application Publication No. 2017 / 0281169), and - U.S. Patent Application No. 15 / 089,349, Title of Invention: "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL" (currently U.S. Patent Application Publication No. 2017 / 0281174).

[0020] The applicant of this application also owns the following U.S. patent applications filed on December 30, 2015, which are incorporated herein by reference in their entirety. - U.S. Patent Application No. 14 / 984,488, Title of Invention: "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent Application Publication No. 2017 / 0189018), - U.S. Patent Application No. 14 / 984,525, Title of Invention "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent Application Publication No. 2017 / 0189019), and - U.S. Patent Application No. 14 / 984,552, title of invention "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS" (currently U.S. Patent No. 10,265,068).

[0021] The applicant of this application also owns the following U.S. patent applications, filed on 9 February 2016, which are incorporated herein by reference in their entirety. - U.S. Patent Application No. 15 / 019,220, Title of Invention: "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR" (currently U.S. Patent No. 10,245,029), - U.S. Patent Application No. 15 / 019,228, Title of Invention: "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS" (currently U.S. Patent Application Publication No. 2017 / 0224342), - U.S. Patent Application No. 15 / 019,196, Title of Invention: "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT" (currently U.S. Patent Publication No. 2017 / 0224330), - U.S. Patent Application No. 15 / 019,206, Title of Invention: "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY" (currently U.S. Patent Publication No. 2017 / 0224331), - U.S. Patent Application No. 15 / 019,215, Title of Invention: "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS" (currently U.S. Patent Application Publication No. 2017 / 0224332), - U.S. Patent Application No. 15 / 019,227, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS" (currently U.S. Patent Application Publication No. 2017 / 0224334), - U.S. Patent Application No. 15 / 019,235, Title of Invention: "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS" (currently U.S. Patent No. 10,245,030), - U.S. Patent Application No. 15 / 019,230, Title of Invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS" (currently U.S. Patent Publication No. 2017 / 0224335), and - U.S. Patent Application No. 15 / 019,245, title of invention "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS" (currently U.S. Patent Application Publication No. 2017 / 0224343).

[0022] The applicant of this application also owns the following U.S. patent applications, filed on February 12, 2016, which are incorporated herein by reference in their entirety. - U.S. Patent Application No. 15 / 043,254, Title of Invention: "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent No. 10,258,331), - U.S. Patent Application No. 15 / 043,259, Title of Invention: "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent Application Publication No. 2017 / 0231626), - U.S. Patent Application No. 15 / 043,275, Title of Invention "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent Application Publication No. 2017 / 0231627), and - U.S. Patent Application No. 15 / 043,289, title of invention "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent Application Publication No. 2017 / 0231628).

[0023] The applicant of this application owns the following patent applications filed on June 18, 2015, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 742,925, Title of Invention: "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS" (currently U.S. Patent No. 10,182,818), - U.S. Patent Application No. 14 / 742,941, Title of Invention: "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES" (currently U.S. Patent No. 10,052,102), - U.S. Patent Application No. 14 / 742,933, Title of Invention: "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING" (currently U.S. Patent No. 10,154,841), - U.S. Patent Application No. 14 / 742,914, Title of Invention: "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently U.S. Patent Publication No. 2016 / 0367255), - U.S. Patent Application No. 14 / 742,900, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT" (currently U.S. Patent Application Publication No. 2016 / 0367254), - U.S. Patent Application No. 14 / 742,885, title of invention "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently U.S. Patent Application Publication No. 2016 / 0367246), and - U.S. Patent Application No. 14 / 742,876, title of invention "PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently U.S. Patent No. 10,178,992).

[0024] The applicant of this application owns the following patent applications filed on March 6, 2015, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 640,746, Title of Invention: "POWERED SURGICAL INSTRUMENT" (currently U.S. Patent No. 9,808,246), - U.S. Patent Application No. 14 / 640,795, Title of Invention: "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent Publication No. 2016 / 02561185), - U.S. Patent Application No. 14 / 640,832, Title of Invention: "Adaptive Tissue Compression Techniques to Adjust Closure Rates for Multiple Tissue Types," (Currently U.S. Patent Publication No. 2016 / 0256154), - U.S. Patent Application No. 14 / 640,935, Title of Invention: "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION" (currently U.S. Patent Application Publication No. 2016 / 0256071), - U.S. Patent Application No. 14 / 640,831, Title of Invention: "Monitoring Speed ​​Control and Precision Increasing of Motor for Powered Surgical Instruments" (currently U.S. Patent No. 9,895,148), - U.S. Patent Application No. 14 / 640,859, Title of Invention: "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES" (currently U.S. Patent No. 10,052,044), - U.S. Patent Application No. 14 / 640,817, Title of Invention: "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,924,961), - U.S. Patent Application No. 14 / 640,844, Title of Invention: "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE" (currently U.S. Patent No. 10,045,776), - U.S. Patent Application No. 14 / 640,837, Title of Invention: "SMART SENSORS WITH LOCAL SIGNAL PROCESSING" (currently U.S. Patent No. 9,993,248), - U.S. Patent Application No. 14 / 640,765, Title of Invention: "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER" (currently U.S. Patent Application Publication No. 2016 / 0256160), - U.S. Patent Application No. 14 / 640,799, Title of Invention "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT" (currently U.S. Patent No. 9,901,342), and - U.S. Patent Application No. 14 / 640,780, title of invention "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING" (currently U.S. Patent No. 10,245,033).

[0025] The applicant of this application owns the following patent applications filed on February 27, 2015, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 633,576, Title of Invention: "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION" (currently U.S. Patent No. 10,045,779), - U.S. Patent Application No. 14 / 633,546, Title of Invention: "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND" (currently U.S. Patent No. 10,180,463), - U.S. Patent Application No. 14 / 633,560, Title of Invention: "SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES" (currently U.S. Patent Application Publication No. 2016 / 0249910), - U.S. Patent Application No. 14 / 633,566, Title of Invention: "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY" (currently U.S. Patent No. 10,182,816), - U.S. Patent Application No. 14 / 633,555, Title of Invention: "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED" (U.S. Patent Application Publication No. 2016 / 0249916), - U.S. Patent Application No. 14 / 633,542, Title of Invention: "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT" (currently U.S. Patent No. 9,931,118), - U.S. Patent Application No. 14 / 633,548, Title of Invention: "POWER ADAPTER FOR A SURGICAL INSTRUMENT" (currently U.S. Patent No. 10,245,028), - U.S. Patent Application No. 14 / 633,526, Title of Invention: "ADAPTABLE SURGICAL INSTRUMENT HANDLE" (currently U.S. Patent No. 9,993,258), - U.S. Patent Application No. 14 / 633,541, Title of Invention "MODULAR STAPLING ASSEMBLY" (currently U.S. Patent No. 10,226,250), and - U.S. Patent Application No. 14 / 633,562, Title of Invention: "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER" (currently U.S. Patent No. 10,159,483).

[0026] The applicant of this application owns the following patent applications filed on December 18, 2014, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 574,478, Title of Invention: "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER" (currently U.S. Patent No. 9,844,374), - U.S. Patent Application No. 14 / 574,483, Title of Invention: "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS" (currently U.S. Patent No. 10,188,385), - U.S. Patent Application No. 14 / 575,139, Title of Invention: "Drive Arrangements for Articulatable Surgical Instruments" (currently U.S. Patent No. 9,844,375), - U.S. Patent Application No. 14 / 575,148, Title of Invention: "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS" (currently U.S. Patent No. 10,085,748), - U.S. Patent Application No. 14 / 575,130, Title of Invention: "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE" (currently U.S. Patent No. 10,245,027), - U.S. Patent Application No. 14 / 575,143, Title of Invention: "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS" (currently U.S. Patent No. 10,004,501), - U.S. Patent Application No. 14 / 575,117, Title of Invention: "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS" (currently U.S. Patent No. 9,943,309), - U.S. Patent Application No. 14 / 575,154, Title of Invention: "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS" (currently U.S. Patent No. 9,968,355), - U.S. Patent Application No. 14 / 574,493, Title of Invention "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM" (currently U.S. Patent No. 9,987,000), and - U.S. Patent Application No. 14 / 574,500, title of invention "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM" (currently U.S. Patent No. 10,117,649).

[0027] The applicant of this application owns the following patent applications filed on March 1, 2013, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 13 / 782,295, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION" (currently U.S. Patent No. 9,700,309), - U.S. Patent Application No. 13 / 782,323, Title of Invention: "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,782,169), - U.S. Patent Application No. 13 / 782,338, Title of Invention: "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS" (currently U.S. Patent Application Publication No. 2014 / 0249557), - U.S. Patent Application No. 13 / 782,499, Title of Invention: "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT" (currently U.S. Patent No. 9,358,003), - U.S. Patent Application No. 13 / 782,460, Title of Invention: "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,554,794), - U.S. Patent Application No. 13 / 782,358, Title of Invention: "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,326,767), - U.S. Patent Application No. 13 / 782,481, Title of Invention: "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR" (currently U.S. Patent No. 9,468,438), - U.S. Patent Application No. 13 / 782,518, Title of Invention: "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS" (currently U.S. Patent Application Publication No. 2014 / 0246475), - U.S. Patent Application No. 13 / 782,375, Title of Invention "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM" (currently U.S. Patent No. 9,398,911), and - U.S. Patent Application No. 13 / 782,536, title of invention "SURGICAL INSTRUMENT SOFT STOP" (currently U.S. Patent No. 9,307,986).

[0028] The applicant of this application also owns the following patent applications filed on March 14, 2013, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 13 / 803,097, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE" (currently U.S. Patent No. 9,687,230), - U.S. Patent Application No. 13 / 803,193, Title of Invention: "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT" (currently U.S. Patent No. 9,332,987), - U.S. Patent Application No. 13 / 803,053, Title of Invention: "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT" (currently U.S. Patent No. 9,883,860), - U.S. Patent Application No. 13 / 803,086, Title of Invention: "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" (currently U.S. Patent Application Publication No. 2014 / 0263541), - U.S. Patent Application No. 13 / 803,210, Title of Invention: "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,808,244), - U.S. Patent Application No. 13 / 803,148, Title of Invention: "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT" (currently U.S. Patent Publication No. 2014 / 0263554), - U.S. Patent Application No. 13 / 803,066, Title of Invention: "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,629,623), - U.S. Patent Application No. 13 / 803,117, Title of Invention: "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,351,726), - U.S. Patent Application No. 13 / 803,130, title of invention "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,351,727), and - U.S. Patent Application No. 13 / 803,159, Title of Invention: "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT" (currently U.S. Patent No. 9,888,919).

[0029] The applicant of this application also owns the following patent application filed on March 7, 2014, which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 200,111, title of invention "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 9,629,629).

[0030] The applicant of this application also owns the following patent applications filed on March 26, 2014, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 226,106, Title of Invention: "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS" (currently U.S. Patent Publication No. 2015 / 0272582), - U.S. Patent Application No. 14 / 226,099, Title of Invention: "STERILIZATION VERIFICATION CIRCUIT" (currently U.S. Patent No. 9,826,977), - U.S. Patent Application No. 14 / 226,094, Title of Invention: "VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT" (currently U.S. Patent Publication No. 2015 / 0272580), - U.S. Patent Application No. 14 / 226,117, Title of Invention: "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL" (currently U.S. Patent No. 10,013,049), - U.S. Patent Application No. 14 / 226,075, Title of Invention: "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES" (currently U.S. Patent No. 9,743,929), - U.S. Patent Application No. 14 / 226,093, Title of Invention: "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS" (currently U.S. Patent No. 10,028,761), - U.S. Patent Application No. 14 / 226,116, Title of Invention: "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION" (currently U.S. Patent Publication No. 2015 / 0272571), - U.S. Patent Application No. 14 / 226,071, Title of Invention: "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR" (currently U.S. Patent No. 9,690,362), - U.S. Patent Application No. 14 / 226,097, Title of Invention: "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS" (currently U.S. Patent No. 9,820,738), - U.S. Patent Application No. 14 / 226,126, Title of Invention: "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS" (currently U.S. Patent No. 10,004,497), - U.S. Patent Application No. 14 / 226,133, Title of Invention: "MODULAR SURGICAL INSTRUMENT SYSTEM" (currently U.S. Patent Publication No. 2015 / 0272557), - U.S. Patent Application No. 14 / 226,081, Title of Invention: "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT" (currently U.S. Patent No. 9,804,618), - U.S. Patent Application No. 14 / 226,076, Title of Invention: "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION" (currently U.S. Patent No. 9,733,663), - U.S. Patent Application No. 14 / 226,111, Title of Invention "SURGICAL STAPLING INSTRUMENT SYSTEM" (currently U.S. Patent No. 9,750,499), and - U.S. Patent Application No. 14 / 226,125, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT" (currently U.S. Patent No. 10,201,364).

[0031] The applicant of this application also owns the following patent applications filed on September 5, 2014, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 479,103, Title of Invention: "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE" (currently U.S. Patent No. 10,111,679), - U.S. Patent Application No. 14 / 479,119, Title of Invention: "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION" (currently U.S. Patent No. 9,724,094), - U.S. Patent Application No. 14 / 478,908, Title of Invention: "Monitoring Device Degradation Based on Component Evaluation" (currently U.S. Patent No. 9,737,301), - U.S. Patent Application No. 14 / 478,895, Title of Invention: "Multiple Sensors with One Sensor Affecting a Second Sensor's Output or Interpretation" (currently U.S. Patent No. 9,757,128), - U.S. Patent Application No. 14 / 479,110, Title of Invention: "POLARITY OF HALL MAGNET TO IDENTIFY CARTRIDGE TYPE" (currently U.S. Patent No. 10,016,199), - U.S. Patent Application No. 14 / 479,098, Title of Invention: "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION" (currently U.S. Patent No. 10,135,242), - U.S. Patent Application No. 14 / 479,115, title of invention "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE" (currently U.S. Patent No. 9,788,836), and - U.S. Patent Application No. 14 / 479,108, Title of Invention: "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION" (currently U.S. Patent Application Publication No. 2016 / 0066913).

[0032] The applicant of this application also owns the following patent applications filed on April 9, 2014, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 14 / 248,590, Title of Invention: "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS" (currently U.S. Patent No. 9,826,976), - U.S. Patent Application No. 14 / 248,581, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT" (currently U.S. Patent No. 9,649,110), - U.S. Patent Application No. 14 / 248,595, Title of Invention: "SURGICAL SYSTEM COMPRISING FIRST AND SECOND DRIVE SYSTEMS" (currently U.S. Patent No. 9,844,368), - U.S. Patent Application No. 14 / 248,588, Title of Invention: "POWERED LINEAR SURGICAL STAPLER" (currently U.S. Patent Application Publication No. 2014 / 0309666), - U.S. Patent Application No. 14 / 248,591, Title of Invention: "SURGICAL INSTRUMENT COMPRISING A GAP SETTING SYSTEM" (currently U.S. Patent No. 10,149,680), - U.S. Patent Application No. 14 / 248,584, Title of Invention: "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS" (currently U.S. Patent No. 9,801,626), - U.S. Patent Application No. 14 / 248,587, Title of Invention: "POWERED SURGICAL STAPLER" (currently U.S. Patent No. 9,867,612), - U.S. Patent Application No. 14 / 248,586, Title of Invention "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT" (currently U.S. Patent No. 10,136,887), and - U.S. Patent Application No. 14 / 248,607, title of invention "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS" (currently U.S. Patent No. 9,814,460).

[0033] The applicant of this application also owns the following patent applications filed on April 16, 2013, each of which is incorporated herein by reference in its entirety. - U.S. Provisional Patent Application No. 61 / 812,365, Title of Invention: "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR", - U.S. Provisional Patent Application No. 61 / 812,376, Title of Invention: "LINEAR CUTTER WITH POWER", - U.S. Provisional Patent Application No. 61 / 812,382, Title of Invention: "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP", - U.S. Provisional Patent Application No. 61 / 812,385, Title of Invention: "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL", and - U.S. Provisional Patent Application No. 61 / 812,372, Title of Invention: "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

[0034] The applicant of this application owns the following U.S. provisional patent applications filed on 28 December 2017, the entirety of each of these disclosures is incorporated herein by reference. - U.S. Provisional Patent Application No. 62 / 611,341, Title of Invention: "INTERACTIVE SURGICAL PLATFORM", - U.S. Provisional Patent Application No. 62 / 611,340, Title of Invention "CLOUD-BASED MEDICAL ANALYTICS", and - U.S. Provisional Patent Application No. 62 / 611,339, Title of Invention: "ROBOT ASSISTED SURGICAL PLATFORM".

[0035] The applicant of this application owns the following U.S. provisional patent applications filed on March 28, 2018, each of which is incorporated herein by reference in its entirety. - U.S. Provisional Patent Application No. 62 / 649,302, Title of Invention: "INTERACTIVE SURGICAL SYSTEMS WITH encrypted COMMUNICATION CAPABILITIES", - U.S. Provisional Patent Application No. 62 / 649,294, Title of Invention: "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD", - U.S. Provisional Patent Application No. 62 / 649,300, Title of Invention: "SURGICAL HUB SITUATIONAL AWARENESS", - U.S. Provisional Patent Application No. 62 / 649,309, Title of Invention: "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER", - U.S. Provisional Patent Application No. 62 / 649,310, Title of Invention: "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS", - U.S. Provisional Patent Application No. 62 / 649,291, Title of Invention: "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT", - U.S. Provisional Patent Application No. 62 / 649,296, Title of Invention: "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES", - U.S. Provisional Patent Application No. 62 / 649,333, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER", - U.S. Provisional Patent Application No. 62 / 649,327, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES", - U.S. Provisional Patent Application No. 62 / 649,315, Title of Invention: "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK", - U.S. Provisional Patent Application No. 62 / 649,313, Title of Invention: "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES", - U.S. Provisional Patent Application No. 62 / 649,320, Title of Invention: "Drive arrangements for robot-asposed surgical platforms," - U.S. Provisional Patent Application No. 62 / 649,307, Title of Invention: "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", and - U.S. Provisional Patent Application No. 62 / 649,323, Title of Invention: "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS".

[0036] The applicant of this application owns the following U.S. patent applications filed on March 29, 2018, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 15 / 940,641, Title of Invention: "INTERACTIVE SURGICAL SYSTEMS WITH encrypted COMMUNICATION CAPABILITIES", - U.S. Patent Application No. 15 / 940,648, titled "INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES", - U.S. Patent Application No. 15 / 940,656, titled "Surgical hub coordination of control and communication of operating room devices", - U.S. Patent Application No. 15 / 940,666, titled "Spatial awareness of surgical hubs in operating rooms", - U.S. Patent Application No. 15 / 940,670, titled "COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS", - U.S. Patent Application No. 15 / 940,677, titled "SURGICAL HUB CONTROL ARRANGEMENTS", - U.S. Patent Application No. 15 / 940,632, titled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD", - U.S. Patent Application No. 15 / 940,640, titled "COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHAREd WITH CLOUD BASED ANALYTICS SYSTEMS", - U.S. Patent Application No. 15 / 940,645, titled "SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT", - U.S. Patent Application No. 15 / 940,649, titled "DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME", - U.S. Patent Application No. 15 / 940,654, titled "SURGICAL HUB SITUATIONAL AWARENESS", - U.S. Patent Application No. 15 / 940,663, titled "SURGICAL SYSTEM DISTRIBUTED PROCESSING", - U.S. Patent Application No. 15 / 940,668, titled "AGGREGATION AND REPORTING OF SURGICAL HUB DATA", - U.S. Patent Application No. 15 / 940,671, titled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER", - U.S. Patent Application No. 15 / 940,686, titled "DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE", - U.S. Patent Application No. 15 / 940,700, titled "STERILE FIELD INTERACTIVE CONTROL DISPLAYS", - U.S. Patent Application No. 15 / 940,629, titled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS", - U.S. Patent Application No. 15 / 940,704, titled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT", - U.S. Patent Application No. 15 / 940,722, Title of Invention: "CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY", and - U.S. Patent Application No. 15 / 940,742, Title of Invention: "DUAL CMOS ARRAY IMAGING".

[0037] The applicant of this application owns the following U.S. patent applications filed on March 29, 2018, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 15 / 940,636, Title of Invention: "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES", - U.S. Patent Application No. 15 / 940,653, Title of Invention: "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS", - U.S. Patent Application No. 15 / 940,660, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER", - U.S. Patent Application No. 15 / 940,679, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET", - U.S. Patent Application No. 15 / 940,694, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION", - U.S. Patent Application No. 15 / 940,634, Title of Invention: "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES", - U.S. Patent Application No. 15 / 940,706, Title of Invention "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK", and U.S. Patent Application No. 15 / 940,675, Title of Invention: "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES".

[0038] The applicant of this application owns the following U.S. patent applications filed on March 29, 2018, each of which is incorporated herein by reference in its entirety. - U.S. Patent Application No. 15 / 940,627, Title of Invention: "Drive arrangements for robot-assigned surgical platforms," - U.S. Patent Application No. 15 / 940,637, Title of Invention: "Communication Arrangements for Robot-Assised Surgical Platforms" - U.S. Patent Application No. 15 / 940,642, Title of Invention: "CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", - U.S. Patent Application No. 15 / 940,676, Title of Invention: "Automatic Tool Adjustments for Robot-Assised Surgical Platforms" - U.S. Patent Application No. 15 / 940,680, Title of Invention: "CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", - U.S. Patent Application No. 15 / 940,683, Title of Invention: "Cooperative Surgical Actions for Robot-Assisted Surgical Platforms" - U.S. Patent Application No. 15 / 940,690, Title of Invention: "DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", and - U.S. Patent Application No. 15 / 940,711, Title of Invention: "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS".

[0039] Numerous specific details are described in order to provide a complete understanding of the overall structure, function, manufacture, and use of the embodiments, as described in the specification and shown in the accompanying drawings. Well-known operations, components, and elements are not described in detail so as not to obscure the embodiments described herein. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and therefore certain structural and functional details disclosed herein may be representative and illustrative. Modifications and changes thereto may be made without departing from the claims.

[0040] 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 “contains” and “containing”) are unrestricted linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more elements has one or more of those elements, but is not limited to having only one or more of those elements. Similarly, an element of a system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more features has one or more of those features, but is not limited to having only one or more of those features.

[0041] The terms “proximal” and “distal” are used herein in reference to the clinician operating the handle portion of a surgical instrument. “Proximal” refers to the part closest to the clinician, and “distal” refers to the part further away from the clinician. For convenience and clarity, spatial terms such as “vertical,” “horizontal,” “up,” and “down” may be used herein in reference to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be restrictive and / or absolute.

[0042] Various exemplary apparatuses and methods for performing laparoscopic and minimally invasive surgical procedures are provided. However, it will be readily apparent to the reader that the various methods and apparatuses disclosed herein can be used in many surgical procedures and applications, including, for example, those related to incisional surgical procedures. By continuing to read the “Modes for Carrying Out the Invention” section herein, the reader will further understand that the various instruments disclosed herein can be inserted into the body in any way, for example, through a pre-existing opening, through an incision or puncture hole formed in the tissue, etc. The working portion, or end-effector, of these instruments can be inserted directly into the patient’s body, or through an access device having a working passage through which the end-effector and elongated shaft of the surgical instrument can be advanced.

[0043] A surgical stapling system may comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, although other embodiments can be conceived in which the staple cartridge is not removable from the first jaw, or at least not easily replaceable from the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closing axis, although other embodiments can be conceived in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulating joint configured to rotate, i.e., articulate, the end effector relative to the shaft. The end effector is rotatable about an articulating axis extending through the articulating joint. Other embodiments can also be conceived in which the articulating joint is not included.

[0044] A staple cartridge comprises 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 the first side of the tissue to be stapled, and the anvil is positioned on the second side of the tissue. The anvil is moved toward the staple cartridge to press and clamp the tissue against the deck. Staples, which are detachably stored within the cartridge body, can then be deployed into the tissue. The cartridge body includes a defined staple cavity, and staples are detachably stored within the staple cavity. The staple cavity is arranged in six longitudinal rows. Three rows of staple cavities are positioned on the first side of the longitudinal slots, and three rows of staple cavities are positioned on the second side of the longitudinal slots. Other devices for staple cavities and staples may also be possible.

[0045] The staples are supported by a staple driver within the cartridge body. The driver is movable between a first, i.e., unfired position and a second, i.e., fired position, to eject the staples from the staple cavity. The driver is held within the cartridge body by a retainer extending around the lower perimeter of the cartridge body and includes an elastic member configured to grip the cartridge body and hold the retainer relative to the cartridge body. The drivers are movable between their unfired and fired positions by threads. The threads are movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The threads include a plurality of inclined surfaces configured to slide beneath the driver and lift the driver, on which the staples are supported and directed toward the anvil.

[0046] In addition to the above, the thread is moved distally by the launching member. The launching member is configured to contact the thread and push it toward its distal end. A longitudinal slot defined within the cartridge body is configured to receive the launching member. The anvil also includes a slot configured to receive the launching member. The launching member further comprises a first cam that engages with a first jaw and a second cam that engages with a second jaw. When advancing the launching member distally, the first and second cams can control the distance between the deck of the staple cartridge and the anvil, i.e., the tissue gap. The launching member also comprises a knife configured to excise tissue trapped between the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the inclined surface so that the staple is ejected ahead of the knife.

[0047] A surgical instrument 10000 is shown in Figure 1. The surgical instrument 10000 comprises a handle 10100, a shaft 10200 extending from the handle 10100, and an end effector 10400. The end effector 10400 comprises a first jaw 10410 configured to receive a staple cartridge, and a second jaw 10420 movable relative to the first jaw 10410. The second jaw 10420 comprises an anvil including a staple-forming pocket defined inside. The surgical instrument 10000 further comprises a closure actuator 10140 configured to drive the closure system of the surgical instrument 10000 and move the second jaw 10420 between an unclamped position and a clamped position. Referring to Figure 3, the closure actuator 10140 is operably connected to a closure tube 10240 which advances distally when the closure actuator 10140 is closed. In such an example, the closing tube 10240 contacts the second jaw, causing the second jaw 10420 to cam-drive downward and / or push to its clamped position. The second jaw 10420 is pivotably connected to the first jaw about a pivot axis. However, in alternative embodiments, the second jaw may translate and rotate as it moves to its clamped position. Furthermore, in various alternative embodiments, the surgical instrument includes a staple cartridge jaw that is movable between a non-clamped position and a clamped position relative to the anvil jaw. In any case, the handle 10100 includes a lock configured to hold the closing actuator 10140 in a releasable position in its clamped position. The handle 10100 further includes release actuators 10180a, 10180b, either of which, when actuated, unlocks the closing actuator 10140 so that the end effector can be reopened. In various alternative embodiments, the handle 10100 includes an electric motor configured to move the closure tube 10240 proximal and / or distal when activated by a clinician.

[0048] The end effector 10400 is mounted on the shaft 10200 around the articulated joint 10500 and is rotatable in a plane about the articulated axis. The shaft 10200 defines the longitudinal axis, and the end effector 10400 is articulated between a position where the end effector 10400 is aligned with the longitudinal axis and a position where the end effector 10400 extends at an angle laterally to the longitudinal axis. The handle 10100 comprises an electric motor and a control system configured to control the operation of the electric motor. The electric motor includes a brushless DC motor, however, the electric motor may include any suitable motor, such as a brushed DC motor. The entire disclosure of U.S. Patent No. 10,149,683, titled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," issued on 11 December 2018, is incorporated herein by reference. The entire disclosure of U.S. Patent Application Publication No. 2018 / 0125481, titled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT," published on 10 May 2018, is incorporated herein by reference. The handle 10100 further comprises a replaceable and / or rechargeable battery 10300 that can be mounted in the handle housing to power the surgical instrument 10000. The entire disclosure of U.S. Patent No. 8,632,525, titled "POWER CONTROL ARRANGEMENTS FOR SURGICAL INSTRUMENTS AND BATTERIES," issued on 21 January 2014, is incorporated herein by reference. An electric motor is operably coupled to a firing drive unit 10250 of a surgical instrument 10000 and is configured to drive a firing member of the firing drive unit 10250 through a staple firing stroke. The electric motor comprises a rotary output unit including a gear that engages with a translatable rack of the firing drive unit 10250.The electric motor is operated in a first direction to drive the launching member through the staple firing stroke, and in a second, i.e., opposite direction to retract the launching member and / or reset the firing drive unit 10250. The surgical instrument 10000 further comprises an actuator 10150 that communicates with a motor control system, which, when actuated or rotated, signals the motor control system to operate the electric motor in the first direction and initiate the staple firing stroke. When the actuator 10150 is released, the motor control system stops the electric motor. When the actuator 10150 is reactuated, the motor control system operates the electric motor again in the first direction to continue the staple firing stroke. When the launching member reaches the end of the staple firing stroke, the control system stops the electric motor, which is awaiting input from the clinician. When the clinician releases the actuator 10150 at such a point, the control system reverses the operation of the electric motor to retract the launching member to its unfired position. The handle 10100 further comprises a retraction actuator that communicates with a motor control system, which, when activated by a clinician, reverses the direction of an electric motor to retract the firing drive unit. When the retraction actuator is pressed, the staple firing stroke is terminated regardless of whether the firing member has reached the end of the staple firing stroke.

[0049] The electric motor of the surgical instrument 10000 is also used to selectively drive the articulation drive system to articulate the end effector 10400. More specifically, the articulation drive system includes an articulation driver that can be selectively engaged with the firing drive unit, and when the articulation driver is engaged with the firing drive unit, the articulation driver is movable proximally and distally by the operation of the electric motor to articulate the end effector 10400. When the electric motor is operated in its first direction, in such an example, the end effector 10400 is articulated in the first direction to push the articulation driver distally. Similarly, the end effector 10400 is articulated in the second direction when the electric motor is operated in its second direction to pull the articulation driver proximally. When the articulation driver is not engaged with the firing drive unit, the operation of the electric motor does not articulate the end effector 10400. Instead, in such an example, the electric motor only moves the firing drive unit. Nevertheless, it should be understood that the movement of the firing drive unit for articulating the end effector 10400 does not effectuate the staple firing stroke. The range of motion required to articulate the end effector 10400 is small compared to the range of motion of the staple firing stroke, and occurs proximally relative to the start of the staple firing stroke so that staples are not ejected and tissue is not cut while the end effector 10400 is articulating. The surgical instrument 10000 further includes an articulation lock that unlocks when the articulation driver is longitudinally moved by the firing drive unit and then locks the end effector 10400 in a fixed position when the articulation driver is not being driven by the firing drive unit. The entire disclosure of U.S. Patent No. 9,629,629, issued April 25, 2017, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", is incorporated herein by reference. As noted above, however, the surgical instrument may include a separate articulation motor in addition to the firing motor for driving the articulation drive system.

[0050] In addition to the above, referring to Figure 2, the handle 10100 comprises a frame 10110, a housing 10120, and an articulation actuator 10160. The articulation actuator 10160 is, for example, oriented vertically on the housing 10120 and includes a rocker switch that communicates with a motor control system. The rocker switch is rotatable upward and downward about its axis to articulate the end effector 10400. The upper portion of the articulation actuator 10160 is pressed by the clinician to articulate the end effector 10400 to the left, and the lower portion of the articulation actuator 10160 is pressed to articulate the end effector 10400 to the right. Such a device configuration provides the clinician with an intuitive interface; however, any suitable device configuration may be used. The handle 10100 further comprises a home actuator 10170 that communicates with a motor control system. When the home actuator 10170 is activated by a clinician, the motor control system operates an electric motor to recenter the end effector 10400 along the longitudinal axis of the shaft 10200 of the surgical instrument 10000. For this purpose, the control system is configured to track the position of the end effector so that when the home actuator 10170 is activated, the control system operates the electric motor in the correct direction to articulate the end effector 10400 in the correct direction and by the correct amount. In various examples, the surgical instrument 10000 may include, for example, a linear encoder configured to track the position of the articulation driver so that when the home actuator 10170 is activated, the control system can properly center the end effector 10400.

[0051] In addition to the above, the shaft 10200 is rotatable relative to the handle 10100. The shaft 10200 includes a frame 10210 attached to the frame 10110 of the handle 10100. In embodiments where the shaft 10200 is easily detachable from the handle 10100, the shaft frame 10210 can be separated from the handle frame 10110. In embodiments where the shaft 10200 is not detachable from the handle 10100, the shaft frame 10210 and the handle frame 10110 can be integrally formed. In any case, the shaft 10200 includes a nozzle or gripping portion 10220 securely attached to the closing tube 10240 of the shaft 10200. The gripping portion 10220 comprises a plurality of defined finger grooves 10222 and a raised portion 10224 extending between the finger grooves 10222, the raised portion providing a wall against which a clinician can press their finger and assisting the clinician in rotating the shaft 10200 about its longitudinal axis.

[0052] In particular, in addition to the above, the end effector 10400 rotates with the shaft 10200 when the shaft 10200 is rotated about its longitudinal axis. Thus, the end effector 10400 rotates clockwise when the shaft 10200 is rotated clockwise by the clinician, and rotates counterclockwise when the shaft 10200 is rotated counterclockwise by the clinician. In various alternative embodiments, the surgical system 10000 includes an electric motor configured to rotate the shaft 10200 about its longitudinal axis. In any case, the shaft 10200 is rotatable from top dead center (TDC), where the anvil 10420 is positioned directly above the staple cartridge jaw 10410, to any other preferred position within a position range of up to 360 degrees. For example, the shaft 10200 is rotatable to a position where the anvil 10420 faces the right of the handle 10100 (90 degrees to the right), or to a position where the anvil 10420 faces the left of the handle 10100 (90 degrees to the left). The shaft 10200 is also rotatable to a bottom dead center (BDC) position where the staple cartridge jaw 10410 is positioned directly above the anvil 10420.

[0053] As described above, the end effector 10400 is articulate around the articular joint 10500 and rotatable with the shaft 10200. As described above, when the end effector 10400 is at its TDC position, and the end effector 10400 is rotated within a plane, the articular movement control unit 10160 becomes intuitive to the user, namely, pushing up to move the joint to the left and pushing down to move it to the right. This device configuration also remains intuitive even after the shaft 10200 and the end effector 10400 have been rotated 90 degrees to the right or left. However, when the shaft 10200 and the end effector 10400 are rotated more than 90 degrees in either direction, the articular movement control unit 10160 can become counterintuitive to the clinician. In fact, the articular movement control unit 10160 may appear to be facing backward. With this in mind, the control system of the surgical instrument 10000 is configured to reverse the mode in which the surgical instrument responds to the joint movement control unit 10160 when the shaft 10200 and the end effector 10400 are rotated by more than 90 degrees in either direction. In such an example, the control unit will push upward to move the joint to the right and downward to move the joint to the left. For this purpose, as will be described in more detail below, the surgical instrument 10000 is configured to detect the orientation of the shaft 10200 relative to the handle 10100, i.e., whether the end effector 10400 is at least partially upside down relative to the handle 10100, and then to transition to an alternative motion control mode in which the responsiveness of the surgical instrument 10000 to the joint movement control unit 10160 is reversed. Such a device configuration may make the surgical instrument 10000 easier to use in a variety of applications.

[0054] Referring to Figures 2 to 5, the surgical instrument 10000 includes a switch 10130 mounted on the handle 10100 that communicates with a control system, and this switch is configured to detect the rotation of the shaft 10200 relative to the handle 10100. The switch 10130 comprises a switch body 10132 securely mounted on the handle frame 10110 and three electrical contacts 10133 that are part of a switch circuit that communicates with the control system. The switch 10000 further includes a switch arm 10134 rotatably connected to the switch body 10132 and an electrical contact 10136 positioned on the switch body 10132. The switch arm 10134 is made of a conductive material such as brass, and closes the switch circuit when the switch arm 10134 contacts the electrical contact 10136. The switch arm 10134 rotates between an open position (Figure 5) and a closed position when the shaft 10200 is rotated beyond a 90-degree position to the left or right. More specifically, the gripping portion or nozzle 10220 includes a cam 10230 defined thereon, which pushes the switch arm 10134 to its closed position when the shaft 10200 and the end effector 10400 are at least partially upside down. When the shaft 10200 is rotated upward beyond a 90-degree position, the cam 10230 allows the switch arm 10134 to elastically move to its open position, opening the switch circuit. The switch arm 10134 is equipped with a roller 10135 mounted thereon to facilitate relative rotation between the switch arm 10134 and the gripping portion 10220.

[0055] The surgical instrument 11000 is shown in Figure 6. The surgical instrument 11000 is similar in many respects to the surgical instrument 10000. The surgical instrument 11000 comprises a handle 11100 and a shaft 11200 extending from the handle 11100. The handle 11100 comprises a frame 11110, and the shaft 11200 comprises a frame 11210 attached to the handle frame 11110. The shaft 11200 comprises a gripping portion or nozzle 11220, a first magnetic element 11230s located on one side of the gripping portion 11220, and a second magnetic element 11230n located on the opposite side of the gripping portion 11220. In other words, the first magnetic element 11230s and the second magnetic element 11230n are mounted 180 degrees apart. The handle 11100 further comprises a control system including at least one sensor 11130, such as a Hall effect sensor mounted on the handle frame 11110, the control system being configured to sense the positions of magnetic elements 11230s and 11230n and to use this information to determine the orientation of the shaft 11200 relative to the handle 11100. In particular, the first magnetic element 11230s includes a permanent magnet having a south pole facing toward the handle 11100 and a north pole facing toward the handle 11100, and the second magnetic element 11230n includes a permanent magnet having a north pole facing toward the handle 11100 and a south pole facing toward the handle 11100. The magnetic elements 11230s and 11230n disturb the magnetic field radiated by the Hall effect sensor, and when the shaft 11200 is at least partially upside down, the disturbance associated with such orientation of the shaft 11200 is detected by the control system of the surgical instrument 11000 via a sensing circuit including the sensor 11130. In such an example, as described above, the control system transitions to a second operating mode, which reverses the responsiveness of the surgical instrument 11000 to the joint movement control unit 10160, as described above.

[0056] The surgical instrument 12000 is shown in Figures 7 and 8. The surgical instrument 12000 is similar in many respects to the surgical instrument 10000. The surgical instrument 12000 comprises a handle 12100 and a shaft 12200 extending from the handle 12100. The handle 12100 comprises a housing and a first joint movement control unit 12160a located on the first side of the handle housing and a second joint movement control unit 12160b located on the second side or opposite side of the handle housing. The first joint movement control unit 12160a communicates with the control system of the surgical instrument 12000 via a first control circuit, and the second joint movement control unit 12160b communicates with the control system via a second control circuit. The control system is configured to operate the electric motor of the staple launching drive unit in a first direction to articulate the end effector of the shaft 12200 in a first direction when the first joint movement control unit 12160a is activated, and in a second direction or the opposite direction to articulate the end effector in a second direction or the opposite direction when the second joint movement control unit 12160b is activated. The handle 12100 further comprises a centering or home actuator 10170a located on the first side of the handle 12100, and a second centering or home actuator 10170b located on the second side of the handle 12100. Similarly, actuators 10170a and 10170b communicate with the control system, which is configured such that the operation of either the centering actuator 10170a or 10170b causes the control system to operate an electric motor to recenter the end effector.

[0057] Surgical instrument 13000 is shown in Figures 9 and 10. Surgical instrument 13000 is similar in many respects to surgical instrument 10000. Surgical instrument 13000 comprises a handle 13100 and a shaft 13200 extending from the handle 13100. The shaft 13200 comprises a housing and a first joint movement control unit 13260a located on the first side of the shaft housing and a second joint movement control unit 13260b located on the second side or opposite side of the shaft housing. The first joint movement control unit 13260a communicates with the control system of surgical instrument 13000 via a first control circuit, and the second joint movement control unit 13260b communicates with the control system via a second control circuit. The control system is configured to operate the electric motor of the staple launching drive unit in a first direction to articulate the end effector 10400 of the shaft 13200 in a first direction when the first joint movement control unit 13260a is activated, and in a second direction or the opposite direction to articulate the end effector 10400 in a second direction or the opposite direction when the second joint movement control unit 13260b is activated. In other words, the end effector 10400 articulates in the direction of the articulation control unit that is activated. The first joint movement control unit 13260a is positioned on a first finger protrusion defined on the gripping portion or nozzle 13220 of the shaft 13200, and the second joint movement control unit 13260b is positioned on a second finger protrusion defined on the gripping portion 13220. In particular, the joint movement control units 13260a and 13260b are positioned 180 degrees apart. Alternatively, the joint movement control units 13260a and 13260b may be positioned within finger grooves defined within the gripping unit 13220, but any preferred device configuration can be used. This device configuration offers the advantage of having the joint movement control units in a position easily accessible by the clinician's hand during use, and as a result, the relative position and joint movement direction of the joint movement control units 13260a and 13260b are fixed, making them usable in an intuitive manner.

[0058] The surgical instrument 14000 is shown in Figures 11 and 12. The surgical instrument 14000 is similar in many respects to the surgical instrument 13000. The surgical instrument 14000 comprises a handle 13100 and a shaft 14200 extending from the handle 13100. The shaft 14200 comprises a housing and a first joint movement control unit 14260a located on the first side of the shaft housing and a second joint movement control unit 14260b located on the second side of the shaft housing. The first joint movement control unit 14260a communicates with the control system of the surgical instrument 14000 via a first control circuit, and the second joint movement control unit 14260b communicates with the control system via a second control circuit. The control system is configured to operate the electric motor of the staple launching drive unit in a first direction to articulate the end effector 10400 of the shaft 14200 in a first direction when the first joint movement control unit 14260a is activated, and in a second direction or the opposite direction to articulate the end effector 10400 in a second direction or the opposite direction when the second joint movement control unit 14260b is activated. The first joint movement control unit 14260a is located in a first finger groove defined on the gripping portion of the shaft 14200 or the nozzle 14220, and the second joint movement control unit 14260b is located in a second finger groove defined within the gripping portion 14220, however, any suitable device configuration may be used.

[0059] In addition to the above, the shaft 14200 further comprises a third joint movement control unit 14260c located on the second side of the shaft housing and a fourth joint movement control unit 14260d located on the first side of the shaft housing. The third joint movement control unit 14260c communicates with the control system of the surgical instrument 14000 via a third control circuit, and the fourth joint movement control unit 14260b communicates with the control system via a fourth control circuit. The control system is configured to operate the electric motor of the staple launching drive unit in a second direction to articulate the end effector of the shaft 14200 in the second direction when the third joint movement control unit 14260c is activated, and in a first direction to articulate the end effector in the first direction when the fourth joint movement control unit 14260d is activated. The third joint movement control unit 14260c is positioned within a third finger groove defined within the gripping portion 14220 of the shaft 14200, and the fourth joint movement control unit 14260d is positioned within a fourth finger groove defined within the gripping portion 14220; however, any appropriate device configuration may be used.

[0060] The surgical instrument 15000 is shown in Figure 13. The surgical instrument 15000 is similar in many respects to the surgical instrument 10000. The surgical instrument 15000 comprises a handle 15100 and a shaft 10200 extending from the handle 15100. The handle 15100 comprises an articular actuator 15160 that communicates with the control system of the surgical instrument 15000. In contrast to the articular actuator 10160 which is configured vertically, the articular actuator 15160 is configured horizontally. The articular actuator 15160 comprises a rotatable element that is rotatable in a plane parallel to, or at least substantially parallel to, the longitudinal axis of the shaft 10200. The rotatable element is rotatable distally to articulate the end effector 10400 to the right of the handle 15100 and proximal to articulate the end effector 10400 to the left of the handle 15100. This applies regardless of whether the end effector 10400 is rotated upward or downward, due to the control response reversal when the end effector 10400 is rotated more than 90 degrees from the TDC position in either direction. Nevertheless, the control of the joint motion actuator 15160 can be reversed as described above. The joint motion actuator 15160 comprises a distal contact portion which is part of a first joint motion control circuit and a proximal contact portion which is part of a second joint motion control circuit. The rotatable element engages with the distal contact portion and closes the first joint motion control circuit when the rotatable element is in its distal position. The rotatable element does not contact the proximal contact portion when the rotatable element is in its distal position, and therefore the second joint motion control circuit is open. Similarly, the rotatable element engages with the proximal contact portion and closes the second joint motion control circuit when the rotatable element is in its proximal position. Accordingly, the rotatable element does not come into contact with the distal contact when the rotatable element is in its proximal position, and therefore the first joint motion control circuit is released.

[0061] In addition to the above, the articular actuator 15160 is provided with a stopper at the center of the range of motion of the rotatable element. This stopper is configured to resist the movement of the rotatable element as it moves from one side of the articular actuator 15160 to the other. Such resistance to the movement of the rotatable element may signal to the clinician that moving the rotatable element beyond that point would articulate the end effector 10400 in the opposite direction. Furthermore, such a stopper provides a place for the rotatable element to be fixed so that the end effector 10400 does not articulate in either direction. The rotatable element is provided with a protrusion that can be aligned with its center or fixed position, and this protrusion is pushable and pullable by the clinician to move the rotatable element. Such a protrusion provides the clinician with a tactile sensation of the direction in which the rotatable element is rotating, and therefore a sense of the direction in which the end effector 10400 is articulating.

[0062] As described above, various embodiments are conceivable in which the reversal of the control responsiveness of surgical instruments may be disabled. In at least one example, the handle of the surgical instrument comprises an actuator that communicates with a control system, and when actuated, prevents the control system from transitioning to its second, i.e., reversed, mode of operation. In at least one such example, the handle further comprises an indicator, such as a light-emitting diode (LED), which is illuminated to indicate the status of the surgical instrument, i.e., whether the joint motion control unit reverses when the end effector is rotated beyond 90 degrees from its TDC position. In a particular example, the surgical instrument comprises an input screen that communicates with a microprocessor of the control system, which can receive an input to prevent the control system from transitioning to its second mode of operation or reversed mode of operation. In addition to, or instead of, the reversal point at which the surgical instrument transitions to its second mode of operation may be adjusted. In at least one such embodiment, a clinician can change the reversal point to 85 degrees in any direction from the TDC position of the end effector, for example. Depending on the clinician's preference, any suitable number may be used, for example, 80 degrees, 95 degrees, or 100 degrees. In at least one embodiment, the surgical instrument includes an input screen that communicates with a microprocessor of a control system, which is configured to receive input from the clinician and adjust the joint movement control inversion point.

[0063] During use, it is desirable that the joint movement control unit not unexpectedly invert while the clinician is using it. When the clinician begins to articulate the end effector, the control system maintains the joint movement control mode until the clinician releases the joint movement control, even if the end effector and shaft are rotated beyond the inversion point during articulation. When articulation is stopped, the control system can reorient the joint movement control unit or switch to the inverted joint movement control mode if the end effector and shaft are still in an inverted position. In certain embodiments, the control system does not immediately invert the joint movement control unit. Instead, the control system includes a timer circuit, and / or the microprocessor of the control system is programmed to wait for a certain period of time before inverting the control. In at least one example, the control system waits, for example, 5 seconds from the last time the joint movement control unit was used before inverting it. Alternatively, the control system may wait, for example, 2 seconds or 10 seconds. Such a device configuration can help prevent confusion for the user of the surgical instrument. In various embodiments, the surgical instrument includes a tactile feedback generator that communicates with a control system, which is activated by the control system when the joint movement control unit is inverted. For example, motor noise, light, sound, and / or vibration feedback may be used. In some embodiments, the shaft and / or handle includes a mechanical switch that produces an audible click when the shaft is rotated in either direction beyond its inversion point.

[0064] A surgical instrument 32000 is shown in Figures 56 and 57, comprising a handle 32100 and a shaft 32200. The handle 32100 comprises a joint movement control unit 32160 and a joint movement reversal switch 32130 that communicates with the control system of the surgical instrument 32000. The joint movement reversal switch 32130 is mounted on a control board, such as a printed circuit board (PCB), which includes hardware and software for the control system of the surgical instrument 32000. When the shaft 32200 is rotated beyond its 90-degree left or right position, the shaft 32200 contacts the joint movement reversal switch 32130, which is detected by the control system. At this point, the control system follows an algorithm for determining when or whether the joint movement control unit should be reversed. An algorithm 32900 that can control this is shown in Figure 58, but any preferred algorithm may be used. Similarly, the shaft 32200 includes a cam 32230 configured to contact the articular reversal switch 32130. As a result, the articular reversal switch 32130 is opened, i.e., "off", over a 180-degree rotation of the shaft 32200, and closed, i.e., "on", over another 180-degree rotation of the shaft 32200. The cam 32230 is molded into the shroud of the shaft 32200, but may have any preferred device configuration. As described above, the throw of the cam 32230 is designed so that the articular reversal switch 32130 is not accidentally closed or opened by any lateral floating or eccentricity in the rotation of the shaft 32200 or the cam 32230. For this purpose, the shaft 32200 includes fixed bearings for controlling the rotation of the shaft 32200 and the cam 32230. In particular, the articular reversal switch 32130 is sealed to prevent fluid ingress.

[0065] As described above, the articular flip switch 32130 is mounted directly to the control board and is contacted by the shaft assembly when the shaft assembly rotates relative to the handle around its longitudinal axis. When the articular flip switch 32130 is contacted by the shaft assembly, a force is transmitted to the articular flip switch 32130 and the control board. Otherwise, such a force may tend to deflect the control board and the articular flip switch 32130 from their predetermined positions without switching the state of the articular flip switch 32130. In various embodiments, the control board is attached to the handle housing by one or more screws so that the control board does not translate relative to the handle housing. In at least one embodiment, the screws include self-tapping screws that screw into the handle housing and / or the control board. In at least one embodiment, the control board is captured in a press-fit manner so that the control board is securely held between two parts of the handle housing. In various embodiments, the articular flexion flip switch 32130 is attached to the control board using one or more fasteners, such as screws, to prevent the articular flexion flip switch 32130 from moving relative to the control board. In at least one embodiment, the articular flexion flip switch 32130 is bonded to the control board using one or more adhesives. In at least one embodiment, the articular motion flip switch 32130 is soldered to the control board using any suitable solder, such as eutectic tin-lead solder. In at least one embodiment, the articular motion flip switch 32130 comprises a body and electrical terminals, both soldered to the control board. In at least one embodiment, the electrical terminals include pins extending through holes defined in the control board, which are soldered to communicate electrically with one or more trace circuits defined in and / or on the control board. In at least one embodiment, the electrical terminals include surface mount terminals, which are soldered to communicate electrically with one or more trace circuits defined in and / or on the control board.

[0066] In various examples, the surgical instrument includes an input section configured to allow the clinician to select whether the joint movement control unit operates in its normal joint movement control mode or in its inverted joint movement control mode. In at least one example, the handle of the surgical instrument includes an input switch that communicates with the control system of the surgical instrument. When the input switch is open, for example, an algorithm controls the orientation of the joint movement control unit according to a predetermined set of criteria. When the input switch is closed by the clinician, the algorithm does not use the predetermined set of criteria to control the orientation of the joint movement control unit. Instead, the algorithm uses the orientation of the joint movement control unit selected by the clinician. In at least one example, the handle includes three input switches that communicate with the control system: a first switch that instructs the control system to use the “anvil up” joint movement control unit, a second switch that instructs the control system to use the “anvil down” joint movement control unit, and a third switch that instructs the control system to use automatic control. In some embodiments, the surgical instrument may not have the automatic inversion control described herein and may only have the first and second switch inputs. Such a device configuration can significantly reduce the cost and / or complexity of surgical instruments.

[0067] In various examples, in addition to the above, the reversal point may be a specific point in the rotation of shaft 10200. In certain examples, referring to Figure 55, a gray zone may exist around the reversal point. For example, the gray zone may include, for instance, 20 degrees on both sides of the reversal point. While shaft 10200 is in the gray zone, the control system algorithm is configured not to reverse the joint movement control unit even if shaft 10200 may have rotated beyond the reversal point. Such a device configuration makes it possible to rotate shaft 10200 back and forth within the gray zone without repeatedly reversing the joint movement control unit. However, if shaft 10200 rotates outside the gray zone, the control system algorithm reverses the joint movement control unit according to any other criteria necessary to reverse the joint movement control unit. In various examples, a boundary exists between the range of "anvil up" orientation and the range of "anvil down" orientation. For a shaft that can rotate 360 ​​degrees, there are two such boundaries separated by -180 degrees from each other. Each of these boundaries is located within a transition range of orientation that extends into the range of “anvil-up” orientation and the range of “anvil-down” orientation. When shaft 10200 is rotated from the “anvil-up” orientation into the transition range, the control system does not invert the joint motion control unit, but by further rotating shaft 10200 from the transition range into the “anvil-down” orientation, the joint motion control unit will invert. Similarly, the control system does not invert the joint motion control unit when shaft 10200 is rotated from the “anvil-down” orientation into the transition range, but by further rotating shaft 10200 from the transition range into the “anvil-up” orientation, the joint motion control unit will invert. In at least one example, each transition zone includes, for example, an orientation of 5 degrees from the “anvil-up” range and an orientation of 5 degrees from the “anvil-down” range. In other embodiments, each transition zone includes, for example, an orientation of 10 degrees from the “anvil-up” range and an orientation of 10 degrees from the “anvil-down” range.

[0068] In various embodiments, in addition to the above, the vertical orientation of the shaft 10200 is measured relative to the housing that rotatably supports the handle and / or the shaft. In such an example, the handle includes a top and bottom regardless of its gravity orientation, the upward orientation of the shaft 10200 is associated with the top of the handle, and the downward orientation of the shaft 10200 is associated with the bottom of the handle. In at least one such embodiment, the shaft 10200 includes a gravity sensor, such as an accelerometer and / or gyroscope, and the handle includes a gravity sensor. In such an embodiment, the shaft gravity sensor and the handle gravity sensor communicate with a control system configured to evaluate the relative orientation between the shaft and the handle using data from the gravity sensors. In other embodiments, the vertical orientation of the shaft 10200 is measured relative to gravity, regardless of the gravity orientation of the handle. In at least one such embodiment, the shaft 10200 includes a gravity sensor that communicates with a control system, the upward orientation of the shaft 10200 is associated with a vertically upward position, and the downward orientation of the shaft 10200 is associated with a vertically downward position.

[0069] The joint movement control unit 16160 is shown in Figure 14. The joint movement control unit 16160 comprises a first capacitive switch 16162 and a second capacitive switch 16164. The first capacitive switch 16162 and the second capacitive switch 16164 are located on opposite sides of axis 16167. The first capacitive switch 16162 is part of a first joint movement control circuit that communicates with the control system of the surgical instrument, and the second capacitive switch 16164 is part of a second joint movement control circuit that communicates with the control system. The capacitance of the first capacitive switch 16162 changes when a clinician places their finger on the first capacitive switch 16162, which is detected by the control system, and in response to this change, the control system articulates the end effector of the surgical instrument to the right. The capacitance of the second capacitive switch 16164 changes when a clinician places their finger over the second capacitive switch 16164, which is detected by the control system, and in response to this change, the control system articulates the end effector of the surgical instrument to the left. In various examples, the axis 16167 includes a dead zone in which the capacitance of the first capacitive switch 16162 or the second capacitive switch 16164 is not detected or sufficiently changed even when touched by a clinician.

[0070] A two-stage switch 17160 is shown in Figure 15. When the switch 17160 is pressed down to its first stage, the first joint movement control circuit is closed. The first joint movement control circuit communicates with the control system of the surgical instrument. When the control system detects that the first joint movement control circuit has been closed, the control system operates the joint movement drive motor in a first direction to articulate the end effector of the surgical instrument in the first direction. When the switch 17160 is pressed down to its second stage, the second joint movement control circuit is closed. In various examples, the first stage includes a first locking mechanism, and the second stage includes a second locking mechanism. In at least one such example, the switch 17160 includes, for example, a double locking switch that can be pressed to two different depths. In either case, the second joint movement control circuit communicates with the control system of the surgical instrument. When the control system detects that the second joint motion control circuit is closed, the control system operates the joint motion drive motor in the second direction to articulate the end effector of the surgical instrument in the second direction. In addition to the above, the second joint motion control circuit is opened when the first joint motion control circuit is closed, and similarly, the first joint motion control circuit is opened when the second joint motion control circuit is closed. Although described above, in alternative embodiments, the joint motion control circuits may be opened at each stage in order to operate the joint motion motor.

[0071] In addition to the above, many clinicians prefer to look at the patient when performing open surgery and / or the endoscopic monitor when performing laparoscopic surgery. Therefore, clinicians typically do not look at the surgical instruments they are holding, but instead rely on the tactile sensation and / or intuitive design of the surgical instruments to operate them. In other words, clinicians may not like to look down at the handles of the instruments they are holding to confirm the direction in which they are articulating the instrument. That said, referring to Figures 16 and 17, the surgical instrument may comprise a shaft 18200 with an indicator light configured to indicate the direction in which the end effector, such as the end effector 18400, is articulating. The articulation indicator light is visible to the clinician while the clinician is viewing the end effector 18400 of the surgical instrument directly or through the endoscopic system monitor. In various examples, the endoscopic system comprises an elongated flexible shaft comprising a camera, a light, and / or any other suitable optical device communicating with a control hub including a video monitor configured to display the output of the control system and / or the camera. In such cases, the end effector 18400 and indicator lights are visible on the video monitor.

[0072] In addition to the above, referring again to Figures 16 and 17, the shaft 18200 includes a first indicator light 18260a located to the right of the end effector 18400, which communicates with the surgical instrument control system via a first electrical circuit. When the control system receives an input to articulate the end effector 18400 to the right, the control system operates the articulation drive motor in the direction of articulating the end effector 18400 to the right and illuminates the first indicator light 18260a. When the control system no longer receives this input, the control system deactivates the articulation drive motor and the first indicator light 18260a. Similarly, the shaft 18200 includes a second indicator light 18260b located to the left of the end effector 18400, which communicates with the surgical instrument control system via a second electrical circuit. When the control system receives an input to articulate the end effector 18400 to the left, the control system operates the articulation drive motor in the direction of articulating the end effector 18400 to the left and illuminates the second indicator light 18260b. When the control system no longer receives this input, the control system deactivates the articulation drive motor and the second indicator light 18260b.

[0073] As described above, the first indicator light 18260a and the second indicator light 18260b are positioned on the end effector 18400 in a location easily observable by a clinician when viewing the end effector 18400. The indicator lights 18260a and 18260b are positioned distal to the articular joint 10500; however, in alternative embodiments, the indicator lights 18260a and 18260b are positioned proximal to the articular joint 10500. In various embodiments, the surgical instrument comprises two or more sets of indicator lights. In at least one such embodiment, the first set of indicator lights 18260a and 18260b are positioned distal to the articular joint 10500, and the second set of indicator lights 18260a and 18260b are positioned proximal to the articular joint 10500. An alternative embodiment comprising indicator lights 18260a' and 18260b' on the shaft 18200' is shown in Figure 18. Indicator light 18260a' comprises an LED in the shape of a right-pointing arrow, and indicator light 18260b' comprises an LED in the shape of a left-pointing arrow. The right-pointing arrow 18260a' points to the right of the end effector, but due to possible rotation of the shaft 18200', it does not necessarily point to the right of the surgical instrument handle and / or the clinician. Similarly, the left-pointing arrow 18260b' points to the left of the end effector, but due to possible rotation of the shaft 18200', it does not necessarily point to the left of the surgical instrument handle and / or the clinician. In other words, the arrows point in the direction in which the end effector is articulating when illuminated. For example, considering that the arrow is observable on the endoscopic monitor along with the end effector, the clinician will develop a sense of the direction in which the end effector moves when the joint movement actuator is activated and the arrow is illuminated. If the clinician observes that the illuminated arrow is in the opposite direction to what the clinician expected when the joint movement actuator is activated, the clinician can react quickly and reactivate the joint movement actuator in the correct direction.In various alternative embodiments, arrows 18260a' and 18260b' may change color when activated. For example, arrow 18260a' illuminates red when the end effector is not articulated to the right, but illuminates green when the end effector is articulated to the right. Similarly, arrow 18260b' illuminates red when the end effector is not articulated to the left, but illuminates green when the end effector is articulated to the left.

[0074] In various embodiments, in addition to the above, the joint movement indicator light may be embedded in the outer housing of the shaft and / or positioned on the outer housing of the shaft. In certain embodiments, the indicator light is positioned inside the shaft but is visible from the outside of the shaft, for example, through a window and / or opening defined inside the shaft.

[0075] A surgical instrument 26000 is shown in Figures 26A and 26B. The surgical instrument 26000 comprises a handle 26100 and a shaft 12200 extending from the handle 26100. The shaft 12200 comprises an end effector 26400 including a staple cartridge jaw 26410 and an anvil jaw 10420. The end effector 26400 further comprises a first articular movement indicator light 26460a located on the first side of the end effector 26400 and a second articular movement indicator light 26460b located on the second side of the end effector 26400. As described above, the control system of the surgical instrument 26000 illuminates the first articular movement indicator light 26460a when the end effector 26400 is articularly moved in a first direction. In such an example, the control system does not illuminate the second joint movement indicator light 26460b. Correspondingly, the control system of the surgical instrument 26000 illuminates the second joint indicator light 26460b when the end effector 26400 is articulated in a second direction. In such an example, the control system does not illuminate the first joint movement indicator light 26460a. The indicator lights 26460a and 26460b are mounted on and / or embedded within the frame of the staple cartridge jaw 26410. However, the indicator lights 26460a and 26460b may be mounted on and / or embedded within the staple cartridge positioned within the staple cartridge jaw 26410. In such an example, the staple cartridge jaw 26410 includes an electrical circuit that communicates with a control system of the surgical instrument, which is configured to communicate with an electrical circuit within the staple cartridge when the staple cartridge is seated within the staple cartridge jaw 26410.

[0076] As described above, the articular movement system of a surgical instrument may include an articular movement driver that is movable proximal to articularize the end effector in a first direction and distal to articularize the end effector in a second direction. Referring to Figure 27, the surgical instrument may comprise a handle 26100, a shaft 12200 extending from the handle 26100, and an end effector 10400 rotatably connected to the shaft 12200 about an articular movement joint 10500. The shaft 12200 comprises an articular movement driver 10260 having a proximal end operably connected to the articular movement driver system and a distal end connected to the end effector 10400. For this purpose, the articular movement driver 10260 extends distally beyond the articular movement joint 10500 and, in this embodiment, is partially visible to the clinician holding the surgical instrument. A portion of the joint motion driver 10260 that is visible to the clinician is also visible to the clinician through the endoscopic monitor. In fact, the clinician may be able to observe the movement of the joint motion driver 10260 through the endoscopic monitor. The visible portion of the joint motion driver 10260 includes, for example, markings such as 24640a' and 24640b' on it, which correlate the movement of the joint motion driver 10260 with the movement of the end effector 10400. In at least one example, the markings may include a first set of markings including an arrow 24640a' pointed distally and a circular arrow indicating the direction in which the end effector 10400 rotates when the joint motion driver 10260 is moved distally. The markings may also include a second set of markings, which include an arrow 24640b' pointed proximally and a circular arrow pointing in the opposite direction indicating the direction in which the end effector 10400 rotates when the joint motion driver 10260 is moved proximally. An alternative joint motion driver 10260' having a laterally extending portion that can be easily seen by a clinician is shown in Figure 28. In such a case, the markings described above are located on the laterally extending portion.

[0077] A surgical instrument 19000 is shown in Figure 19. The surgical instrument 19000 is similar in many respects to the surgical instrument 15000. The surgical instrument 19000 comprises a handle 19100 and a shaft 10200 extending from the handle 19100. The handle 19100 includes an articular motion actuator 19160 that communicates with the control system of the surgical instrument 19000. In contrast to the articular motion actuator 10160, which is configured vertically, the articular motion actuator 19160 is configured horizontally. The articular motion actuator 19160 includes a slidable element 19162 that slides along an axis parallel to, or at least substantially parallel to, the longitudinal axis of the shaft 10200. In at least one example, the axis of the articular motion actuator 19160 is aligned with the longitudinal axis of the shaft 10200. The slidable element 19162 is positioned in a slot 19164 on the handle 19100 of the surgical instrument 19000. The slidable element 19162 is slidable distally to articulate the end effector 10400 to the right of the handle 19100, and proximal to articulate the end effector 10400 to the left of the handle 19100. This is true regardless of whether the end effector 10400 is rotated upward or downward, due to a control response reversal when the end effector 10400 is rotated more than 90 degrees from the TDC position in either direction. Nevertheless, the control of the articulation actuator 19160 can be reversed as described above.

[0078] The joint motion actuator 19160 comprises a distal contact portion which is part of a first joint motion control circuit and a proximal contact portion which is part of a second joint motion control circuit. The slidable element 19162 engages with the distal contact portion and closes the first joint motion control circuit when the slidable element 19162 is in its distal position. The slidable element 19162 does not contact the proximal contact portion when the slidable element 19162 is in its distal position, and therefore the second joint motion control circuit is opened. Similarly, the slidable element 19162 engages with the proximal contact portion and closes the second joint motion control circuit when the slidable element 19162 is in its proximal position. Correspondingly, the slidable element 19162 does not contact the distal contact portion when the slidable element 19162 is in its proximal position, and therefore the first joint motion control circuit is opened. In any case, the articular movement actuator 19160 is equipped with a stopper 19163 at the center of the range of motion of the sliding element 19162. This stopper 19163 is configured to resist the movement of the sliding element 19162 as it moves from one side of the articular movement actuator 19160 to the other. Such resistance to the movement of the sliding element 19162 may signal to the clinician that moving the sliding element 19162 beyond that point would articulate the end effector 10400 in the opposite direction. Furthermore, such a stopper 19163 provides a place for the sliding element 19162 to be fixed so that the end effector 10400 does not articulate in either direction.

[0079] Surgical instrument 20000 is shown in Figure 20. Surgical instrument 20000 is similar in many respects to surgical instrument 10000. Surgical instrument 20000 comprises a handle 20100 and a shaft 12200 extending from the handle 20100. The handle 20100 includes an articular actuator 20160 that communicates with the control system of surgical instrument 20000. The articular actuator 20160 includes a two-dimensional joystick that is aligned with the longitudinal axis of the shaft 12200 and movable in a plane that is parallel to or at least substantially parallel to that longitudinal axis. The joystick is movable distally to articulate the end effector 10400 to the right of the handle 20100 and proximal to articulate the end effector 10400 to the left of the handle 20100. In at least one example, the joystick comprises a handle having an inner end positioned within a sensor sheet that communicates with a control system for the surgical instrument 20000. The joystick is pivotable within the sensor sheet by the clinician when the clinician operates the outer end of the joystick handle. Such movement of the joystick is detectable by a control system that operates an articular movement system in response to input from the sensor sheet. The articular movement actuator 20160 comprises one or more biasing mechanisms, such as a spring, configured to bias the joystick handle to a centered position or at least substantially centered position within the sensor sheet where the control system does not articularize the end effector 10400.

[0080] As described above, the end effector 10400 is articulate in a plane. In an alternative embodiment, the surgical instrument comprises a second articulation joint. In such an embodiment, the end effector 10400 is rotatable in two or more planes. In various embodiments, the surgical instrument comprises an articulation joint that allows the end effector 10400 to rotate within a three-dimensional spherical position range. Referring to Figure 21, the surgical instrument 21000 comprises a shaft 21200 including an articulation joint 21500 that enables such articulation of the end effector 10400. The surgical instrument 21000 further comprises a handle 21100 including an articulation actuator 21160 that communicates with a control system for the surgical instrument 21000. The articulation actuator 21160 comprises a three-dimensional joystick that is movable in proximal, distal, upward, downward, and combined directions. The joystick is movable distally to articulate the end effector to the right of the handle 20100, and proximal to articulate the end effector to the left of the handle 21100. The joystick is movable upward, for example, to articulate the end effector upward, and downward, for articulate the end effector downward. The joystick is also movable in an upward and distal direction, for example, to move the end effector upward and to the right. The joystick is also movable in a downward and proximal direction, for example, to move the end effector downward and to the left. In at least one example, the joystick comprises a handle having an inner end positioned within a sensor sheet that communicates with a control system of the surgical instrument 21000. The joystick is pivotable within the sensor sheet by the clinician when the clinician operates the outer end of the handle. Such movement of the joystick is detectable by a control system that operates the articulation system in response to input from the sensor sheet.The joint motion actuator 21160 includes one or more biasing mechanisms, such as a spring, configured to bias the joystick handle to a centered position or at least substantially centered position within a sensor sheet where the control system does not cause the end effector 10400 to articulate.

[0081] The surgical instrument 22000 is shown in Figures 22A and 22B. The surgical instrument 22000 is similar in many respects to the surgical instrument 21000. The surgical instrument 22000 comprises a handle 22100 and a shaft 21200 extending from the handle 22100. The handle 22100 is equipped with an articular actuator 21160 positioned laterally to the handle 22100, and in addition, an articular actuator 22160 positioned in front of the handle 22100. Similar to the articular actuator 21160, the articular actuator 22160 is equipped with a three-dimensional joystick that communicates with the control system of the surgical instrument 21000, making it possible to articulate the end effector of the surgical instrument 21000 in a three-dimensional field. The front articular actuator 22160 is easily accessible by the index finger of a clinician holding the pistol grip of the handle 22100. While the device includes a joint motion actuator 22160, alternative embodiments that do not include the joint motion actuator 22160 are also conceivable.

[0082] Referring to Figure 23, the surgical instrument 23000 comprises a shaft 21200 including an articulation joint 21500 that enables three-dimensional articulation of the end effector 10400. The surgical instrument 23000 further comprises a handle 23100 including a housing 23120, and in addition, an articulation actuator 23160 that communicates with the control system of the surgical instrument 23000. The articulation actuator 23160 comprises a four-directional tactile control unit that is movable in proximal, distal, upward, downward, and combined directions. The four-directional tactile control unit is movable distally to articulate the end effector to the right of the handle 23100, and is movable proximal to articulate the end effector to the left of the handle 23100. The four-directional tactile control unit is movable upward to articulate the end effector upward, and is movable downward to articulate the end effector downward. The four-directional tactile control unit is also movable in a composite upward and distal direction, for example, to move the end effector in an upward and rightward direction. The four-directional tactile control unit is also movable in a composite downward and proximal direction, for example, to move the end effector in a downward and leftward direction. In at least one example, the four-directional tactile control unit comprises four pushable actuators, one for each of the right, left, upward, and downward directions, each of which is part of a control circuit that communicates with the control system of the surgical instrument 23000. The movement of the four-directional tactile control unit is detectable by a control system that operates the articular motion system in a three-dimensional range in response to input from the articular motion actuator 23160. The articular motion actuator 23160 comprises one or more biasing mechanisms, such as a spring, configured to bias the four-directional tactile control unit to a centered position or at least substantially centered position, where the control system does not articulate the end effector 10400.

[0083] The surgical instrument 24000 is shown in Figure 24. The surgical instrument 24000 is similar in many respects to the surgical instrument 23000. The surgical instrument 24000 comprises a handle 24100 including an articular actuator 24160. Like the articular actuator 23160, the articular actuator 24160 comprises a four-way tactile control unit. However, the articular actuator 24160 comprises an integrated recentering mechanism. More specifically, the articular actuator 24160 comprises a pressable actuator located in the center of the articular actuator 24160 that communicates with the control system of the surgical instrument 24000. When the central actuator is pressed, the control system operates to realign the end effector 10400 with the longitudinal axis of the shaft 10200, similar to the operation of the actuator 10170 described above. As a result of the above, the re-centering actuator is positioned in the center of the four-way actuator, resulting in a compact and intuitive device configuration.

[0084] The surgical instrument 25000 is shown in Figure 25. The surgical instrument 25000 is similar in many respects to the surgical instrument 24000. The surgical instrument 25000 comprises a handle 25100 including an articular motion actuator 25160. Similar to the articular motion actuator 23160, the articular motion actuator 25160 comprises a four-way control unit that communicates with the control system of the surgical instrument 25000. That said, the four-way control unit comprises a capacitive surface that allows a clinician to control the articular motion of the end effector in a three-dimensional range by tapping and / or dragging a finger across the surface of the articular motion actuator 25160. In at least one example, the articular motion actuator comprises a touchscreen and an array of capacitive sensors located beneath the touchscreen, configured to detect, for example, the presence and / or movement of a clinician's finger. During use, for example, tapping the top of the capacitive surface causes the end effector 10400 to articulate upward, tapping the bottom of the capacitive surface causes the end effector 10400 to articulate downward, tapping the distal end of the capacitive surface causes the end effector 10400 to articulate to the right, and tapping the proximal end of the capacitive surface causes the end effector 10400 to articulate to the left. Tapping the center of the articulation screen recenters the end effector 10400 along the longitudinal axis of the shaft 21200. When rotational motion is performed on the surface of the articulation actuator 25160, the control system rotates the end effector 10400 in the direction and / or speed indicated by that rotational motion. In various examples, the control system of the surgical instrument 25000 includes a pulse-width modulation (PWM) control circuit for controlling the speed of an electric motor used to drive the articulation system of the surgical instrument 25000. In at least one embodiment, the control system includes, in addition to or instead of, a PWM control circuit for controlling the speed of the articular motion motor, a frequency modulation (FM) control circuit.

[0085] As described above, the end effector of a surgical instrument may be rotatable in two or more directions and / or planes. To achieve this, in various embodiments, the surgical instrument comprises a first motor drive system for moving the end effector in a left-right manner and a second motor drive system for moving the end effector in an up-down manner. Both motor drive systems communicate with a control system for the surgical instrument and can be driven sequentially and / or simultaneously by the control system to position the end effector in a direction indicated by input from an articular actuator, or a plurality of articular actuators.

[0086] Many of the surgical instruments described above have a gripping section configured to be grasped by a clinician to rotate the shaft about its longitudinal axis. In various examples, the clinician can hold the gripping section with one hand, and can also grasp the gripping section and rotate the shaft by extending, for example, their index finger from that hand. However, such a device configuration requires the clinician to have somewhat large hands. While such surgical instruments can be operated with one hand, surgical instruments 27000, which may be easier to use, are shown in Figures 29 and 30. Surgical instrument 27000 comprises a handle 27100 and a shaft 27200 extending from the handle 27100, which is rotatable about its longitudinal axis. The handle 27100 comprises a handle frame 27110 and a housing that rotatably supports the shaft 27200. The handle 27100 further comprises an actuator 27220 positioned on the front side of the handle housing 27110, which, when rotated by a clinician, rotates the shaft 27200 about its longitudinal axis L. The actuator 27220 is rotatably mounted on the handle housing 27110 and is rotatable about axis A which is parallel to, or at least substantially parallel to, the longitudinal axis of the shaft 27200. The actuator 27220 comprises a ring of gear teeth extending around its outer circumference, which is operably engaged with a ring of gear teeth extending around the outer circumference of the shaft 27200 via a transmission gear 27225, so that when the actuator 27220 is rotated about its axis, the shaft 27200 is rotated about its longitudinal axis. However, the gear teeth of actuator 27220 do not directly engage with the gear teeth of shaft 27200. Instead, an intermediate gear 27225, rotatably mounted on handle 27100, directly engages with the gear teeth of actuator 27220 and shaft 27200.This device configuration synchronizes the motion of the actuator 27220 and the shaft 27200; that is, rotating the actuator 27220 to the right causes the shaft 27200 to rotate to the right, and rotating the actuator 27220 to the left causes the shaft 27200 to rotate to the left. Without the introduction of the intermediate gear 27225, the shaft 27200 would rotate in the opposite direction, but such a device configuration can provide a torque balance that promotes the stability of the device.

[0087] In addition to the above, embodiments are envisioned in which the rotation of the shaft 27200 is driven by an electric motor. In various embodiments, when the actuator 27220 is rotated in a first direction, the electric motor operates to rotate the shaft 27200 in the first direction. Similarly, when the actuator 27220 is rotated in a second direction, the electric motor rotates the shaft 27200 in a second direction. In at least one embodiment, the output shaft of the electric motor comprises a pinion gear that operably meshes with a ring of gear teeth around the shaft 27200. Furthermore, in at least one embodiment, the actuator 27220 comprises one or more sensors configured to detect the direction and degree of rotation of the actuator 27220, which communicate with a control system for surgical instruments. This data is used by the control system to control the direction and speed of the electric motor. For example, when the actuator 27220 is rotated a small amount in the first direction, the shaft 27220 rotates slowly in the first direction, whereas when the actuator 27220 is rotated a larger amount in the first direction, the shaft 27220 rotates quickly in the first direction.

[0088] In addition to the above, the actuator 27220 comprises a bar including a first end and a second end. The orientation of the bar is synchronized with the orientation of the shaft 27200. When the first end of the bar is directly above the second end, i.e., when the first end is closest to the shaft 27200, the shaft 27200 is at its top dead center (TDC). Correspondingly, the shaft 27200 is at its bottom dead center (BDC) when the second end of the bar is directly above the first end, i.e., when the second end is closest to the shaft 27200. As a result of this device configuration, the user of the surgical instrument obtains an intuitive sense of the orientation of the shaft 27200 based on the orientation of the actuator 27220.

[0089] Surgical instrument 30000 is shown in Figures 51 and 52. The surgical instrument is similar in many respects to surgical instrument 10000. In contrast to the vertical joint actuator 10160, the handle of surgical instrument 30000 features a horizontal joint actuator 30160. The horizontal joint actuator 30160 includes a rocker switch that can be swung distally to rotate the end effector to the right and proximal to rotate the end effector to the left. Surgical instrument 31000 is shown in Figures 53 and 54. The surgical instrument is similar in many respects to surgical instrument 10000. In contrast to the vertical joint actuator 10160, the handle of surgical instrument 31000 features a joint actuator 31160. The joint motion actuator 31160 comprises a multi-axis rocker switch that can swing from proximal to distal to articulate an end effector in one plane and from top to bottom to articulate an end effector in another plane. In various examples, the joint motion planes are orthogonal to each other, but can be arranged in any preferred manner.

[0090] As described above, the control system for a surgical instrument may include an algorithm that, in certain cases, reverses and / or reorients the control of the surgical instrument according to predetermined criteria. In various examples, as similarly described above, the algorithm may be configured to reverse the joint motion control unit of the surgical instrument based on the rotation of the shaft relative to the handle. Referring to Figure 59, the surgical instrument includes a handle equipped with a Hall effect sensor 33130 and / or any other suitable sensor that communicates with the control system for the surgical instrument, and in addition, a shaft 33200 including an array of magnets 33230 arranged in a circular or annular pattern around the shroud or gripping portion 10220 of the shaft 33200. Each magnet 33230 has a north pole (N) and a south pole (S), and the magnets 33230 are arranged in the manner shown in Figure 59, i.e., some of the north poles of the magnets 33230 face the handle and some of the south poles face the handle. As the shaft 33200 is rotated relative to the handle, this configuration of the magnets 33230 allows the control system to track the position of the shaft 33200 and determine its orientation or rotation relative to the handle. For example, within any three consecutive magnets 33230, the pattern of the magnets 33230 generates an identifiable signature unique to a given direction of rotation. That said, any suitable number and / or arrangement of separate magnets can be used. Twelve magnets 33230 are used, but fewer than twelve magnets may be used, such as six magnets. Furthermore, thirteen or more magnets may be used.

[0091] Referring to Figure 60, the surgical instrument comprises a handle equipped with a Hall effect sensor 34130 and / or any other suitable sensor that communicates with a control system for the surgical instrument, and in addition, a shaft 34200 including a continuous annular magnet 34230 attached to the shroud or grip 10220 of the shaft 34200. In various examples, the annular magnet 34230 includes a disk or ring embedded with a magnetic microstructure detectable by the Hall effect sensor. The annular magnet 34230 has a continuous but variable magnetic pattern around its outer circumference, thereby providing a traceable pattern for the control system to evaluate the orientation or rotation of the shaft 34200. In other embodiments, the annular magnet 34230 has an intermittent magnetic pattern around its outer circumference that is traceable by the control system.

[0092] Referring to Figure 61, the surgical instrument comprises a handle equipped with an RFID reader 35130 that communicates with a control system for the surgical instrument, and in addition, a shaft 35200 containing a circular or annular array of RFID chips 35230 around the shroud or gripping portion 10220 of the shaft 35200. Each RFID chip has unique identification information detectable by the RFID reader 35130, and using this information, the control system can evaluate the orientation or rotation of the shaft 35200 relative to the handle. In particular, the RFID reader 35130 has a limited range for reading the RFID chips 35230, and therefore only needs to be able to read the most adjacent RFID chips 35230. In some examples, the RFID reader 35130 may have a range sufficient to read two of the most adjacent RFID chips 35230. The shaft 35200 comprises four RFID chips 35230, but may comprise any preferred number of RFID chips 35230. That said, the accuracy or resolution of evaluations performed by control systems can be improved in various cases by using a larger number of RFID chips.

[0093] Referring to Figure 62, the surgical instrument comprises a handle equipped with a Hall effect sensor 36130a and / or any other suitable sensor that communicates with a control system for the surgical instrument, and a shaft 36200 that includes an array of magnets 36230a arranged in a circular or annular pattern around the shroud of the shaft 36200. The handle also comprises an RFID reader 36130b that communicates with the control system for the surgical instrument, and a circular or annular array of RFID chips 36230b around the shroud of the shaft 36200. The control system is configured to use data from the Hall effect sensor 36130a and the RFID reader 36130b to evaluate the orientation of the shaft 36200 relative to the handle. In particular, the RFID chips 36230b are positioned between the magnets 36230a, thereby providing the control system with a detectable resolution between adjacent magnets 36230a. Similarly, the magnet 36230a is positioned between the RFID chips 36230b, thereby providing the control system with a detectable resolution between the RFID chips 36230b.

[0094] A surgical instrument 37000 is shown in Figures 63 to 66. The surgical instrument 37000 comprises a handle 37100 and a shaft 37200 extending from the handle 37100. The surgical instrument 37000 further comprises a slip joint 37900 between the handle 37100 and the shaft 37200. The slip joint 37900 provides an electrical interface between the handle 37100 and the shaft 37200. The slip joint 37900 comprises an annular ring 37930 fitted on the shaft 37200. Four annular rings 37930 are shown in Figures 63 and 64, but the slip joint may comprise any preferred number of rings. The slip joint 37900 further comprises an electrical contact 37130 within the handle 37100. For example, the slip coupling 37900 comprises a first electrical contact 37130 engaged with a first annular ring 37930, and a second electrical contact 37130 engaged with a second annular ring 37930. Nevertheless, the slip coupling 37900 may have any suitable number of electrical contacts to maintain power and / or signal communication between the handle and the shaft. Throughout the entire rotation of the shaft 37200, i.e., all 360 degrees, the electrical contacts 37130 remain electrically in contact with their respective annular rings 37930. In various examples, each electrical contact 37130 comprises a spring element configured to bias the electrical contact toward its corresponding annular ring 37930. The electrical contacts 37130 communicate with the control system of the surgical instrument 37000 via a separate circuit so that the control system can evaluate the resistance of the circuit and / or any other electrical characteristics of the circuit between the control system and the slip coupling 37900. As a result, the electrical contacts and ring of the slip joint 37900 can be part of any suitable circuit configuration.

[0095] In addition to the above, the slip coupling 37900 can be used as an absolute position sensor for the shaft 37200 relative to the handle 37100. More specifically, an intermediate annular ring 37930, i.e., an annular ring 37930 between the first ring 37930 and the second ring 37930, can be used by a control system to evaluate the orientation of the shaft 37200. For this purpose, the slip coupling 37900 includes an intermediate annular ring 37930 and an intermediate electrical contact 37130 that communicates with the control system as part of an intermediate electrical circuit. The intermediate annular ring 37930 is made of a material with higher resistance compared to the first and second annular rings 37930, providing, for example, a resistance of 10,000 ohms. The intermediate annular ring 37930 has a first portion electrically coupled to the first annular ring 37930, a second annular portion electrically coupled to the second annular ring 37930, and a small break point between them. As the shaft 37200 is rotated relative to the handle 37100, the intermediate electrical contact 37130 slides along the intermediate annular ring 37930, and the resistance and voltage of the intermediate electrical circuit change in a manner detectable by the control system due to the closing and opening of the break point by the intermediate contact 37130. The signal from the intermediate electrical circuit is digitized by the control system's analog-to-digital converter, and the data therefrom is available to the control system to evaluate the orientation of the shaft 37200. In various examples, any number of suitable gaps in the intermediate annular ring 37930 and / or the intermediate contact 37130 can be used to provide a signal with sufficient resolution to determine the orientation or rotation of the shaft 37200 relative to the handle 37100.

[0096] In various embodiments, a resistive material, which is part of an electrical circuit passing through a slip ring, is embedded within the shaft of a surgical instrument. As the shaft rotates, the resistance of the electrical circuit changes, which can be detected by the surgical instrument's control system to evaluate the angular orientation of the shaft relative to the handle.

[0097] A representation of the surgical instrument 38000 is shown in Figure 67. The surgical instrument 38000 comprises a handle 38100 and a shaft 38200 extending from the handle 38100. The handle 38100 comprises an annular array of Hall effect sensors 38130 attached to the frame and / or housing of the handle 38100. The Hall effect sensors 38130 are positioned along the outer circumference within the handle 38100, as shown in Figure 67. The Hall effect sensors 38130 communicate with a control system via an electrical circuit. The shaft 38200 comprises a magnet 38230 mounted on the shroud of the shaft 38200, which is aligned with or at least substantially aligned with the outer circumference of the Hall effect sensors 38130. As the shaft 38200 rotates about its longitudinal axis, the magnet 38230 moves along the outer circumference of the sensors. The sensors 38130 are configured such that one or more of them can detect the position of the magnet 38230, and the control system can determine the orientation of the shaft 38200 relative to the handle 38100 based on which Hall effect sensor 38130 has detected the magnetic strain and strain intensity generated by the magnet 38230.

[0098] In various embodiments, a surgical instrument may include one or more optical sensors configured to detect the orientation of the shaft relative to the handle. In at least one embodiment, the handle of the surgical instrument comprises a light emitter and a photodetector that communicates with a control system for the surgical instrument. The shaft comprises a reflective surface that rotates with the shaft. The light emitter emits light to the reflective surface, and the light is reflected back to the photodetector. The reflective surface comprises different portions having different reflectances, thereby generating a pattern in the light reflected back to the photodetector. This information allows the control system to evaluate the orientation of the shaft relative to the handle. In various examples, the reflective surface comprises, for example, an aperture and a solid region for generating a binary off-on or low-high reflection response signal.

[0099] In various embodiments, the surgical instrument comprises an electromechanical transducer, such as a linear variable differential transformer, used in conjunction with a mechanical cam to measure the depth of the cam and correlate it to the rotation angle of the shaft. In various embodiments, the handle of the surgical instrument comprises a magnetometer that communicates with a control system, and in addition, the shaft comprises a magnet detectable by the magnetometer.

[0100] In various embodiments, the shaft of a surgical instrument includes a gyroscope sensor within the shaft, which is used by a control system to evaluate the orientation of the shaft relative to the handle. In at least one such embodiment, the handle also includes a gyroscope sensor that communicates with the control system so that the relative orientation of the handle and the shaft can be evaluated. In various embodiments, the shaft of a surgical instrument includes a tilt sensor, which is used by a control system to evaluate the orientation of the shaft relative to the handle. In at least one embodiment, an SQ-MIN-200 sensor may be used. The SQ-MIN-200 sensor acts like a normally closed sensor, opening and closing by chattering when it is tilted or vibrated. That said, any suitable omnidirectional sensor may be used, for example.

[0101] In various embodiments, the detectable element may be positioned on the clamp drive unit of the shaft or on the closing tube. When the shaft rotates, the closing tube rotates with the shaft. Thus, one or more sensors on the handle can detect the orientation of the shaft relative to the handle via the detectable element on the shaft. As described herein, when the closing tube is translated to close the end effector, the detectable element moves relative to one or more sensors. Such translation of the detectable element can also be used to confirm the closure of the end effector. In at least one example, a Hall effect sensor may be used to detect the rotation and translation of the detectable element. In various examples, the control system of the surgical instrument is configured to prevent the end effector from articulating while it is closed. This device configuration provides feedback to the control system to determine not only the responsiveness of the articulation control unit, but also whether the control system should respond to all inputs from the articulation control unit.

[0102] Referring again to Figures 27 and 28, in various embodiments, the distal end of the articular actuator 10260 of the surgical instrument 10000 is attached to the end effector 10400 such that the proximal and distal translation of the articular actuator 10260 rotates the end effector 10400 around the articular joint 10500. Referring to Figure 32, the shaft 10200 of the surgical instrument 10000 comprises a shaft frame 10210 that slidably supports the articular actuator 10260. Although not shown in Figure 32, the shaft 10200 further comprises a pivot pin 10215 extending from the frame 10210. The pivot pin 10215 is tightly received within the pivot aperture 10415 defined on the staple cartridge jaw 10410 of the end effector 10400, and this pivot aperture defines the articular motion axis AA of the articular motion joint 10500. The articular motion driver 10260 has a distal end containing an aperture 10262 defined inside, and the end effector 10400 further comprises an articular motion pin 10460 extending from the proximal end of the staple cartridge jaw 10410 into the aperture 10262. As described above, when the articular motion actuator 10260 is translated, the side wall of the aperture 10262 engages with the articular motion pin 10460, pushing or pulling the articular motion pin 10460 depending on the direction in which the articular motion actuator 10260 is translated. The entire disclosure of U.S. Patent No. 9,101,358, issued August 11, 2015, titled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," is incorporated herein by reference. The entire disclosure of U.S. Patent No. 5,865,361, issued February 2, 2019, titled "SURGICAL STAPLING APPARATUS," is incorporated herein by reference.

[0103] In addition to the above, the end effector 10400 defines the end effector axis EA, and the shaft 10200 defines the longitudinal shaft axis LSA. When the end effector 10400 is in a non-articular position, the end effector axis EA is aligned with the longitudinal shaft axis LSA, or at least substantially aligned with it. As shown in Figure 32, when the end effector 10400 is in an articular position, the end effector axis EA crosses the longitudinal axis LSA. The aperture 10262 is elongated to accommodate the relative motion between the articular pin 10460 and the articular drive 10260; however, for large articular angles, the articular drive 10260 may be coupled and / or bent, resulting in the articular drive 10260 separating from the articular pin 10460. With this in mind, the end effector 10400 further comprises a retaining plate 10600 configured to keep the articular motion driver 10260 engaged with the articular motion pin 10460. The retaining plate 10600 comprises a planar portion or at least substantially planar portion, which extends over the distal end of the articular motion driver 10260 and comprises an aperture 10660 defined therein, the sidewall of which engages with the articular motion pin 10460. As a result, the articular motion driver 10260 is trapped between the staple cartridge jaw 10410 and the retaining plate 10600, so that the articular motion driver 10260 is not unintentionally disengaged from the staple cartridge jaw 10410. The retaining plate 10600 is securely mounted on the staple cartridge jaw 10410, so that any relative movement between the retaining plate 10600 and the staple cartridge jaw 10410 is minimal. The staple cartridge jaw 10410 is equipped with retaining lugs 10430, and the retaining plate 10600 is equipped with a defined aperture 10630 in which its side walls engage with the retaining lugs 10430 to hold the retaining plate 10600 relative to the staple cartridge jaw 10410. In various examples, the retaining plate 10600 may be equipped with springs and / or biasing members.

[0104] Referring here to Figure 33, in addition to or instead of the retaining plate 10600, the surgical instrument 10000' comprises an end effector 10400' and an articular joint 10500' that rotatably connects the end effector to the shaft 10200'. In addition to the above, the articular joint 10500' comprises a pin 10560' extending from the shaft frame 10210' of the shaft 10200, which is tightly received in an aperture defined in the staple cartridge jaw 10410', which defines the articular axis AA of the articular joint 10500'. The surgical instrument 10000' also comprises an articular drive 10260', which comprises a distal end 10264' containing a slot 10262' defined therein. Similarly, the staple cartridge jaw 10410' includes an articulation pin 10460' extending from the staple cartridge jaw 10410', which extends into a slot 10262' at its distal end 10264', and the interaction between the side wall of the slot 10262' and the articulation pin 10460' drives the end effector 10400' around the articulation joint 10500'. In particular, the pin 10560' of the articulation joint 10500' includes a defined clearance relief 10564' to provide clearance for the articulation driver 10260' to move longitudinally. The staple cartridge jaw 10410' also includes a defined clearance relief 10414' to provide clearance for the staple cartridge jaw 10410' to rotate around the articulation joint 10500'. Referring to Figures 34 to 37, to prevent the joint motion driver 10260' from separating from the staple cartridge jaw 10410', the joint motion pin 10460' is provided with a retaining shoulder portion 10464' extending from the cylindrical portion 10462'. The retaining shoulder portion 10464' extends over a portion of the distal end 10264' of the joint motion driver 10260' throughout the entire joint motion of the end effector 10400'.Therefore, regardless of whether the end effector 10400' is articulated to the left all the way (Figure 35), to the right all the way (Figure 37), or to any point in between, the retaining shoulder portion 10464' prevents, or at least limits, the possibility of the joint movement driver 10260' disengaging from the staple cartridge jaw 10410'.

[0105] In various embodiments, in addition to the above, the clearance relief 10414' includes a retaining shoulder or lip that prevents the articular motion driver 10260' from separating from the articular motion pin 10460'. The retaining shoulder 10464' of the articular motion pin 10460' is sized and configured such that the width of the retaining shoulder 10464' is greater than the width of the slot 10262'. Nevertheless, the slot 10262' has a length longer than its width, thereby allowing the retaining shoulder 10464' to be interested through the slot 10262' so that the articular motion driver 10260' can be assembled onto the articular motion pin 10460'. The width of the slot 10262' is defined along an axis parallel to the longitudinal axis of the shaft, and the length of the slot 10262' is defined along an axis perpendicular to the longitudinal axis of the shaft. Such a device configuration makes it possible to articulate the end effector relative to the shaft while minimizing the coupling between the end effector and the articulation driver 10260'. Nevertheless, the articulation driver 10260' is made of a flexible material that allows it to elastically bend to adapt to the end articulation movement of the end effector.

[0106] As described above, the end effector 10400 includes a staple cartridge jaw 10410 configured to receive a replaceable staple cartridge, such as a staple cartridge 10430, and an anvil jaw 10420 configured to deform staples ejected from the staple cartridge 10430. The staple cartridge jaw 10410 includes a channel comprising a bottom support and two upwardly extending lateral walls configured to receive the staple cartridge 10430. The staple cartridge 10430 includes a proximal end 10432, a distal end 10434, and a deck 10433 extending between the proximal end 10432 and the distal end 10434. When the staple cartridge 10430 is inserted into the staple cartridge jaw 10410, the proximal end 10432 is guided to a fixed position between the staple cartridge jaw 10410 and the anvil jaw 10420, and then seated within the staple cartridge jaw 10410. The anvil jaw 10420 comprises a proximal end 10422, a distal end 10424, a tissue compression surface 10423 extending between the proximal end 10422 and the distal end 10424, and a pivot 10421 that rotatably connects the anvil jaw 10420 to the staple cartridge jaw 10410. Referring to Figure 44, the anvil jaw 10420 includes a transverse pin extending into the aperture 10411 defined in the staple cartridge jaw 10410. As described above, the anvil jaw 10420 is rotatable to the closed position, i.e., the clamped position, by the closing drive of the staple fastener 10000. When the closing drive is retracted, the anvil jaw 10420 is released. Referring to Figures 38 to 43, the staple fastener 10000 further comprises one or more biasing members or springs 10446 configured to release the anvil jaw 10420 when the closing drive is retracted. The surgical instrument 10000 comprises two release springs 10446, but may comprise any preferred number of biasing members. In any case, each spring 10446 is positioned in a recess 10416 defined in the staple cartridge jaw 10410.The recess 10416 tightly receives the spring 10446 so that it does not buckle under compressive load, however, the recess 10416 is sized and configured to accommodate any lateral expansion of the spring 10446 when the anvil jaw 10420 is closed.

[0107] Referring primarily to Figure 42, the anvil jaw 10420 has a lateral tab 10426 adjacent to the proximal end 10422 of the anvil 10420, which contacts a spring 10446. When the anvil jaw 10420 is closed, the spring 10446 is compressed between the lateral tab 10426 and the bottom of the recess 10416. When the closing system is retracted, the spring 10446 elastically re-expands, pushing the lateral tab 10426 upward and rotating the anvil jaw 10420 to its open position, i.e., the unclamped position. In particular, referring primarily to Figure 40, the staple cartridge jaw 10410 has a defined stop portion 10419 above it, which contacts the proximal end 10422 of the anvil 10420 when the anvil 10420 reaches its fully open position. The anvil 10420 includes a proximal stop surface 10429 that contacts the stop portion 10419 of the staple cartridge jaw 10410. In such an example, the anvil jaw 10420 cannot be opened any further. As a result, the spring 10446 holds the anvil jaw 10420 against the stop portion 10419 of the staple cartridge jaw 10410 until the anvil jaw 10420 is closed again.

[0108] When the anvil jaw 10420 is in its open position, the staple cartridge jaw 10410 is positioned on one side of the tissue to be stapled, and the anvil jaw 10420 is positioned on the opposite side. In such an example, the end effector 10400 is moved relative to the tissue until the tissue is properly positioned between the staple cartridge jaw 10410 and the anvil jaw 10420. The anvil jaw 10420 includes a lateral tissue stop 10427 that extends downward alongside the staple cartridge jaw 10410, and the lateral tissue stop is configured to ensure that the tissue positioned within the end effector 10400 is positioned above the staple cavity in the staple cartridge 10430. Referring mainly to Figure 39, the tissue stop 10427 extends distally to the nearest staple cavity 10440. In at least one example, the tissue stopper 10427 extends distally to at least one staple cavity 10440 within each longitudinal row of the staple cavity 10440. As a result, the tissue stopper 10427 ensures that tissue trapped within the end effector 10400 is not cut by the tissue cutting knife without being stapled. When the anvil jaw 10420 is closed, the tissue stopper 10427 moves relative to the staple cartridge jaw 10410. The tissue stopper 10427 is sized and configured so that tissue is not accidentally pinched between the tissue stopper 10427 and the lateral side of the staple cartridge jaw 10410. More specifically, as shown in Figure 39, the bottom edge 10428 of the tissue stop 10427 is configured to extend alongside the lateral side of the staple cartridge jaw 10410 even when the anvil jaw 10420 is in its fully open position. In particular, the lateral side 10415 of the staple cartridge jaw 10410 extends upward above the deck 10433, so that when viewed from the side, there is a certain overlap between the tissue stop 10427 and the lateral side 10415 of the staple cartridge jaw 10410 over the entire range of motion of the anvil jaw 10420.

[0109] In various embodiments, in addition to the above, the distal edge of the tissue anchor 10427 extends below the deck 10433 throughout the entire range of motion of the anvil jaw 10420. Thus, when the anvil jaw 10420 is in the fully open and fully clamped positions, the distal edge of the tissue anchor 10427 extends below the upper surface of the deck 10433. Such a device configuration reduces the possibility of tissue being pinched when the anvil jaw 10420 is moved. In certain embodiments, the staple cartridge includes a tissue anchor that extends upward from the deck 10433 alongside the tissue anchor 10427. As above, the distal edge of the tissue anchor 10427 extends below the cartridge tissue anchor throughout the entire range of motion of the anvil jaw 10420. Such a device configuration also reduces the possibility of tissue being pinched when the anvil jaw 10420 is moved. Furthermore, these device configurations would be useful in embodiments in which the staple cartridge jaw 10410 moves relative to the anvil jaw 10420.

[0110] As described above, and primarily with reference to Figures 44, 45A, and 45B, the end effector 10400 includes a staple cartridge jaw 10410 containing an internally defined spring recess 10416, which includes a wider top opening 10416'. The spring recess 10416 still supports the springs 10446 and prevents them from buckling, but the wider top opening 10416' of the spring recess 10416 provides clearance for the lateral tab 10426 when the anvil jaw 10420 is in its closed position. In such a device configuration, the lateral tab 10426 can move into the staple cartridge jaw 10410 to compress the springs 10446. In such an example, the spring 10446 can be highly compressed by the anvil jaw 10420, thereby ensuring a strong release force from the spring 10446 when the anvil jaw 10420 is released by the closing drive. Although described above, embodiments without the wider top opening 10416' are also conceivable. In such embodiments, the spring is tightly received by the spring recess 10416 along the length of the spring 10446.

[0111] The tissue cutting member 10251 of the firing drive unit of the staple fastener 10000 is shown in Figures 46 and 47, and the tissue cutting member comprises a body including a distal nose 10258 and a tissue cutting edge 10259 that passes through the end effector 10400 during the staple firing stroke. The tissue cutting member 10251 further comprises a top cam member 10255 configured to engage with the anvil jaw 10420 and a bottom cam member 10256 configured to engage with the staple cartridge jaw 10410 during the staple firing stroke. A longitudinal cam surface 10425 in the longitudinal slot of the anvil jaw 10420 can be seen in Figure 46, which is engaged by the top cam member 10255 during the staple firing stroke. The staple cartridge jaw 10410 also has a longitudinal cam surface 10419 that is engaged by the bottom cam member 10256. Cam members 10255 and 10256 position jaws 10410 and 10420 relative to each other during the staple firing stroke and maintain jaws 10410 and 10420 in their closed configuration throughout the entire staple firing stroke. Cam members 10255 and 10256 also set the staple forming gap between the staple drive in the staple cartridge and the forming pocket defined in the anvil jaw 10420.

[0112] In particular, Figures 46 and 47 show the anvil jaw 10420 in the open position and the tissue cutting member 10251 in the unfired position, i.e., the position before the staple firing stroke begins. The anvil jaw 10420 has a defined clearance pocket 10450 inside, which aligns with the top cam member 10255 of the tissue cutting member 10251 when the tissue cutting member 10251 is in its unfired position. Such a device configuration allows the tissue cutting member 10251 to be positioned immediately proximal to the longitudinal cam surface 10425 of the anvil jaw 10420 and the corresponding cam surface of the staple cartridge jaw 10410 when the tissue cutting member 10251 is in its unfired position. Such a device configuration provides a shorter and easier-to-operate end effector for a given staple line length. Furthermore, the tissue cutting member 10251 is equipped with a tissue cutting edge 10259, which is positioned proximal to the staple cavity defined in the staple cartridge and proximal to the distal edge of the tissue stop when the tissue cutting member is in its unfired position. As a result, the tissue inserted into the end effector is less likely to be cut by the tissue cutting edge 10259 until the tissue cutting member 10251 advances distally from its unfired position during the firing stroke.

[0113] In addition to the above, it is desirable that the tissue cutting member 10251 be in the un-fired position at the start of the staple firing stroke. If the tissue cutting member 10251 is not in the un-fired position at the start of the staple firing stroke, the lockout for missing / used cartridges of the staple fastener 10000 may be accidentally bypassed. Referring to Figure 41, the lockout of the staple fastener 10000 comprises a shoulder 10417 defined at the bottom of the staple cartridge jaw 10410. If a suitable unused staple cartridge is seated in the staple cartridge jaw 10410 at the start of the staple firing stroke, and the tissue cutting member 10251 is in the un-fired position at the start of the staple firing stroke, the tissue cutting member 10251 is lifted over the lockout shoulder 10417. More specifically, referring to Figure 46, the nose 10258 of the tissue cutting member 10251 is supported by the staple driving thread in the staple cartridge so that the lockout tab 10257 of the launching member 10251 and / or any other part of the launching member 10251 does not come into contact with the lockout shoulder 10417. However, if the staple cartridge is not seated in the staple cartridge jaw 10410, the staple cartridge will be seated in the staple cartridge jaw 10410, but if a staple cartridge that has already been used or an incorrect staple cartridge is seated in the staple cartridge jaw 10410, the thread will not support the nose 10258 of the tissue cutting member 10251, and the lockout tab 10257 will come into contact with the lockout shoulder 10417 at the beginning of the staple firing stroke, thereby preventing the staple firing stroke. However, if the tissue cutting member 10251 is positioned somewhat distal to the lockout shoulder 10417 at the start of the staple firing stroke, the advantages provided by the lockout of the surgical instrument 10000 are lost.

[0114] U.S. Patent No. 7,143,923, title of invention "SURGICAL STAPLING INSTRUMENT HAVING A FIRING LOCKOUT FOR AN UNCLOSED ANVIL" (issued December 5, 2006), U.S. Patent No. 7,044,352, "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING" (issued May 16, 2006), U.S. Patent No. 7,000,818, "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" (issued February 21, 2006), U.S. Patent No. 6,988,649, "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE The entire disclosures of "LOCKOUT" (issued January 24, 2006) and U.S. Patent No. 6,978,921, "SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM" (issued December 27, 2005) are incorporated herein by reference.

[0115] As described above, but referring to Figure 48, the anvil jaw 10420 is provided with a defined shoulder or stop 10455 thereon, which is configured to contact the top cam member 10255 of the tissue cutting member 10251 when the anvil jaw 10420 is moved to its open position. In such an example, the anvil jaw 10420 positions the tissue cutting member 10251 in its un-fired position even if the tissue cutting member 10251 has been accidentally moved or positioned excessively far distally. In some examples, the tissue cutting member 10251 may not be fully returned to its un-fired position after the last staple firing stroke, so such a device configuration is particularly useful after the surgical instrument 10000 has already been used at least once and the staple firing system has been reset or retracted. As a result of the above, the possibility of accidental bypass of the lockout of the surgical instrument 10000 is reduced. In particular, the shoulder portion 10455 and the clearance pocket 10450 are positioned proximal to the distal edge of the tissue insertion portion 10427, thereby positioning the tissue cutting member 10251 proximal to the tissue captured within the end effector, and as a result, ensuring that the tissue is not accidentally resected by the tissue cutting member 10251.

[0116] As described above, the joint motion driver 10260 is translatable proximal and distal to articulate the end effector 10400 around the joint motion joint 10500. However, the joint motion driver 10260 is actually the distal joint motion driver of the joint motion drive system. Referring to Figures 72 and 74-76, the joint motion drive system further comprises a translatable proximal joint motion driver 10270 that moves the distal joint motion driver 10260. The joint motion drive system also comprises a joint motion lock 10280 positioned between the proximal joint motion driver 10270 and the distal joint motion driver 10260, as will be described in more detail below. The proximal joint movement driver 10270 comprises a joint movement rod 10272, a proximal push-in projection 10274 extending from the joint movement rod 10272, and a distal retraction projection 10276 extending from the joint movement rod 10272. When the proximal joint movement driver 10270 is pushed distally, the proximal push-in projection 10274 contacts the joint movement lock 10280, unlocking the joint movement lock 10280 and driving the distal joint movement driver 10260 distally to articulate the end effector 10400. When the proximal joint movement driver 10270 is stopped, the joint movement lock 10280 automatically relocks and holds the end effector 10400 in place. When the proximal joint movement driver 10270 is retracted proximally, the distal retraction projection 10276 contacts the joint movement lock 10280, unlocking the joint movement lock 10280 and retracting the distal joint movement driver 10260 proximally to articulate the end effector 10400. Similarly, the joint movement lock 10280 automatically relocks when the proximal joint movement driver 10270 stops. When the joint movement lock 10280 is locked, the end effector 10400 is prevented from being driven backward or unintentionally moved away from its position. When the joint movement lock 10280 is unlocked, the end effector 10400 can be articulated to a new position.

[0117] In addition to the above, referring to Figure 72, space 10275 is defined between projections 10274 and 10276 of the proximal joint movement driver 10270. The distal joint movement driver 10260 has a similar device configuration. More specifically, the distal joint movement driver 10260 comprises a proximal projection 10269 and a distal projection 10267, with a space defined between them. Projections 10274 and 10276 of the proximal joint movement driver 10270 are positioned within this space defined between projections 10267 and 10269 of the distal joint movement driver 10260 and move within it. The joint movement lock 10280 comprises a stationary rod 10282 extending through the distal joint movement driver 10260 and a locking member 10284 rotatably and slidably mounted on the stationary rod 10282. The locking member 10284 is biased to the locked position by a spring 10286 positioned between two sets of locking members 10284, thereby causing the locking member 10284 to bite into the stationary rod 10282. However, when the proximal joint movement rod 10270 is translated, the proximal joint movement rod 10270 pushes the locking member 10284 and rotates it from its locked position, thereby allowing the end effector 10400 to articulate.

[0118] In addition to the above, the projections 10274 and 10276 of the proximal joint movement driver 10270 directly contact the locking member 10284. Referring to Figure 74A, the projections 10274 and 10276 each have projections or bumps 10277 extending from them, which engage with the locking member 10284. The bumps 10277 provide a large pressing area for the proximal joint movement driver 10270 to press against the locking member 10284. For comparison, the proximal joint movement driver 10270' is shown in Figures 73 and 73A, which does not have bumps 10277 on the projections 10274' and 10276'. While the device configurations in Figures 73 and 73A are still useful, the contact area between the proximal joint movement driver 10270' and the locking member 10284 is smaller than the contact area between the proximal joint movement driver 10270 and the locking member 10284. As a result of the larger contact area with the locking member 10284, the stress and strain in the proximal joint movement driver 10270 are smaller than those in the proximal joint movement driver 10270'. Furthermore, this device configuration of the bump 10277 can increase the torque arm between the proximal joint movement driver 10270 and the locking member 10284, thereby reducing the force required to unlock the joint movement lock 10280.

[0119] This specification describes various mechanisms and methods for determining the orientation of a shaft relative to a handle. Many of these mechanisms allow for the evaluation of the shaft orientation in real time and independently of the shaft's previous orientation. Such device configurations are particularly useful, for example, when a surgical instrument loses power. When the surgical instrument is re-powered, the control system can immediately evaluate, for example, the shaft orientation and the appropriate responsiveness of the joint movement control unit. Furthermore, the surgical instruments disclosed herein may be configured to immediately evaluate the joint movement angle of the end effector when the surgical instrument is re-powered. Upon re-powering, the control system evaluates whether the end effector is in a closed or open configuration. If the end effector is in a closed configuration upon re-powering, the control system determines that the surgical instrument has lost power during staple firing mode and prompts the clinician to retract the staple firing system. If the end effector is in an open configuration when re-powered, or if the end effector is in an open position when re-powered, the control system attempts to ensure that the articular motion drive system is coupled to the staple launch system so that the end effector can be straightened or otherwise preferably oriented by the clinician to remove the surgical instrument from the patient. Figure 78 shows algorithm 39000 for the control system to ensure that the articular motion system engages with the staple launch drive. In this algorithm, if the articular motion drive is not already coupled to the launch drive, the control system sweeps the staple launch drive between a position associated with the rightmost end effector position and a position associated with the leftmost end effector position so that it is coupled to it. These rightmost and leftmost orientations of the end effector correspond to the most distal and most proximal positions of the articular motion driver 10260, as shown in Figure 77. These positions are also the most distal and most proximal positions of the articular motion driver 10270, respectively. The control system includes one or more non-volatile device memories for storing information regarding the distal (far right orientation) and nearest (far left orientation) positions of the joint motion drive system.Therefore, this information is available to the control system upon re-powering, and the control system can limit its evaluation to this scope. In various embodiments, the surgical instrument may include a sensor configured to estimate whether the joint movement drive is mechanically coupled to the staple firing drive.

[0120] In addition to the above, algorithm 39000 includes step 39100 in which the control system estimates whether the joint movement button is pressed when starting or initializing the surgical instrument. If step 39100 determines that the joint movement button is not pressed, the algorithm follows logical path 39200. In logical path 39200, the control system activates an electric motor that drives the joint movement system in step 39300 to push the joint movement driver 10260 distally and articulate the end effector to the right. The control system then waits for a predetermined amount of time in step 39400 before proceeding to step 39600, where the control system activates the motor in the opposite direction to pull the joint movement driver 10260 proximal and articulate the end effector to the left. The control system then waits for another predetermined amount of time in step 39700, and after this time, waits for an input command in step 39800. In various embodiments, the control system includes a timer circuit for counting an appropriate amount of time. On the other hand, if the control system detects that left joint movement control is activated in step 39100, algorithm 39000 follows the logic path 39500 and moves the end effector to the left. If the control system detects that right joint movement control is activated in step 39100, algorithm 39000 follows the logic path that moves the end effector to the right.

[0121] During the staple firing stroke, in addition to the above, the staples of the staple cartridge are gradually ejected by the firing member. The firing member ejects the proximal staples of the staple cartridge at the start of the staple firing stroke and the distal staples at the end of the staple firing stroke. If all the staples of the staple cartridge make proper contact with the staple forming pockets in the anvil located on the opposite side of the staple cartridge, the staples are properly formed and the staple firing force is low. If some staples fail to enter the staple forming pockets, such staples will be misdeformed, which may increase the force required to perform the staple firing stroke. Slowing down the staple firing stroke may improve staple forming and reduce the force required to perform the staple firing stroke. In various examples, the force applied by the staple firing system can be detected directly, for example, through one or more force sensors and / or strain gauges. In other examples, force detection can be achieved, for example, by a current sensor or ammeter circuit that measures the current to the electric motor of the staple firing drive unit. The entire disclosure of U.S. Patent Application No. 16 / 361,793, filed on March 22, 2019, titled "SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM," is incorporated herein by reference. While these approaches may be preferred in various examples, the embodiments and methods described below are for evaluating the duty cycle of a staple firing system during a staple firing stroke.

[0122] In addition to the above, the control system of the surgical instrument 10000 includes a pulse-width modulation (PWM) control circuit configured to control the speed of the firing drive electric motor. The PWM control circuit applies voltage pulses to the firing drive electric motor to perform a staple firing stroke. In various examples, the PWM control circuit increases the speed of the firing drive electric motor and, accordingly, increases the duration of the voltage pulses applied to the firing drive electric motor to increase the speed of the staple firing stroke. In other examples, the PWM control circuit decreases the speed of the firing drive electric motor and, accordingly, decreases the duration of the voltage pulses applied to the firing drive electric motor to decrease the speed of the staple firing stroke. In either case, the PWM control circuit can perform these pulse length adjustments without substantially increasing or decreasing the magnitude of the voltage pulses applied to the motor. Nevertheless, embodiments in which the magnitude of the voltage pulses or specific voltage pulses can be changed are also conceivable. In any case, the control system is configured to drive the staple firing drive at a constant or substantially constant speed by adjusting the pulse duration via the PWM circuit, as will be described in more detail below. The entire disclosure of U.S. Patent No. 8,499,992, issued on August 6, 2013, titled "DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE," is incorporated herein by reference.

[0123] The duty cycle of a staple-launching motor is the ratio of the time the voltage is applied to the electric motor by the PWM circuit (on time) to the total time (on time + off time). Therefore, the duty cycle can range from 0% (completely off) to 100% (completely on), i.e., a range of constant voltage without periodic interruptions. The terms on and off suggest non-zero voltage and zero voltage, respectively, however, the terms on and off also include high voltage and low voltage. The terms low or off include zero voltage and non-zero voltage having a magnitude smaller than high voltage or on voltage. Considering the above, another way to express the duty cycle of a staple-launching electric motor is the ratio of the time the voltage is applied to the electric motor by the PWM circuit (high time) to the total time (high time + low time).

[0124] A PWM control circuit applies voltage pulses to the firing drive electric motor at regular intervals. However, the control system may include a frequency modulation (FM) control circuit for varying the frequency of the voltage pulse intervals. In various examples, the FM control circuit increases the speed of the firing drive electric motor and the staple firing stroke by decreasing the interval between voltage pulses. Conversely, the FM control circuit decreases the speed of the firing drive electric motor and the staple firing stroke by increasing the interval between voltage pulses. In addition to or instead of the above, the control system may increase the magnitude of the voltage applied to the firing drive electric motor to increase the speed of the firing drive electric motor and the staple firing stroke, and / or decrease the magnitude of the voltage applied to the firing drive electric motor to decrease the speed of the firing drive electric motor and the staple firing stroke.

[0125] The control system of the surgical instrument 10000 includes an algorithm for controlling the speed of the staple launcher. Referring to Figure 79, the control system includes an algorithm 50000 configured to drive the staple launcher at low, intermediate, and high speeds. The low speed is 6 mm / s, or about 6 mm / s. The intermediate speed is 12 mm / s, or about 12 mm / s. The high speed is 20 mm / s, or about 20 mm / s. That said, the control system may be configured to operate the staple launcher at any preferred number of speeds and / or any preferred speed. The control system is configured to monitor the speed of the staple launcher via a motor speed sensor and adjust the length of the voltage pulses applied to the electric motor of the staple launcher to bring the speed of the staple launcher to a target speed. For example, if the target speed of the staple firing drive unit at a given point in the staple firing stroke is 12 mm / s and the actual speed is 11 mm / s, the control system increases the speed of the staple firing drive unit by increasing the length of the voltage pulse applied to the electric motor. In other words, the control system increases the speed of the staple firing drive unit by increasing the duty cycle of the firing drive electric motor. Correspondingly, if the speed of the staple firing drive unit exceeds the target speed, the control system is configured to shorten the length of the voltage pulse applied to the firing drive electric motor until the speed of the staple firing drive unit reaches the target speed. In other words, the control system is configured to decrease the speed of the staple firing drive unit by decreasing the duty cycle of the firing drive electric motor. In particular, the target speed of the staple firing drive unit may change during the staple firing stroke, as will be described in more detail below.

[0126] As described above, the firing member of the staple firing drive unit is moved distally during the staple firing stroke. Referring to Figures 47 and 79, the firing member is advanced distally from the proximal unfired position, moving the top cam member 10255 of the firing member onto the ramp of the internal slot 10425 defined in the anvil 10420. The distance between the proximal unfired position and the distal end of the internal slot ramp is, for example, 15 mm, or approximately 15 mm. If a suitable unused staple cartridge is seated in the end effector, this initial 15 mm movement of the firing member can be used to close the end effector and / or pass the firing lockout described above. That said, while in this range of motion, the control system moves the firing member distally at an intermediate speed of 12 mm / s and evaluates the duty cycle required to drive the staple firing member at this speed. If the duty cycle is between 40% and 60% in this initial range, the control system continues to drive the staple firing drive at an intermediate speed of 12 mm / s. If the duty cycle exceeds 60%, the control system reduces the target speed of the staple firing drive to a low speed of 6 mm / s. Such an example may occur if a thick structure exists between the anvil 10420 and the staple cartridge 10430. On the other hand, if the duty cycle is less than 40% during this initial range, the control system increases the target speed to a high speed of 20 mm / s. Such an example may occur if a thin structure exists between the anvil 10420 and the staple cartridge 10430. In Figure 79, the end of this initial range is defined by point A, and in particular, no staples are deployed or fired during this initial range. After point A, the firing member fires staples as it advances distally until the firing member reaches the end of the staple firing stroke and / or the clinician stops the staple firing stroke by releasing the firing trigger.

[0127] Referring to algorithm 50000 in Figure 79, it can be observed that the staple launcher was driven at an intermediate speed of 12 mm / s for the first 15 mm, and then at a high speed of 20 mm / s for the remainder of the staple launch stroke. As mentioned above, this shift in speed occurred because the control system measured that the duty cycle was less than 40% during the first 15 mm of the staple launch stroke. However, if the launcher had been locked out in the first 15 mm, the duty cycle should have immediately spiked to 100%, and the control system is configured to immediately stop the staple launch stroke in response to such an asymptotic duty cycle spike. Once the launcher has passed this first 15 mm distance, in various examples the remainder of the staple launch stroke includes, for example, about 30 mm, about 45 mm, or about 60 mm. These lengths represent various staple pattern lengths currently desirable in many staple cartridges, but any suitable staple pattern length may be used. In some embodiments, the control system does not re-evaluate the duty cycle of the staple launch drive unit to adjust the target velocity of the launching member after the initial evaluation of the launch drive duty cycle. However, the control system in the embodiment of Figure 79 continues to evaluate the duty cycle of the staple launch drive unit throughout the entire staple launch stroke. At point C in the staple launch stroke, the control system makes another adjustment to the target velocity or maintains the target velocity according to the criteria described above. As shown in Figure 79, the duty cycle of the staple launch drive unit is determined to be 40% to 60% at point C, and therefore the control system maintains a target velocity of 20 mm / s. Point C is the halfway point between point A and the end of the staple launch stroke, i.e., the halfway point to the staple pattern. That said, point C may be at any preferred position. Furthermore, the control system may be configured to adjust the target velocity of the staple launch drive unit at any preferred number of points in the staple launch stroke.In at least one example, the control system can adjust the target speed every 15 mm during the staple firing stroke, for example. For a 30 mm staple cartridge, the control system can make a total of two target speed adjustments, as shown in Figure 79. For a 45 mm staple cartridge, the control system can make a total of three target speed adjustments at 15 mm intervals, and for a 60 mm staple cartridge, the control system can make a total of four target speed adjustments at 15 mm intervals, for example.

[0128] In the example above, the control system used the same set of criteria to evaluate the duty cycle at all target speed adjustment points. However, referring to Figure 80, embodiments are also conceivable in which the control system uses different sets of duty cycle criteria at different target speed adjustment points. For example, the control system may use a first set of duty cycle criteria at a first target speed adjustment point and a second set of duty cycle criteria at a second target speed adjustment point. In at least one example, referring to algorithm 51000 in Figure 80, the control system increases the target speed of the staple launcher if the duty cycle is less than 45% at the first target speed adjustment point. However, the control system increases the target speed of the staple launcher at the second target speed adjustment point if the duty cycle is less than 40%. Any suitable threshold may be used. In the embodiment shown in Figure 80, the upper duty cycle threshold of 60% is the same at both the first and second target speed adjustment points in algorithm 51000. If the duty cycle exceeds 60%, the control system shortens the voltage pulse to slow down the staple firing system. In other embodiments, the upper duty cycle threshold may differ at the first target velocity adjustment point and the second target velocity adjustment point.

[0129] In addition to the above, referring to Figure 81, the control system's algorithm increases the target speed from intermediate to high speed at point A, and then decreases the target speed from high speed to intermediate speed at point C. At point C, the control system determines that the duty cycle of the launch drive electric motor is over 60% and reduces the target speed by one level, i.e., from high speed to intermediate speed. In particular, since the control system is configured to increase or decrease the target speed by only one level at each checkpoint, the control system did not decrease the target speed from high speed to low speed at point C. In order to reduce the target speed of the staple launch drive unit from high speed to low speed, the duty cycle needs to exceed the upper duty cycle threshold at two checkpoints. These checkpoints may be consecutive or non-consecutive checkpoints. That being said, an embodiment in which the control system includes a safety duty cycle threshold is assumed, and if this safety duty cycle threshold is exceeded, the control system will reduce the target speed of the staple launch drive unit to a low speed, regardless of the speed of the staple launch drive unit before that checkpoint.

[0130] Figure 82A shows two graphs of the staple launch drive unit: a duty cycle graph (i) and a launch force graph (ii). The duty cycle graph (i) and the launch force graph (ii) are correlated to represent three different staple launch strokes. Two of the staple launch strokes in Figure 82A remain below the 40% duty cycle threshold when the launch force is low. In such staple launch strokes, the control system increases the target velocity of the staple launch system at each checkpoint according to the current algorithm, although other algorithms are also possible. One of the staple launch strokes in Figure 82A reaches a 100% duty cycle due to the high launch force. When the duty cycle exceeds 60% at the target velocity adjustment point, the control system decreases the target velocity of the staple launch system according to the current algorithm, although other algorithms are also possible. In particular, the duty cycle of this staple launch does not exceed the 60% threshold at the start of the staple launch stroke, and as a result, the control system may not actually reduce the target velocity until after the checkpoint if the duty cycle does not exceed the upper threshold of 60%.

[0131] Figure 82B shows two graphs of the staple launch drive unit: a duty cycle graph (i) and a launch force graph (ii). The duty cycle graph (i) and the launch force graph (ii) are correlated to represent three different staple launch strokes. Two of the staple launch strokes in Figure 82B remain between the 40% and 60% duty cycle thresholds when the launch force is relatively low. In such staple launch strokes, the control system does not change the target velocity of the staple launch system according to the current algorithm, although other algorithms are also possible. One of the staple launch strokes in Figure 82B, however, reaches a 100% duty cycle due to a high launch force. When the duty cycle exceeds 60% at the target velocity adjustment point, the control system reduces the target velocity of the staple launch system according to the current algorithm, although other algorithms are also possible. In this case, the duty cycle exceeded the upper duty cycle threshold at approximately 20 mm distal to the proximal unlaunched position of the staple launch member. In other words, the duty cycle jumped to over 60% as soon as the staple launching unit began firing staples, that is, 5mm beyond the initial 15mm range mentioned above. As a result, the control system may not respond to the high duty cycle until, for example, after a 30mm checkpoint.

[0132] In particular, in addition to the above, the graphs in Figures 82A and 82B, as well as several other graphs, show the flow of dots along the staple firing stroke. These dots represent data samples taken by the control system. The proximity of the dots represents a fairly high data sampling rate, although lower or higher data sampling rates may be used. As seen in these figures, the data is affected by a certain amount of jitter or chatter that can cause the control system to react to abnormal data, especially when the duty cycle data is near an upper or lower duty cycle threshold. In various examples, the control system may utilize a data smoothing algorithm that uses the average and / or other statistical evaluation of the data across a large number of collected data points to determine the duty cycle at a target velocity evaluation point. In at least one such example, the control system uses, for example, the average of three consecutive duty cycle measurements to determine the duty cycle value used to evaluate the algorithm criterion.

[0133] Figure 83A shows three graphs of the staple launch drive: a duty cycle graph (i), a launch force graph (ii), and a launch velocity graph (iii). The duty cycle graph (i), launch force graph (ii), and launch velocity graph (iii) are correlated to represent the staple launch stroke. The duty cycle of the staple launch stroke jumps from below the lower duty cycle threshold of 40% to above the upper duty cycle threshold of 60% at a mark of approximately 30 mm, approximately 15 mm towards staple deformation. This jump in the duty cycle is not due to an increase in launch force, but rather because the control system increased the duty cycle to increase the speed of the staple launch drive according to its target velocity selection criteria. Figure 83B shows a similar jump in the duty cycle at approximately 20 mm, however, this jump in the duty cycle is due to the staple launcher encountering high resistance while deforming the staples, and the control system responding by increasing the length of the voltage pulses applied to the electric motor to maintain the staple launch speed at its target speed. In other words, the control system spiked the duty cycle because it was struggling to maintain the intermediate speed of the staple launcher, i.e., 12 mm / s. This situation did not last long because the control system reduced the duty cycle again at the 30 mm target speed checkpoint, while reducing the speed of the staple launch stroke to a lower target speed, i.e., 6 mm / s.

[0134] Figures 84A and 84B show graphs illustrating that the firing force of a staple launcher for stapling and cutting actual tissue corresponds to the firing force for stapling and cutting tissue analogs such as foam.

[0135] Figures 85A and 85B show examples of several staple firing strokes that occurred when stapling and cutting gastric tissue. These staple firing strokes followed very similar duty cycle patterns. For example, all staple firing strokes started below the lower duty cycle threshold, and accordingly, the control system increased the speed of the staple firing strokes from intermediate to high speed. To do this, the control system increased the duration of the voltage pulse applied to the electric motor of the staple drive system at the first checkpoint. However, doing so caused the duty cycle to jump above the upper duty cycle threshold, and at the next checkpoint, the control system shortened the voltage pulse to reduce the duty cycle and decelerate the staple firing strokes back to their intermediate speed. In particular, in one example, the speed of the staple firing drive unit was maintained at high speed. In this example, the deformed staples were smaller than the staples used during other staple firing strokes, and their duty cycles remained just below the threshold.

[0136] Figure 86A shows the duty cycles of two staple firing strokes while stapling thin jejunal tissue, one of which occurred when the end effector articulated and the other when the end effector did not. As seen in Figure 86A, the two duty cycle curves are very similar, especially at approximately 60% to 80% of the duty cycle. Figure 86B shows the duty cycles of two staple firing strokes while stapling thick jejunal tissue, one of which occurred when the end effector articulated and the other when the end effector did not. As seen in Figure 86B, the two duty cycle curves are very similar, especially at approximately 60% to 80% of the duty cycle. In addition, the duty cycle is somewhat higher for thick jejunal tissue (Figure 86B) compared to thin jejunal tissue (Figure 86A). Figure 86C shows the duty cycles of two staple firing strokes while stapling gastric tissue, one of which occurred when the end effector articulated, and the other when the end effector did not articulate. As can be seen in Figure 86C, the two duty cycle curves are very similar, and in particular, the maximum duty cycle is reached when the staple firing drive begins to deform the staple at approximately 15 mm from the proximal unfired position of the firing member.

[0137] Figure 87 includes Graph 63000, which shows the duty cycle of the staple firing stroke. As shown in Graph 63000, the duty cycle is 40% or slightly less over the first 30 mm of the staple firing stroke (15 mm of initial movement and 15 mm of staple firing), and is then increased by the control system to increase the speed of the staple firing drive. As above, increasing the duty cycle in this example would cause the duty cycle to overshoot above the upper duty cycle threshold of 60%, which was maintained for the remainder of the staple firing stroke, i.e., the last 30 mm.

[0138] Figure 88 includes Graph 64000, which shows the duty cycle of the staple firing stroke. As shown in Graph 64000, the duty cycle starts below the 40% duty cycle threshold, but then gradually increases into a zone between the upper and lower duty cycle thresholds. In such a zone, the control system does not increase or decrease the speed of the staple firing system and / or adjusts the duty cycle of the firing drive electric motor in any other way than to maintain the speed of the staple firing system at an intermediate target speed. Thus, a smooth duty cycle curve without abrupt changes is observed.

[0139] Figure 89 includes Graph 65000, which shows the duty cycle of the staple firing stroke. As shown in Graph 65000, the duty cycle starts at a lower duty cycle threshold of approximately 40% and then progresses upward as soon as the firing member begins to deform the staple at the 15 mm point. In fact, the duty cycle increases to almost 100% until the next checkpoint is reached at 30 mm, where, as described above, the control system reduces the duty cycle to slow down the staple firing drive. Figure 89 shows the dramatic decrease in the duty cycle at this point, but returns to an upward state just above the upper duty cycle threshold over the remainder of the staple firing stroke.

[0140] The lower duty cycle threshold is stated to be 40% in many examples and 45% in others. However, the lower duty cycle threshold may be any preferred value, such as 30%, 33%, 35%, or 50%. Similarly, the upper duty cycle threshold is stated to be 60%. However, the upper duty cycle threshold may be any preferred value, such as 50%, 55%, 65%, 67%, 70%, or 75%.

[0141] As described above, the staple firing stroke stops when the clinician releases the firing trigger. The staple firing stroke resumes when the clinician activates the firing trigger again. In such cases, the control system returns the speed of the staple firing stroke to the speed it was at just before the staple firing stroke stopped. The control system has one or more memory devices for storing the speed of the staple firing stroke during the staple firing stroke, so that the control system can access the stored speed to resume the staple firing stroke. If the control system does not have access to this data, the control system can resume the staple firing stroke at an intermediate speed, for example.

[0142] As described herein, the surgical instrument 10000 is configured to evaluate the speed of a staple firing stroke and compare the measured speed of the staple firing stroke to a target speed. The surgical instrument 10000 includes an encoder that communicates with a control system configured to measure the speed of a staple firing stroke. In at least one example, a gear in the staple firing drive is observed by the encoder to evaluate the speed of the staple firing stroke. The gear has teeth that pass in front of the encoder as the gear rotates during the staple firing stroke. The speed at which the teeth pass the encoder is used by the control system to evaluate the speed of the staple firing drive. In at least one example, the gear makes a full rotation during the entire staple firing stroke. In addition to or instead of the above, the gear is made of metal, and the control system includes a Hall effect sensor configured to sense the speed at which the metal gear teeth pass the Hall effect sensor. In various embodiments, the control system is configured to evaluate the speed of the translational component of the staple firing drive.

[0143] As described herein, the control system algorithm uses the duty cycle of the firing drive electric motor to estimate whether the speed of the staple firing drive unit should be adapted, and in what direction, i.e., slower or faster. In addition to the duty cycle of the firing drive electric motor, various other algorithms are used to adapt the speed of the staple firing stroke. For example, speed adaptation algorithms may utilize, for instance, the joint motion angle of the end effector, initial battery voltage, operating battery voltage, current through the motor, PID error, and / or any characterization of the PWM circuit performed during the manufacturing process of the surgical instrument. These parameters may, among other things, be used in mathematical operations or evaluation formulas to determine whether the speed of the staple firing stroke should be adapted, in what direction the speed should be adapted, and / or by how much adaptation. The parameters used may be instantaneous measurements and / or measurements averaged over several readings. The parameters used may include the rate of change of the measurement, or the change in the gradient. The values ​​of the parameters may be added, subtracted, multiplied, and / or divided according to the evaluation formula.

[0144] Figures 68–71 show an end effector 40000 comprising an anvil jaw 40420 and a staple cartridge jaw 10410. The anvil jaw 40420 comprises a proximal portion 40100 and a distal portion or tip portion 40200 attached to the proximal portion 40100. The distal portion 40200 is rotatable between a first operating orientation (Figure 68) and a second operating orientation (Figures 70 and 71) to provide clinicians with the ability to select between a straight anvil tip and an angled anvil tip before using the end effector 40000.

[0145] The proximal portion 40100 comprises an angled distal end which can be characterized by a first angle 40120 and a second angle 40130. The first angle 40120 is measured with respect to the apex surface defined by the apex of the proximal portion 40100, and the second angle 40130 is measured with respect to the bottom plane defined by the bottom of the proximal portion 40100. In various examples, the first angle 40120 and the second angle 40130 are complementary angles. In at least one example, the first angle 40120 and the second angle 40130 are substantially complementary angles. The distal portion 40200 comprises an angled proximal end which is attached to the distal end of the proximal portion 40100. The angled proximal end of the distal portion 40200 can be characterized by a first angle 40220 and a second angle 40230. In various examples, the first angle 40220 and the second angle 40230 are complementary angles. In at least one example, the first angle 40220 and the second angle 40230 are substantially complementary angles. In various examples, the first angle 40120 and the first angle 40220 are complementary angles, and the second angle 40130 and the second angle 40230 are also complementary angles. This configuration allows the proximal portion 40100 and the distal portion 40200 of the anvil jaw 40420 to have complementary angled mounting planes, where the distal surface 40110 of the proximal portion 40100 and the proximal surface 40210 of the distal portion 40200 abut each other in both the first and second orientations.

[0146] Referring to Figures 69 and 69A, the distal portion 40200 is rotatable relative to the proximal portion 40100 using the mounting mechanism, thereby allowing the distal portion 40200 to be rotated to a different orientation. To move the distal portion 40200 to the second orientation shown in Figure 70, the distal portion 40200 is rotated 180 degrees from the first orientation shown in Figure 68. This configuration allows the user to change the anvil jaw 40420 between a straight anvil jaw and an angled anvil jaw. In the second orientation shown in Figures 70 and 71, the first angle 40120 and the second angle 40230 abut each other, and accordingly, the first angle 40220 and the second angle 40130 also abut each other. The angles of the mounting interface in the second orientation (Figure 70) are not the same complementary angles as in the first orientation (Figure 68).

[0147] The mounting mechanism used may be any suitable mounting mechanism. In at least one example, referring to Figure 69A, the mounting mechanism comprises a flexible rotatable pin 40300 fixed to the proximal portion 40100 and the distal portion 40200. Such a mechanism allows rotation of the rotatable portion between different orientations while maintaining the proximal portion 40100 and the distal portion 40200 in a mounted state relative to each other. One or more spring members and / or retainers may be used with the pin to hold each portion in either a first or second operating orientation. The mounting mechanism may be embedded in either the proximal portion 40100 or the distal portion 40200. The mounting mechanism may include a bistable compliance mechanism configured to bias portion 40200 to either orientation in order to prevent accidental partial rotation of the rotatable distal portion 40200. The mounting mechanism may comprise a spring retainer, a living hinge, a sliding member, and / or various other locking members. The mounting mechanism may also include an interference and / or friction fit interface between the proximal portion 40100 and the distal portion 40200.

[0148] In addition to the above, and again referring to Figure 69A, the flexible pin 40300 comprises a spherical first end 40310 mounted in a chamber defined in the proximal anvil portion 40100, a spherical second end 40320 mounted in a chamber defined in the distal anvil portion 40200, and a flexible connector 40330 connecting the first end 40310 and the second end 40320. The spherical first end 40310 and the spherical second end 40320 can rotate within their respective chambers so that the flexible pin 40300 can rotate relative to the proximal portion 40100 and / or the distal portion 40200 can rotate relative to the flexible pin 40300. In either case, as described above, such relative rotation enables rotation of the distal portion 40200. The length of the flexible connector 40330 is selected such that the flexible connector 40300 is elastically stretched for any orientation of the distal portion 40200. As a result, the flexible connector 40330 acts to pull the distal portion 40200 relative to the first anvil portion 40100. Considering that the proximal portion 40100 includes a staple-formed pocket and the distal portion 40200 does not, the retaining force provided by the pin 40300 does not need to withstand the staple-formed force, but is sufficient to hold the distal portion 40200 in place while the end effector 40000 is positioned in the patient's body. The pin can be spring-pressed in the socket so that the spring pulls the head proximal in the chamber, and thus holds the proximal portion 40100 and the distal portion 40200 together. To rotate the distal portion 40200 between each orientation, the distal portion 40200 may be pulled distally to overcome the biasing force, twist to the other orientation, and released, so that a spring can pull the distal portion 40200 relative to the proximal portion 40100. The boundary between the distal portion 40200 and the proximal portion may further include an interlocking mechanism extending therefrom to prevent accidental movement relative to each other. For example, a tooth may extend from one portion into a corresponding slot defined in the other portion when the distal portion 40200 is in its first and second orientations, but may not extend when the distal portion 40200 is pulled away from the proximal portion 40100.

[0149] In at least one example, the distal portion 40200 comprises, for example, two halves assembled around a mounting mechanism. These two halves may utilize an elastomer to hold them together around a pin, for example. In at least one example, a snap-fit ​​mechanism may be used to assemble the two halves together around the mounting mechanism.

[0150] In various examples, the proximal portion 40100 and the distal portion 40200 are composed of one or more materials. For example, the proximal portion 40100 may be composed of one or more materials, and the distal portion 40200 may be composed of one or more materials. In at least one example, the distal portion 40200 is made of metal toward the mounting interface and consists of an overmolded soft tip extending distally from the metal portion. The soft tip may be made of, for example, rubber and / or plastic. The anvil jaw 40410 may further include an intermediate component positioned between the proximal portion 40100 and the distal portion 40200. The intermediate component may accommodate one or more parts of the mounting mechanism. The intermediate component may also provide an aesthetically pleasing and / or functional transition between the proximal portion 40100 and the distal portion 40200, which may be useful in scenarios where the proximal portion 40100 and the distal portion 40200 include two or more materials.

[0151] In at least one example, the first portion 40100 and the second portion 40200 have edges designed to remove any sharp edges presented by the rotation of the second portion 40200 relative to the first portion 40100.

[0152] As described above, the surgical instruments disclosed herein may include a control system. Each control system may include a circuit board having one or more processors and / or memory devices. In particular, the control system may be configured to store, for example, sensor data. These may also be configured to store, for example, data identifying the type of staple cartridge attached to a staple fastener. More specifically, the type of staple cartridge can be identified by a sensor when attached to a staple fastener, and the sensor data can be stored in the control system. This information can be obtained by the control system to evaluate whether the staple cartridge is suitable for use.

[0153] A surgical instrument 110000 is shown in Figure 90. The surgical instrument 110000 comprises a handle 110100, a shaft 110200 extending from the handle 110100, and an end effector 110400 rotatably connected to the shaft 110200 about an articulated joint 110500. The surgical instrument 110000 is similar to other surgical instruments disclosed herein, and such similarities are not discussed herein for the sake of brevity. The shaft 110200 is securely attached to the handle 110100. Referring to Figures 91 to 93, the handle 110100 comprises a handle frame 110110, and the shaft 110200 comprises a shaft frame 110210. The handle frame 110110 extends over and encloses the proximal portion 110215 of the shaft frame 110210, and includes a distal portion 110115 that nests with it. The shaft frame 110210 includes alignment projections 110216 extending therefrom, which are closely received within apertures defined within the handle frame 110110. Each projection 110216 includes an aperture 110217 defined through it, which is configured to receive, for example, a self-tapping screw 110116. The self-tapping screw is configured to bite into the handle frame 110115 and securely fasten the shaft 110200 to the handle 110100. In various examples, referring again to Figure 90, a force may be applied to the end effector 110400 to remove the staple cartridge located inside without causing relative motion between the shaft 110200 and the handle 110100.

[0154] In addition to the above, the surgical instrument 110100 includes an articulation drive unit that can be operated to articulate the end effector 110400 about articulation axis AA; a closing drive unit including the aforementioned closing actuator 10140 that can be operated to move the jaw 110420 of the end effector 110400 toward the jaw 110410; and a staple firing drive unit that can be operated to fire staples from a staple cartridge seated in the end effector 110400 during a staple firing stroke. The staple firing drive unit includes an electric motor configured to advance a firing member distally through the staple firing stroke and to retract the firing member proximally back to its unfired position. As with other embodiments described herein, the articulation drive unit is selectively engageable with the staple firing drive unit. The joint movement member of the joint movement drive unit is driveable by the staple launching drive unit when the joint movement drive unit is engaged with the staple launching drive unit, and correspondingly, the joint movement drive unit is not driveable by the staple launching drive unit when the joint movement drive unit is not engaged with the staple launching drive unit. As will be further described below, the closing drive unit disconnects the joint movement drive unit from the staple launching drive unit when the closing drive unit is fully operated.

[0155] Referring to Figures 94 to 96, the handle 110100 includes an articulation actuator 110160 that can be operated to articulate the end effector 110400. The articulation actuator 110160 includes a rocker switch, for example, a rocker body 110163 that is rotatably mounted on a circuit board 110190 around a pivot 110162. The articulation actuator 110160 further includes a first contact 110168 mounted on the circuit board 110190, which moves from an open to a closed state when a first end 110164 of the rocker body 110163 is pressed down. When the first end 110164 is released, a biasing member in the first contact 110168 returns the first contact to its open state. The joint actuator 110160 also includes a second contact 110169 mounted on a circuit board 110190, which moves from an open to a closed position when the second end 110165 of the rocker body 110163 is pressed down. When the second end 110165 is released, a biasing member in the second contact 110169 returns the second contact to its open position. The first contact 110168 and the second contact 110169 communicate with the control system of the surgical instrument 110000. When the control system detects that the first contact 110168 is closed, the control system operates the electric motor of the staple launching system to articulate the end effector 110400 in a first direction. In response, when the control system detects that the second contact 110169 has closed, it operates the electric motor of the staple launching system to articulate the end effector 110400 in the second direction.

[0156] In addition to the above, the rocker body 110163 includes a first standoff 110166 that contacts the circuit board 110190 when the rocker body 110163 is pushed down in a first direction, thereby restricting the movement of the rocker body 110163. Similarly, the rocker body 110163 includes a second standoff 110167 that contacts the circuit board 110190 when the rocker body 110163 is pushed down in a second direction, thereby restricting the movement of the rocker body 110163. Such a device configuration would prevent or reduce the likelihood of damage to the joint motion actuator 110160. Such a device configuration can also be applied to other actuators on the handle 110100, such as actuator 110170. The actuator 110170 includes a switch that communicates with the control system of the surgical instrument 110100. When the switch is closed, it causes the control system to automatically recenter the end effector 110400 along the longitudinal axis LA (Figure 90) of the shaft 110200.

[0157] In addition to the above, the shaft 110200 and the end effector 110400 are rotatable relative to the handle 110100 about the longitudinal axis LA. During use, the clinician can grasp the nozzle-shaped portion of the shaft 110200, i.e., the nozzle 110220, and rotate the shaft 110200 about the longitudinal axis. Similarly, referring to Figures 97 to 100, the surgical instrument may comprise a handle 111100 and a shaft 111200 rotatable relative to the handle 111100 about the longitudinal axis LA, and the rotation of the shaft 111200 relative to the handle 111100 may be detected by a sensor or switch 111230. Switch 111230 is mounted on circuit board 111190, and, as described above, switch 111230 is switched between a first state (open state) and a second state (closed state) when the cam 111225 of nozzle 111220 contacts switch 111230. As a result, the rotation of shaft 111200 is divided into two ranges: a first orientation range where switch 111230 is in the first state, and a second orientation range where switch 111230 is in the second state. Switch 111230 communicates with the control system of surgical instrument 111000, and in response to the input provided by switch 111230, the control system controls the joint movement of the end effector in a first response state and a second response state. In the second response state, the response of the joint movement drive unit to the operation of joint movement actuator 110160 is reversed or inverted compared to the first response state. As described above, such a device configuration provides more intuitive operation of the surgical instrument 111000 when the shaft 111200 is in an inverted or upside-down orientation. See, for example, the control system 111900 in Figure 100. This control system may be used in conjunction with any of the embodiments disclosed herein, such as the surgical instrument 110000.

[0158] In various embodiments, in addition to the above, the control system of the surgical instrument 110000 becomes unresponsive to the articular movement actuators 110160 and 110170 when the closure trigger 10140 is first activated to close the end effector 110400. Furthermore, in such embodiments, the initial activation of the closure trigger 10140 disconnects the articular movement drive from the staple firing drive. Such embodiments completely avoid the possibility of the end effector 110400 articular movement while it is clamped on the tissue. That said, such embodiments require the clinician to estimate where the second jaw 110420 will contact the tissue when the second jaw 110420 is finally closed after the end effector 110400 has articularized. In embodiments where the clinician has already partially closed the end effector 110400, the clinician must reopen the end effector 110400 to allow it to articulate again. In such embodiments, reopening the end effector 110400 re-engages the articulation drive with the staple release drive, and the control system becomes responsive again to the articulation actuators 110160 and 110170. In alternative embodiments, the end effector 110400 of the surgical instrument 110000 can be articulated while the end effector 110400 is in a partially closed or partially clamped configuration. In these embodiments, when the end effector 110400 is closed beyond the partially closed configuration, the joint motion drive unit is disconnected from the staple launch drive unit, and the control system ceases to respond to the joint motion control units 110160 and 110170 until the end effector 110400 is opened again or returned to at least the partially closed configuration.

[0159] In addition to the above, the partial closure configuration of the end effector 110400 is a predefined or predetermined position of the second jaw 110420. In at least one such embodiment, referring to Figures 101 to 103, the surgical instrument 110100 includes a closure lock 10146 configured to releasely hold the closure actuator 10140 in a predetermined partial closure position. When the closure actuator 10140 is in this partial closure position, the joint motion drive unit remains engaged with the staple launch drive unit, and the control system responds to the joint motion control units 110160 and 110170. In other words, the joint motion drive unit is engaged with the staple launch drive unit, and the control system responds to the joint motion control units 110160 and 110170 when the closure actuator 10140 is in a position between (including) the open position and a predetermined partial closure position. Figure 102 shows a lock arm 10147 of a closing lock 10146 seated in a notch or recess 10145 defined in the upper portion 10144 of the closing actuator 10140. The lock arm 10147 engages with the notch 10145 when the closing actuator 10140 is closed, i.e., when the closing actuator 10140 reaches the partial closing position described above. In various examples, the lock arm 10147 entering the notch 10145 may produce an audible click, which can indicate to a clinician closing the closing actuator 10140 that any further closing of the closing actuator 10140 will disable the joint motion drive and control unit. The lock arm 10147 entering the notch 10145 may also provide tactile feedback to the clinician. At such a point, the clinician is given the opportunity to observe the articular movement position of the end effector 110400 and the partial closure configuration of the end effector 110400 while the closure actuator 10140 is held in place. If the clinician is not satisfied with the position of the end effector 110400, the clinician is given the opportunity to articularize the end effector 110400 again using the articular movement control units 110160 and 110170 without having to open the end effector 110400 again.However, by closing the closing actuator 10140 beyond this position, the joint motion drive unit is disconnected from the staple launch drive unit, and the control system becomes unresponsive to the joint motion control units 110160 and 110170. In such a case, the lock arm 10147 disengages from the notch 10145 and bends, and as a result, the upper portion 10144 rotates past the lock arm 10147 until the closing actuator 10140 reaches the end of its stroke. Referring to Figure 103, at such a point, the lock arm 10147 does not bend but descends behind the upper portion 10144, holding the closing actuator 10140 in a releaseable position in its fully closed position. By applying force to the closing actuator 10140, the lock arm 10147 may bend again out of the way to return the closing actuator 10140 to its aforementioned partially closed and / or fully open position. When the closing actuator 10140 is returned to the partially closed position and / or any position between the partially closed position and the open position, the joint motion drive unit re-engages with the staple launch drive unit, and the control system responds again to the joint motion control units 110160 and 110170.

[0160] A surgical instrument including a handle 112100 with a selectively operable closing actuator block is shown in Figures 104-106. The handle 112100, like the closing actuator 10140, includes a closing actuator 112140 that rotates from a fully open position (Figure 104) to a fully clamped position (Figure 106) to close the end effector 110400. The closing actuator 112140 includes a rotatably mounted deployable block 112145 that is rotatable between a retracted position (Figure 104) and an deployed position (Figure 105) that can support the closing actuator 112140 in a partially closed position. In this partially closed position of the closing actuator 112140, as described above, the joint motion drive unit is still operably engaged with the staple launch drive unit, and the control system still responds to the joint motion control units 110160 and 110170. At such a point, the clinician may choose to deactivate the closure block 112145 and fully close the end effector 110400. By doing so, as described above, the joint motion drive is disconnected from the staple launch drive, and the control system becomes unresponsive to the joint motion control units 110160 and 110170. The clinician may decide whether or not to deploy the closure block 112145. If the closure block 112145 is not deployed, the closure actuator 112140 does not stop at its predetermined partial closure position, and the joint motion drive is deactivated when the end effector 110400 is closed. When the closure actuator 10140 is returned to the partial closure position and / or any position between the partial closure position and the open position, the joint motion drive is re-engaged with the staple launch drive, and the control system becomes responsive again to the joint motion control units 110160 and 110170. The control system includes a sensor system configured to estimate whether the closing actuator 112140 is in the open position, the partially closed position, and / or the fully closed position.

[0161] In addition to the above, the automatic locking and / or deployable block may be used separately and / or together in various embodiments. Another example, including a shaft 113200 extending from the handle 110100, is shown in Figures 107 and 108. The shaft 113200 includes a nozzle 113220 used to rotate the shaft 113200 about its longitudinal axis. The nozzle 113220 includes an actuator 113225 which is manually pushed down by a clinician to block the closing drive in a state corresponding to a predetermined partial closed position as described above.

[0162] Referring here to Figures 109 and 110, when the closure actuator 10140 is closed, the closure actuator 10140 drives the closure drive unit 10600 to close the second jaw 110420 of the end effector 110400. The closure drive unit 10600 includes a carriage 110610 which is pushed distally by the upper portion 10144 of the closure actuator 10140 when the closure actuator 10140 is moved to its closed position by a clinician. The closure drive unit 10600 further includes a closure tube assembly 10240 mounted on the carriage 110610 which moves distally with the carriage 110610. The closure tube assembly 10240 interfaces with the second jaw 110420 and has a distal end that moves the second jaw 110420 downward toward the first jaw 110410 when the closure tube assembly 10240 is advanced distally. The closure drive unit 10600 also includes a spring 110620 positioned between the carriage 110610 and the shaft frame 110210, which is elastically compressed between the carriage 110610 and the shaft frame 110210 when the carriage 110610 is advanced distally during the closure stroke. After the closing stroke is complete, the spring 110620 is held in its compressed state by the closing lock 10146 (Figure 102), as described above, until the closing lock 10146 is overcome by the opening force provided by the opening actuators 10180a and 10180b (Figure 90) on the handle 110100. At such a point, the compressed spring 110620 pushes the carriage 110610 and the closing tube assembly 10240 proximal to reposition the closing actuator 10140 to its non-operating position, allowing the jaw opening spring 10446 (Figure 147) in the end effector 110400 to open the second jaw 110420.

[0163] In various alternative embodiments, in addition to the above, the closing drive unit may include two or more springs that are compressed between the closing carriage 110610 and the shaft frame 110210. Referring to Figure 111, the closing drive unit may include a distal spring 110620' and a proximal spring 110620'' in series with respect to each other. The distal spring 110620' is stiffer than the proximal spring 110620'' such that the distal spring 110620' is significantly compressed after the proximal spring 110620'' has been significantly compressed. As a result, the initial movement of the closing actuator 10140 from its fully open position is subjected to a light force due to the compression of the proximal spring 110620'', and this force increases sharply as the distal spring 110620' begins to be significantly compressed. In at least one such example, the proximal spring 110620'' reaches its fully compressed state, i.e., a tight state, before the distal spring 110620' begins to compress significantly. This sudden increase in the force applied to the closing actuator 10140 may correspond to the point in the closing stroke when the articular movement system is deactivated. In such a case, the clinician is provided with tactile feedback that the articular movement system can no longer be used to articulate the end effector 110400 unless the closing actuator 110400 is released at least partially beyond the force transition point or re-released. A graphical representation of the forces applied to the closing actuator 10140 by springs 110620' and 110620'' is shown in Figure 113. The force applied to the closing actuator 10140 is depicted by line 110650, which includes an initial portion 110650a and a final portion 110650b. In the initial section 110650a, as outlined above, the proximal spring 110620'' is easily compressed during the initial part of the closing stroke, resulting in a low force of approximately 100 N being applied to the closing actuator 10140. At the midpoint of the closing stroke, for example in the final section 110650b, the force applied to the closing actuator 10140 increases significantly due to the dense state of the proximal spring 110620'' and the higher spring constant of the distal spring 110620'.This force transition is defined as datum 110651 in Figure 113, which also defines the deactivation of the joint kinetic system.

[0164] In addition to the above, Figure 112A shows the aforementioned spring 110620 having a constant spring constant along its length. Figure 112C is a graphical representation of a spring system including a distal spring 110620' and a proximal spring 110620'' having different spring constants. In various examples, the effects provided by the distal spring 110620' and the proximal spring 110620'' can be combined into a single spring, such as the spring 110620'''' in Figure 112B. In at least one embodiment, the spring 110620'''' has a spring constant that varies along its length. In various embodiments, springs positioned between the closing carriage 110610 and the shaft frame 110210 can constitute parallel and / or series device configurations. Regardless of the spring device configuration used, this spring device configuration can provide clinicians with tactile feedback indicating an operational transition or threshold exceedance.

[0165] Referring to Figure 114, the surgical instrument 110000 includes a visual indicator to show that the joint movement drive unit is disconnected from the staple launch drive unit and that the control system is no longer responding to the joint movement control units 110160 and 110170. The rocker body 110163 of the joint movement actuator 110160 is made of a translucent material, such as translucent plastic. In at least one embodiment, the rocker body 110163 is made of, for example, transparent polycarbonate. The joint movement actuator 110160 further includes a light, such as a light-emitting diode (LED), positioned inside and / or below the rocker body 110163. The light communicates with the control system of the surgical instrument 110000 and is illuminated by the control system when the joint movement drive unit is not engaged with the staple launch drive unit. In such cases, the clinician is provided with visual feedback that the joint movement control unit 110160 is no longer responding to input. Similarly, the joint movement control unit 110170 comprises a button housing made of a translucent material and a light that communicates with the control system. Similar to the joint movement control unit 110160, the light of the joint movement control unit 110170 is illuminated by the control system when the joint movement drive unit is not engaged with the staple launch drive unit. In various embodiments, the joint movement actuator 110160 is not illuminated when the closing actuator 10140 is within a range of positions (including) between its fully open position and a predetermined partially closed position as described above. When the closing actuator 10140 is closed beyond the predetermined partially closed position, the joint movement actuator 110160 is illuminated at least until the closing actuator 10140 is returned to the predetermined partially closed position.

[0166] In various alternative embodiments, the lights of actuator 110160 and / or actuator 110170 are illuminated in a first color, such as green, when the joint motion drive is engaged with the staple launch drive, and illuminated in a second color, such as red, when the joint motion drive is not engaged with the staple launch drive. In at least one such embodiment, the lights in the joint motion actuator 110160 include, for example, a two-color LED.

[0167] Referring to Figure 115, the surgical instrument 110000 may include visual indicators to show that the joint movement drive is engaged with the staple launch drive and that the control system is responding to the joint movement control units 110160 and 110170. A light in the joint movement control unit 110160 communicates with the control system of the surgical instrument 110000 and is illuminated by the control system when the joint movement drive is engaged with the staple launch drive. In such cases, the clinician is provided with visual feedback that the joint movement control unit 110160 is responding to input. Similar to the joint movement control unit 110160, a light in the joint movement control unit 110170 is illuminated by the control system when the joint movement drive is engaged with the staple launch drive. In various embodiments, the joint movement actuator 110160 is illuminated when the closing actuator 10140 is within a range of positions (including) between its fully open position and a predetermined partially closed position as described above. When the closing actuator 10140 closes beyond a predetermined partial closing position, the joint motion actuator 110160 is illuminated until at least the closing actuator 10140 is returned to the predetermined partial closing position. Further details are provided in the control system schematic diagrams 110900'' and 110900''' shown in Figures 116 and 117, respectively.

[0168] As described above, the joint motion drive unit of the surgical instrument 110000 is selectively engageable with the staple launching drive unit. When the joint motion drive unit is engaged with the staple launching drive unit, the joint motion actuator 110160 is operable to operate the electric motor of the staple launching drive unit, thereby translating the joint motion member of the joint motion drive unit longitudinally. Referring to Figures 118 to 120, the surgical instrument 110000 further comprises a joint motion locking system 110260 including two sets of joint motion locks 110280 that releaseably hold the joint motion drive system (and end effector 110400) in place when the joint motion drive unit is not driven by the electric motor, as will be described in more detail below. Also, as will be described in more detail below, the two sets of joint motion locks 110280 self-unlock when the joint motion drive unit is driven by the electric motor of the staple launching drive unit.

[0169] Referring to Figure 118, the joint movement drive unit of the surgical instrument 110000 includes a proximal drive member 110250 which is translated proximal and distally by an electric motor depending on the direction in which the joint movement actuator 110160 is actuated. When the proximal drive member 110250 is driven distally, it contacts a first set of joint locks 110280 which are shifted from a locked position to an unlocked position by the distal movement of the proximal drive member 110250. The shift of the first set of joint movement locks 110280 shifts a second set of joint movement locks 110280 to the unlocked position via a spring 10286 (Figure 73) positioned between the first and second sets of joint movement locks 110280. Therefore, distal movement of the proximal drive member 110250 unlocks both sets of joint movement locks 110280 and drives both sets of joint movement locks 110280 distally. The joint movement locks 110280 engage with the distal joint movement member 110270, which is driven distally by the joint movement locks 110280, when the joint movement locks 110280 are driven distally by the proximal joint movement member 110250. When the proximal drive member 110250 stops moving, the spring 10286 biases the joint movement locks 110280 back to their locked positions, relocking the end effector 110400 in place. When the proximal member 110250 is driven proximal, the proximal drive member 110250 contacts the second set of joint movement locks 110280, shifting the first and second sets of joint movement locks 110280 to their unlocked positions and driving the first and second sets of joint movement locks 110280 and the distal joint movement member 112070 proximal. When the proximal drive member 110250 stops moving, the spring 10286, as described above, biases the joint movement locks 110280 back to their locked positions, thereby relocking the end effector 110400 in place.

[0170] When the joint movement lock 110280 is moved proximal and distally by the proximal drive member 110250 of the joint movement drive unit as described above, the joint movement lock 110280 slides along the lock rail 110282. Referring mainly to Figure 120, the lock rail 110282 extends through an aperture 110285 defined within the lock end 110284 of the joint movement lock 110280. In particular, the lock rail 110282 comprises two flat lock surfaces 110282a located on either side and two arched lock surfaces 110282b located on either side. Each aperture 110285 comprises opposing flat lock sides 110285a that engage with the flat lock surface 110282a of the lock rail 110282 when the joint lock 110280 is in the locked position. In various examples, the flat locking side 110285a includes an edge that bites into the locking rail 110282 when the articular lock 110280 is in the locked position. Such a device configuration strongly resists the reverse driving force transmitted to the articular drive unit when torque and / or force that would cause the end effector 110400 to articulate or release is applied to the end effector 110400. As described above, when the articular lock 110280 is shifted to the unlocked position by the articular drive unit, the flat locking side 110285a of the aperture 110285 can slide along the flat locking surface 110282a of the locking rail 110282, thereby allowing the end effector 110400 to articulate. Each aperture 110285 further comprises opposing arched sides 110285b that slide along the arched lock surface 110282b of the lock rail 110282.

[0171] In various examples, the surgical instrument 110000 may include one or more position sensors that can be used to confirm whether the joint motion drive system is engaged with or disengaged from the staple launching system. In at least one such embodiment, for example, the surgical instrument 110000 includes a Hall effect sensor configured to estimate, for example, whether the joint motion drive member is aligned with and / or engaged with the staple launching drive member. In addition to, or instead of, the surgical instrument 110000 may include force and / or force-related sensors configured to estimate whether the joint motion drive system is engaged with the staple launching drive system. In at least one such embodiment, for example, the control system of the surgical instrument 110000 includes at least one strain gauge mounted on the proximal joint motion drive member 110250, the strain gauge configured to detect, for example, the strain of the proximal joint motion drive member 110250. The strain load in the joint movement drive member 110250 follows a predictable pattern when the joint movement drive member 110250 is advanced proximal or distally to unlock the joint movement lock assembly 110260. For example, a large force is required to unlock the joint movement lock assembly 110260, and then this force decreases when the end effector 110400 begins joint movement. In various examples, the processor of the surgical instrument control system is configured to compare the sensed strain load data from the strain gauge with predicted strain data stored in the control system's memory device. If the sensed data matches or closely matches the stored data within an acceptable margin of error, the control system determines that the joint movement drive is engaged with the staple launch drive and allows the surgical instrument 110000 to continue responding to the joint movement control units 110160 and 110170. The handle 110100 may also include an indicator light that communicates with the control system, which is illuminated by the control system when the control system determines that the joint motion drive is connected to the staple firing drive.Such indicator lights may be, for example, joint movement actuator 110160, joint movement actuator 110170, and / or indicator lights adjacent to joint movement actuators 110160 and 110170.

[0172] However, if the sensed data does not sufficiently match the stored data, the control system determines that the joint movement drive is not engaged with the staple launch drive and does not allow the surgical instrument 110000 to continue responding to the joint movement control units 110160 and 110170. When the joint movement drive is not engaged with the staple launch drive, the joint movement drive member is not driven by the electric motor, and therefore there is only slight strain, if any, in the joint movement drive member 110250, thereby providing a pattern that is clearly distinguishable from the pattern described above. Similarly, the handle 110100 may also include indicator lights that communicate with the control system, which are illuminated by the control system when the control system determines that the joint movement drive is not connected to the staple launch drive. Such indicator lights may be, for example, part of the indicator lights on the joint movement actuator 110160, the joint movement actuator 110170, and / or adjacent to the joint movement actuators 110160 and 110170.

[0173] In addition to the above, the proximal joint movement drive member 110250 includes an electrical circuit that communicates with at least one strain sensor mounted on the proximal joint movement drive member 110250. The electrical circuit includes an electrical contact that moves within an elongated longitudinal electrical contact in the handle 110100 and contacts the elongated longitudinal electrical contact, which communicates with the processor of the surgical instrument 110000. As a result of this slidable electrical interface, at least one strain sensor remains in communication with the control system through the movement of the proximal joint movement drive member 110250. Other contact configurations may be used. Furthermore, other types of force sensors, such as force transducers, may be used. Also, any suitable part of the joint movement drive system may be used to estimate whether or not the joint movement drive system is engaged with the staple launching system.

[0174] At least one alternative embodiment of a joint movement lock is shown in Figures 121 and 122. The joint movement lock includes a lock rail 110282', a first set of joint movement locks 110280a', and a second set of joint movement locks 110280b'. Similar to the joint movement lock 110280, the joint movement locks 110280a' and 110280b' are shiftable between a locked position and an unlocked position when the proximal joint movement drive member 110250 is driven longitudinally. The lock rail 110282' comprises a first portion 110282a' gripped by a first joint movement lock 110280a', a second portion 110282b' gripped by a second joint movement lock 110280b', and a spring 110282c' connecting the first portion 110282a' and the second portion 110282b' of the lock rail 110282'. The flexibility of the spring 110282c' generates a force reaction within the joint movement drive system, and the force reaction is observable and detectable by the control system to estimate whether the joint movement driver is engaged with the staple launch drive unit. Furthermore, each joint movement lock 110280a' is provided with a kickout 110284a', and similarly, each joint movement lock 110280b' is provided with a kickout 110284b'. The kickouts 110284a' are nested within each other and in contact with each other. Similarly, the kickouts 110284b' are nested within each other and in contact with each other. The lengths L and radii R of the kickouts 110284a' and 110284b' are designed to produce improved lock / unlock force and / or displacement profiles for joint motion locks, and they are observable and detectable by the control system to estimate whether the joint motion driver is engaged with the staple launch drive.

[0175] A surgical instrument according to at least one alternative embodiment is shown in Figures 123 to 126. The surgical instrument comprises a shaft 114200, an end effector 114400, a joint movement drive unit configured to articulate the end effector 114400 around a joint movement joint, and a joint movement lock 114280. The joint movement drive unit comprises a proximal joint movement driver 114250, a distal joint movement driver 114270, and a joint movement lock spring 114260 positioned between the distal arm 114272 and the proximal arm 114274 of the distal joint movement driver 114270. Referring to Figure 123, when the joint motion drive system is stationary, i.e., not driven to articulate the end effector 114400, the joint motion lock spring 114260 comprises a distal end 114262 positioned relative to the distal arm 114272 of the distal joint motion driver 114270, and a proximal end 114264 engaged with the proximal joint motion driver 114250. In such an example, as shown in Figure 123, the proximal end 114264 of the joint motion lock spring 114260 is seated in a notch or recess 114255 defined within the proximal joint motion driver 114250. Furthermore, in such a case, the lock spring 114260 is in a locked state, engaged with the lock rail 10282 of the shaft 114200. Referring primarily to Figure 126, the lock rail 10282 extends through an aperture in the lock spring 114260, and when the lock spring 114260 is in its locked state, the coil of the lock spring 114260 is tightly engaged with or gripped by the circular outer surface of the lock rail 10282. As a result, a significant resistive force can be generated that resists or prevents the joint movement of the end effector 114400 when the end effector 114400 is subjected to a reverse driving torque and / or force that tends to cause the end effector 114400 to joint or disjoint. In order to release the grip of the lock spring 114260 and unlock the joint movement lock 114280, the diameter of the lock spring 114260 must be enlarged, as will be described in more detail below.

[0176] Referring to Figure 124, when the proximal joint motion driver 114250 is advanced distally to articulate the end effector 114400, the proximal cam arm 114254 of the proximal joint motion driver 114250 engages with the proximal arm 114274 of the distal joint motion driver 114270, pushing the distal joint motion driver 114270 distally. The distal end of the distal joint motion driver 114270 engages with the frame 114410 of the end effector 114400 such that the longitudinal translation of the distal joint motion driver 114270 rotates the end effector 114400. When the proximal joint movement driver 114250 contacts the distal joint movement driver 114270, in addition to the above, the proximal end 114264 of the joint movement lock spring 114260 is released from the notch 114255 and driven inward by the proximal joint movement driver 114250. In such a case, the diameter of the joint movement lock spring 114260 expands, releasing its grip on the lock rail 10282 and allowing the end effector 114400 to be articulated by the joint movement drive. When the distal movement of the proximal joint movement driver 114250 is stopped, the joint movement lock spring 114260 elastically returns to its locked state and grips the lock rail 10282 again.

[0177] Referring to Figure 125, when the proximal joint motion driver 114250 is moved proximal to articulate the end effector 114400 in the opposite direction, the distal cam arm 114252 of the proximal joint motion driver 114250 engages with the distal arm 114272 of the distal joint motion driver 114270, pulling the distal joint motion driver 114270 proximal. In such an example, in addition to the above, the proximal end 114264 of the joint motion lock spring 114260 is released from the notch 114255 and driven inward by the proximal joint motion driver 114250. In such a case, the diameter of the joint motion lock spring 114260 expands, releasing its grip on the lock rail 10282, allowing the end effector 114400 to be articulated by the joint motion drive. When the proximal movement of the proximal joint movement driver 114250 is stopped, the joint movement lock spring 114260 elastically returns to its locked state and grips the lock rail 10282 again.

[0178] As described above, the operation of the closing drive unit of the surgical instrument 110000 deactivates the joint motion drive system at some point during the closing stroke. When the closing drive unit reaches the end of its closing stroke, the second jaw 110420 contacts the first jaw 110410, thereby indicating to the clinician using the surgical instrument 110000 that the second jaw 110420 is approaching its fully clamped position. Referring to Figures 127-130, the second jaw 110420 is pivotably connected to the first jaw 110410 and is rotatable between a fully open position (Figure 128) and a fully clamped position (Figure 127) during the closing stroke. When the second jaw 110420 is in its fully open position (Figure 128), the flange of the second jaw 110420, i.e., the tissue stop 110428, does not engage with the first jaw 110410. Referring to Figure 129, when the second jaw 110420 is closed, the tissue arrest portion 110428 comes into contact with the outer wall 110418 of the first jaw 110410. The inner surface 110429 of the tissue arrest portion is either not angled or parallel to the closing motion of the second jaw 110420. Referring mainly to Figure 130, the outer surface 110419 of the outer wall 110418 is either angled inward or non-parallel to the closing motion of the second jaw 110420. In this device configuration, interference between the tissue arrest portion 110428 of the second jaw 110420 and the outer wall 110418 of the first jaw 110410 is generated during the closing motion of the second jaw 110420 and gradually increases as the second jaw 110420 moves to its fully closed position. This increasing interference between jaws 110410 and 110420 generates an increasing resistance within the closure drive, which is then transmitted again through the closure tube 110240 to the closure trigger 10140. A clinician pulling the closure trigger 10140 can feel the increasing resistance transmitted through the closure trigger 10140 and understand that the second jaw 10420 has reached its fully closed position.

[0179] Referring primarily to Figure 130, each outer surface 110419 comprises, for example, an upper angled surface 110419a, a second angled surface 110419b, and a final angled surface 110419c. The first jaw 110410 includes a channel 110412 configured to receive a staple cartridge inside, the channel having an upper width defined between the upper angled surfaces 110419a. The upper width of the channel 110412 is narrower than the intermediate width defined between the intermediate angled surfaces 110419b, and this intermediate width is narrower than the final width defined between the final angled surfaces 110419c. In addition to providing tactile feedback to the clinician, the above device configuration maintains proper lateral alignment between the first jaw 110410 and the second jaw 110420.

[0180] As described above, the operation of the closing drive unit 10600 of the surgical instrument 110000 disconnects the joint movement drive unit from the staple launch drive unit at some point during the closing stroke. Referring to Figures 131 and 132, the surgical instrument 110000 includes a transmission unit 110230 which is switched from a first state or configuration to a second state or configuration when the closing drive unit 10600 is closed. When the transmission unit 110230 is in its first state, the proximal joint movement driver 110250 is connected to the launching member of the staple laun...

Claims

1. A surgical end effector assembly, The longitudinal axis, An anvil jaw comprising an anvil trunnion extending laterally outward from the proximal end of the anvil jaw, A cartridge channel jaw, wherein the anvil jaw is pivotable relative to the cartridge channel jaw, and the cartridge channel jaw is A trunnion slot configured to receive the aforementioned anvil trunnion, Includes a mounting recess formed within the cartridge channel jaw, The trunnion slot has a cartridge channel jaw that extends partially through the mounting recess, A surgical end effector assembly comprising: a connecting member positioned within the mounting recess from the extending direction of the anvil trunnion, wherein the anvil trunnion is received within a pivot aperture defined within the connecting member, thereby restricting the movement of the anvil trunnion to rotation about a pivot axis, and the connecting member is welded to the cartridge channel jaw.

2. The surgical end effector assembly according to claim 1, wherein the connecting member comprises an alignment arm configured to be received in a corresponding alignment aperture defined within the cartridge channel jaw.

3. The surgical end effector assembly according to claim 1, wherein the connecting member is recessed relative to the outer surface of the cartridge channel jaw.

4. The surgical end effector assembly according to claim 1, wherein the connecting member includes a retaining clip.

5. The surgical end effector assembly according to claim 4, wherein the retaining clip comprises a laterally extending alignment flange configured to be received in a corresponding alignment recess defined within the cartridge channel jaw.

6. The surgical end effector assembly according to claim 5, wherein each of the alignment flanges comprises a pin extending from the alignment flange, the pin being configured to be received in a corresponding pin aperture defined within the alignment recess.

7. The surgical end effector assembly according to claim 1, wherein the connecting member comprises a circular body, and the mounting recess has a circular shape configured to receive the circular body internally.

8. A surgical staple fastening assembly, A staple cartridge comprising a longitudinal slot and a plurality of staples removably stored within the staple cartridge, A first jaw comprising a connecting pin extending laterally outward from the proximal end of the first jaw, A second jaw, wherein one of the first jaw and the second jaw is movable relative to the other of the first jaw and the second jaw, The recess defined in the second jaw, A second jaw comprising: a slot defined within the second jaw, which extends partially through the recess, and is configured to receive the connecting pin for pivotally connecting the first jaw and the second jaw; A surgical staple fastening assembly comprising: a connecting member disposed within the recess from the extending direction of the connecting pin, wherein the connecting pin is received within a pivot aperture defined within the connecting member, so that the connecting member constrains the translation between the first jaw and the second jaw, so that the only motion between the first jaw and the second jaw includes rotation about a pivot axis defined by the connecting pin and the pivot aperture, and the connecting member is welded to the second jaw.

9. The surgical staple fastening assembly according to claim 8, wherein each of the connecting members comprises an alignment arm configured to be received in a corresponding alignment aperture defined within the second jaw.

10. The surgical staple fastening assembly according to claim 8, wherein the connecting member is recessed relative to the outer surface of the second jaw.

11. The surgical staple fastening assembly according to claim 8, wherein each of the connecting members includes a retaining clip.

12. The surgical staple fastening assembly according to claim 11, wherein each of the retaining clips comprises a laterally extending alignment flange configured to be received in a corresponding alignment recess defined within the second jaw.

13. The surgical staple assembly according to claim 12, wherein each of the alignment flanges comprises a pin extending from the alignment flange, the pin being configured to be received in a corresponding pin aperture defined within the alignment recess.

14. The surgical staple fastening assembly according to claim 8, wherein each of the connecting members comprises a circular body, and each of the recesses includes a circular shape configured to receive the circular body inside.

15. The surgical staple fastening assembly according to claim 8, wherein the first jaw is pivotable relative to the second jaw.

16. The surgical staple fastening assembly according to claim 8, wherein the second jaw is pivotable relative to the first jaw.

17. A method for manufacturing a surgical end effector assembly, To provide an anvil jaw equipped with a pair of anvil trunnions, A cartridge jaw is provided comprising a pair of anvil trunnion slots and a pair of recesses, wherein the anvil trunnion slots extend partially through the recesses. To provide a connecting member, The anvil jaw is assembled onto the cartridge jaw, Insert the anvil trunnion into the anvil trunnion slot, The connecting member is positioned within the recess from the direction in which the anvil trunnion extends, so that the anvil trunnion is received within a pivot aperture defined within the connecting member. A method comprising assembling by welding the connecting member to the cartridge jaw.

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