STAPLING SYSTEMS AND METHODS FOR SURGICAL DEVICES AND THEIR METHODS OF USE AND END EFFECTORS

Abstract

The modalities include an end effector for use by a surgeon to staple an anatomical structure of a patient, the end effector including a first jaw having a first end, a second end, a longitudinal shaft and an anvil having an anvil face; a second jaw having a first end, a second end, a longitudinal shaft and a cartridge operatively configured to accommodate a plurality of staples, the cartridge having a cartridge face; a first coupling coupling the first end of the first jaw to the first end of the second jaw; and a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid linkage connected to the first jaw and the second jaw.

Description

STAPPING SYSTEMS AND METHODS FOR SURGICAL DEVICES AND THEIR METHODS OF USE AND END EFFECTIVES CROSS REFERENCE TO RELATED APPLICATIONS This application claims priority benefit of United States provisional patent applications no. 62 / 545,324 filed August 14, 2017; United States provisional patent application no. 62 / 579,703 filed October 31, 2017; United States provisional patent application no. 62 / 662,517 filed April 25, 2018; United States provisional patent application no. 62 / 676,493 filed May 25, 2018; and United States provisional patent application no. 62 / 672,996 filed May 17, 2018, each of which is incorporated herein by reference in its entirety. TECHNICAL FIELD The embodiments of the technology relate generally to surgical stapling technology, and in particular to end effectors and stapling devices and methods of using those devices in surgical procedures. SUMMARY Embodiments include an end effector for use by a surgeon to staple an anatomical structure of a patient, the end effector including a first jaw having a first end, a second end, a longitudinal axis and an anvil having a face of the anvil; a second jaw having a first end, a second end, a longitudinal axis and a cartridge operatively configured to accommodate a plurality of staples, the cartridge having a face of the cartridge; a first coupling coupling the first end of the first jaw to the first end of the second jaw; and a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link connected to the first jaw and the second jaw. In certain embodiments, the first end of the first jaw is a distal end of the first jaw and the second end of the first jaw is a proximal end of the first jaw. In certain embodiments, the first coupling comprises a pin having an axis of the pin, the axis of the pin being transverse to the longitudinal axis of the first jaw and the longitudinal axis of the second jaw, wherein the pin rotatably engages the first end of the first jaw to the first end of the second jaw. In certain embodiments, the second coupling comprises a groove defined by the first jaw or the second jaw that retains the rigid link so that the rigid link can slide within the groove. In certain embodiments, the slot has a length of 3 millimeters to 8 millimeters. Certain embodiments include a plurality of clips at least partially retained by the second jaw cartridge. In certain embodiments, the plurality of staples at least partially retained by the cartridge are positioned between the first coupling and the second coupling. Certain embodiments include a blade having a cutting surface and at least one side arm. Certain embodiments include a channel defined by the first jaw or the second jaw to retain at least one side arm of the blade. In certain embodiments, the blade is translated from a first position at a distal end of the end effector to a second position at a proximal end of the end effector such that the anatomical structure is transversely cut. Embodiments of a method for stapling an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, include the steps of providing an end effector that includes a first jaw having a first end , a second end, a longitudinal axis and an anvil, the anvil having an anvil face; a second jaw having a first end, a second end, a longitudinal axis and a cartridge that retains a plurality of staples, the cartridge having a face of the cartridge; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link connected to the first jaw and the second jaw; and a knife engaged and slidable relative to the first jaw or the second jaw; insert the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operating the end effector to move the rigid link so that the first jaw is pushed toward the second jaw to secure the end effector in the anatomical structure; operating the end effector to push the plurality of staples of the cartridge to staple the anatomical structure; and operate the knife to cut the ΜΛ / t / ZUZZ / UUUUZO anatomical structure. Embodiments include a surgical instrument for stapling and transversely cutting an anatomical structure of a patient, the surgical instrument including an end effector, the end effector including a first jaw having a first end, a second end, a longitudinal axis and a incus, the incus having an incus face that can be positioned on the first side of the anatomical structure; a second jaw having a first end, a second end, a longitudinal axis and a cartridge operatively configured to house a plurality of staples, the cartridge having a face of the cartridge positionable on the second side of the anatomical structure; a first coupling coupling the first end of the first jaw to the first end of the second jaw; and a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link connected to the first jaw and the second jaw; an elongated tube, the elongated tube having a proximal end and a distal end, where the distal end engages the end effector; a handle, the handle having a proximal end and a distal end, where the distal end of the handle engages the proximal end of the elongated tube; and a drive unit including a motor for driving the end effector. Embodiments include a method of stapling an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the method including the steps of providing an end effector that includes an anvil having a first end, a second end, an anvil face, a length and a width, where the anvil length is at least ten times the anvil width; a cartridge having a first end, a second end, a cartridge face, a length and a width, where the length of the cartridge is at least ten times the width of the anvil, the cartridge retaining a plurality of staples, where the first end of the anvil engages the first end of the cartridge and the second end of the anvil movably engages the second end of the cartridge; and a rigid link having a distal portion and a proximal portion, wherein the rigid link movably couples the second end of the anvil to the second end of the cartridge; insert the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operate the end effector to move the rigid link so that the anvil is pushed into the cartridge to hold the end effector in the frame ΜΛ / t / ZUZZ / UUUUZO anatomical; operating the end effector to push the plurality of staples of the cartridge to staple the anatomical structure; and operate a knife to cut the anatomical structure. Embodiments include a surgical instrument for stapling and transversely cutting an anatomical structure of a patient, the surgical instrument including an end effector, the end effector including an anvil having a first end, a second end, an anvil face, a length and a width, where the length of the anvil is at least ten times the width of the anvil; a cartridge having a first end, a second end, a cartridge face, a length and a width, where the length of the cartridge is at least ten times greater than the width of the anvil, the cartridge being operatively configured to accommodate a plurality of staples, where the first end of the anvil engages with the first end of the cartridge and the second end of the anvil engages movably with the second end of the cartridge; and a rigid link having a distal portion and a proximal portion, wherein the rigid link movably couples the second end of the anvil to the second end of the cartridge; an elongated tube, the elongated tube having a proximal end and a distal end, where the distal end engages the end effector; a handle, the handle having a proximal end and a distal end, where the distal end of the handle engages the proximal end of the elongated tube; and a drive unit having a motor for driving the end effector. The embodiments include a method of stapling an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the method including the steps of providing an end effector that includes an anvil that includes a first end, a second end, and an anvil face; a cartridge retaining a plurality of staples, the cartridge having a first end, a second end and a face of the cartridge, the face of the cartridge including a channel extending from the first end of the cartridge to the second end of the cartridge, wherein the first end of the cartridge is rotatably coupled with the first end of the anvil; a blade, the blade having a cutting surface and at least one elongated arm, wherein the at least one elongated arm slideably engages the channel; and a rigid link movably coupling the second end of the anvil to the second end of the cartridge; insert the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operating the end effector to move the rigid link so that the anvil is pushed towards the cartridge to secure the end effector in the anatomical structure; operate the end effector to M A / ΙΖ / ZUZZ / UUUUZO ΜΛ / push the plurality of staples of the cartridge to staple the anatomical structure; and operate the blade to cut the anatomical structure. Embodiments include a surgical instrument for stapling and transversely cutting an anatomical structure of a patient, the surgical instrument including an end effector, the end effector including an anvil including a first end, a second end, and an anvil face that can position yourself on the first side of the anatomical structure; a cartridge operatively configured to accommodate a plurality of staples, the cartridge comprising a first end, a second end and a face of the cartridge positionable on the second side of the anatomical structure, the face of the cartridge including a channel extending from the first end of the cartridge to the second end of the cartridge, where the first end of the cartridge is rotatably engaged with the first end of the anvil; a blade, the blade having a cutting surface and at least one elongated arm, wherein the at least one elongated arm slideably engages the channel; and a rigid link movably coupling the second end of the anvil to the second end of the cartridge; an elongated tube, the elongated tube having a proximal end and a distal end, where the distal end engages the end effector; a handle, the handle having a proximal end and a distal end, where the distal end of the handle engages the proximal end of the elongated tube; and a drive unit having a motor for driving the end effector. Embodiments include a method of stapling an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the method including the steps of providing an end effector that includes a first jaw having a first end, a second end, an anvil having an anvil face and a first channel; a second jaw having a first end, a second end, a cartridge having a cartridge face and a second channel; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link; and an I-shaped blade, the I-shaped blade including a portion of the blade having a cutting edge, at least one upper side arm, wherein the at least one upper side arm is slidably positioned on the first channel, and at least one lower side arm, where the at least one lower side arm is slidably positioned in the second channel; insert the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operating the end effector to move the rigid link so that the anvil is pushed towards the cartridge to secure the end effector in the anatomical structure; operating the end effector to push the plurality of staples of the cartridge to staple the anatomical structure; and operate the I-shaped blade to cut the anatomical structure. Embodiments include a surgical instrument for stapling and transversely cutting an anatomical structure of a patient, the surgical instrument including an end effector, the end effector including a first jaw having a first end, a second end, an anvil having a anvil face, and a first channel; a second jaw having a first end, a second end, a cartridge having a cartridge face and a second channel; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link; and an I-shaped blade, the I-shaped blade including a portion of the blade having a cutting edge, at least one upper side arm, wherein the at least one upper side arm is slidably positioned on the first channel, and at least one lower side arm, where the at least one lower side arm is slidably positioned in the second channel; and an elongated tube, the elongated tube having a proximal end and a distal end, where the distal end engages the end effector; a handle, the handle having a proximal end and a distal end, where the distal end of the handle engages the proximal end of the elongated tube; and a drive unit having a motor for driving the end effector. Embodiments include an end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure, the end effector including an anvil having a first end, a second end, and an anvil face; a cartridge having a first end, a second end and a cartridge face, the cartridge housing a plurality of staples, wherein the first end of the anvil engages the first end of the cartridge and the second end of the anvil engages the second cartridge end; and a stiffener, the stiffener including a first stiffening member, the first stiffening member engaging the face of the anvil such that the first stiffening member covers a portion of the face of the anvil; and a second reinforcing member, the second reinforcing member engaging the face of the cartridge such that the second reinforcing member covers a portion of the face of the anvil. Embodiments include an end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure, the end effector including an anvil that includes a first end, a second end and an anvil face that can be positioned in the first side of the anatomical structure; a cartridge that houses a plurality of staples, the cartridge having a first end, a second end and a face of the cartridge that can be positioned on the second side of the anatomical structure, where the first end of the cartridge engages with the first end of the anvil and the second end of the cartridge engages the second end of the anvil; a blade, the blade having a cutting surface, where the blade can be engaged with the anvil and the cartridge; and a bolster, the bolster being a flat section of material engaged with the anvil face or cartridge face. Embodiments include an end effector that includes a first jaw having a first end, a second end, an anvil having an anvil face and a first channel; a second jaw having a first end, a second end, a cartridge having a cartridge face and a second channel; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling that couples the second end of the first jaw to the second end of the second jaw; an I-shaped blade, the I-shaped blade including a portion of the blade having a cutting edge; at least one upper side arm, where the at least one upper side arm is slidably positioned in the first channel; and at least one lower side arm, where the at least one lower side arm is slidably positioned in the second channel; and a bolster, the bolster being a flat section of material engaged with the anvil face or cartridge face. Embodiments include an end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the end effector including a first jaw having a first end, a second end, a longitudinal axis and an anvil, the anvil having an anvil face positionable on the first side of the anatomical structure; a second jaw having a first end, a second end, a longitudinal axis and a cartridge that houses a plurality of staples, the cartridge having a face of the cartridge that is positionable on the second side of the anatomical structure; a first ΜΛ / t / ZUZZ / UUUUZO coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling that couples the second end of the first jaw to the second end of the second jaw; and a stiffener, the stiffener including a first stiffening member, the first stiffening member being positioned adjacent the face of the anvil such that the first stiffening member covers a portion of the face of the anvil; and a second reinforcing member, the second reinforcing member being positioned adjacent the face of the cartridge so that the second reinforcing member covers a portion of the face of the cartridge. Embodiments include a method of stapling an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the method including the steps of providing an end effector, the end effector including a first jaw having a first end, a second end, a longitudinal axis and an anvil, the anvil comprising an anvil face positionable on the first side of the anatomical structure; a second jaw having a first end, a second end, a longitudinal axis and a cartridge that houses a plurality of staples, the cartridge having a face of the cartridge that is positionable on the second side of the anatomical structure; a first coupling coupling the first end of the first jaw to the first end of the second jaw; and a second coupling that couples the second end of the first jaw to the second end of the second jaw; providing a reinforcement, the reinforcement including a first reinforcement member and a second reinforcement member; attaching the first reinforcing member to the face of the anvil; attaching the second reinforcing member to the face of the cartridge; deploying the plurality of clips to pierce the first reinforcement member and the second reinforcement member; attaching the first reinforcement member and the second reinforcement member to the anatomical structure with the plurality of clips; and cutting the first reinforcing member and the second reinforcing member. Embodiments include a method of stapling an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the method including the steps of providing an end effector, the end effector including a anvil having a first end, a second end, and an anvil face; a cartridge having a first end, a second end and a cartridge face, the cartridge housing a plurality of staples, wherein the first end of the anvil engages the first end of the cartridge and the second end of the anvil engages the second cartridge end; and providing a reinforcement, the reinforcement having a first reinforcement member and a second reinforcement member; attaching the first reinforcing member to the face of the anvil; attaching the second reinforcing member to the face of the cartridge; position the end effector close to the anatomical structure; deploying the plurality of clips to pierce the first reinforcement member and the second reinforcement member; attaching the first reinforcement member and the second reinforcement member to the anatomical structure with the plurality of clips; and cutting the first reinforcing member and the second reinforcing member. Embodiments include an end effector for stapling an anatomical structure, the anatomical structure having a first side and a second side, the end effector including an anvil, the anvil including a proximal end, a distal end, and an anvil face; an anvil blade channel defined by the anvil face, wherein the anvil blade channel is positioned to bisect the anvil face into a first half and a second half; a first row of pockets including a plurality of first row staple pockets positioned on the first half of the anvil face; a second row of pockets including a plurality of second row staple pockets positioned on the first half of the anvil face; a third row of pockets including a plurality of third row staple pockets positioned on the first half of the anvil face; a fourth row of pockets including a plurality of fourth row staple pockets positioned on the second half of the anvil face; a fifth row of pockets including a plurality of fifth row staple pockets positioned on the second half of the anvil face; and a sixth row of pockets including a plurality of sixth row staple pockets positioned on the second half of the anvil face; a cartridge having a proximal end, a distal end, and a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples; and a blade, the blade having a cutting edge, wherein the blade is movable from a first position at the distal end of the cartridge to a second position at the proximal end of the cartridge. Embodiments of the end effector may include a staple drive ramp operatively configured to push the plurality of staples of the cartridge toward the face of the anvil, wherein the staple drive ramp is movable from the distal end of the end effector to the proximal end of the effector. end such that the end effector is operatively configured to deploy the plurality of staples from the cartridge as the blade moves from the distal end to the proximal end. In certain embodiments, the proximal end of the incus ΜΛ / t / ZUZZ / UUUUZO engages the proximal end of the cartridge and the distal end of the anvil engages the distal end of the cartridge. In certain embodiments, the plurality of staple pockets of the first row have a first uniform depth, the plurality of staple pockets of the second row have a second uniform depth, and the first uniform depth is different from the second uniform depth. In certain embodiments, the first uniform depth is shallower than the second uniform depth. In certain embodiments, the first row of pockets is spaced a first distance from the second row of pockets, the second row of pockets is spaced a second distance from the third row of pockets, and the second distance is greater than the first distance. In certain embodiments, the first row of pockets is offset from the second row of pockets. In certain embodiments, the plurality of staple pockets of the first row includes a first portion having a first pocket depth and a second portion having a second pocket depth. In certain embodiments, the first portion is a proximal portion, the second portion is a distal portion, and the first pocket depth is deeper than the second pocket depth. In certain embodiments, each of the plurality of staple pockets of the first row has a different pocket depth. In certain embodiments, the plurality of staple pockets of the first row has a first depth corresponding to the plurality of staple pockets of the fourth row, the plurality of staple pockets of the second row has a second depth corresponding to the plurality of fifth row staple pockets, and the plurality of third row staple pockets have a third depth corresponding to the plurality of sixth row staple pockets. In certain embodiments, the first depth is shallower than the second depth and the second depth is shallower than the third depth. In certain embodiments, each of the plurality of staple pockets of the first row is sized to form a B-shaped staple, which has a symmetrical configuration, in cooperation with the face of the cartridge. In certain embodiments, at least a portion of the plurality of staple pockets of the first row is sized to form a staple having an asymmetrical configuration. In certain embodiments, each of the plurality of staple pockets of the first row is sized to form a staple having a three-dimensional geometry. In certain embodiments, each of the plurality of staple pockets of the first row includes a first cavity having a first depth and a second cavity having a second depth, where the first depth is greater than the second depth. M A / t / ZUZZ / UUUUZO ΜΛ / Certain embodiments include an end effector for stapling an anatomical structure, the anatomical structure having a first side and a second side, the end effector including an anvil, the anvil including a proximal end, a distal end, and an anvil face; an anvil blade channel defined by the anvil face, wherein the anvil blade channel is positioned to bisect the anvil face into a first half and a second half; a first row of pockets including a plurality of first row staple pockets positioned on the first half of the anvil face, wherein a first portion of the plurality of first row staple pockets has a first pocket depth and a second portion of the plurality of staple pockets of the first row have a second pocket depth different from the first pocket depth; a second row of pockets including a plurality of second row staple pockets positioned on the first half of the anvil face, wherein a first portion of the plurality of second row staple pockets has the first pocket depth and a second portion of the plurality of staples of the second row of pockets has the second pocket depth; a third row of pockets including a plurality of third row staple pockets positioned on the second half of the anvil face, wherein a first portion of the plurality of third row staple pockets has the first pocket depth and a second portion of the plurality of staple pockets of the third row has the second pocket depth; and a fourth row of pockets including a plurality of fourth row staple pockets positioned on the second half of the anvil face, wherein a first portion of the plurality of fourth row staple pockets has the first pocket depth and a second portion of the plurality of the fourth row staple pockets has the second pocket depth; a cartridge having a proximal end, a distal end, and a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples; and a blade, the blade having a cutting edge, wherein the blade is movable from a first position at a distal end of the cartridge to a second position at a proximal end of the cartridge. Embodiments include an end effector for stapling an anatomical structure, the anatomical structure having a first side and a second side, the end effector including an anvil, the anvil having a proximal end, a distal end, and an anvil face; an anvil knife channel defined by the anvil face, where the blade channel divides the anvil face into a first half and a second half; a first row of internal pockets including a plurality of first row staple pockets positioned on the first half of the anvil face, where each of the plurality of first row staple pockets has a depth of 0.254 mm ( 0.010 inch) to 0.381 mm (0.015 inch); a second row of center pockets including a plurality of second row staple pockets positioned on the first half of the anvil face, where each of the plurality of second row staple pockets has a depth of 0.508 mm ( 0.020 inch) to 0.635 mm (0.025 inch); a third row of outer pockets including a plurality of third row staple pockets positioned on the first half of the anvil face, where each of the plurality of third row staple pockets has a depth of 0.762 mm ( 0.030 inch) to 0.889 mm (0.035 inch); a fourth row of internal pockets including a plurality of fourth row staple pockets positioned on the second half of the anvil face, where each of the plurality of fourth row staple pockets has a depth of 0.254 mm ( 0.010 inch) to 1.27 mm (0.050 inch); a fifth row of central pockets including a plurality of fifth row staple pockets positioned on the second half of the anvil face, where each of the plurality of fifth row staple pockets has a depth of 0.254 mm ( 0.010 inch) to 1.27 mm (0.050 inch); and a sixth row of outer pockets including a plurality of sixth row staple pockets positioned on the second half of the anvil face, where each of the plurality of sixth row staple pockets has a depth of 0.254 mm (0.010 inch) to 1.27 mm (0.050 inch); a cartridge having a proximal end, a distal end, and a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples; and a blade, the blade having a cutting edge, wherein the blade is movable from a first position at a distal end of the cartridge to a proximal end of the cartridge. Embodiments include an end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the end effector including an anvil comprising a first end , a second end, an anvil face, a length and a width, where the length of the anvil is at least ten times the width of the anvil; a cartridge having a first end, a second end, a cartridge face, a length and a width, where the length of the cartridge is at least ten times greater than the width of the anvil, the cartridge is operatively configured to accommodate a plurality of staples, where the first end of the ΜΛ / t / ZUZZ / UUUUZO anvil engages with the first end of the cartridge and the second end of the anvil movably engages with the second end of the cartridge; and a rigid link having a distal portion and a proximal portion, wherein the rigid link movably couples the second end of the anvil to the second end of the cartridge. Embodiments include an end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the end effector including an anvil including a first end , a second end, and an anvil face positionable on the first side of the anatomical structure, a cartridge operatively configured to house a plurality of staples, the cartridge including a first end, a second end, and a cartridge face that may be positioned on the second side of the anatomical structure, the face of the cartridge including a channel extending from the first end of the cartridge to the second end of the cartridge, where the first end of the cartridge rotatably engages the first end of the anvil; a blade, the blade including a cutting surface and at least one elongated arm, wherein the at least one elongated arm is slidably engaged with the channel; and a rigid link that movably couples the second end of the anvil to the second end of the cartridge. Embodiments include an end effector that includes a first jaw having a first end, a second end, an anvil having an anvil face and a first channel; a second jaw having a first end, a second end, a cartridge having a cartridge face and a second channel; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link; and an I-shaped blade, the I-shaped blade including a portion of the blade having a cutting edge, at least one upper side arm, wherein the at least one upper side arm is slidably positioned on the first channel, and at least one lower side arm, where the at least one lower side arm is slidably positioned in the second channel. The modalities are directed to an end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side. The end effector includes a first jaw having a first end, a second end, a longitudinal axis and an anvil, the M A / IZ / ¿U¿¿ / UUUU¿Or an incus that has an incus face that can be positioned on the first side of the anatomical structure. A second jaw has a first end, a second end, a longitudinal axis, and a cartridge operatively configured to accommodate a plurality of staples, the cartridge having a cartridge face positionable on the second side of the anatomical structure. A first coupling couples the first end of the first jaw to the first end of the second jaw, and a second coupling movably couples the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a link rigid . The first end of the first jaw may be a distal end of the first jaw and the second end of the first jaw may be a proximal end of the first jaw. The first coupling may include a pin having an axis of the pin, the axis of the pin being transverse to the longitudinal axis of the first jaw and the longitudinal axis of the second jaw, wherein the pin rotatably engages the first end of the first jaw to the first end of the second jaw. The second coupling may include a groove within the first jaw or the second jaw that retains the rigid link so that the rigid link can slide within the groove. The slot can have a length of 3 millimeters to 8 millimeters. The second jaw cartridge may at least partially retain a plurality of staples. The plurality of staples at least partially retained by the cartridge may be positioned between the first coupling and the second coupling. The end effector may further have a blade with a cutting surface and at least one side arm. There may also be a channel defined by the first jaw or the second jaw to retain the side arm of the blade. The blade can move from a first position at a distal end of the end effector to a second position at a proximal end of the end effector so that the anatomical structure can be transversely cut. In another embodiment, an end effector is described for use by a surgeon to staple an anatomical structure of a patient having a first side and a second side during a minimally invasive procedure. The end effector includes an anvil having a first end, a second end, an anvil face, a length and a width, where the length of the anvil may be at least ten times the width of the anvil. The end effector further includes a cartridge having a first end, a second end, a cartridge face, a length and a width, wherein the length of the cartridge may be at least ten times the width of the anvil. The cartridge ΜΛ / t / ZUZZ / UUUUZO ΜΛ / may be operatively configured to accommodate a plurality of staples, wherein the first end of the anvil is movably engageable with the first end of the cartridge and the second end of the anvil is movably engageable with the second end of the cartridge. A rigid link having a distal portion and a proximal portion can movably couple the second end of the anvil to the second end of the cartridge. The end effector may further have a control unit that is operable to move the rigid link in a first direction so that the anvil and the cartridge are separated by a first distance in a first position. The control unit may also be operated to move the rigid link a second direction so that the anvil and cartridge are separated by a second distance in a second position, where the first distance may be greater than the second distance. For example, the first direction may be a distal direction and the second direction may be a proximal direction. The distal portion of the rigid link may be connected to the end effector, and the proximal portion of the rigid link may be connected to a control unit. In another embodiment, the end effector may further have a ramp, wherein the rigid link may include a ramp surface operatively configured such that when the ramp surface of the rigid link engages the ramp, the end effector transitions from a closed position to an open position. The rigid link may include an angled surface operatively configured such that when the angled surface of the rigid link engages an elongated tube coupled with the end effector, the end effector transitions from an open position to a closed position. The end effector may further have an elongated slot defined by the anvil or cartridge that slideably retains the rigid link. The end effector may further have a blade with a cutting surface and at least one side arm, wherein the side arm may slideably engage a channel defined by the anvil or cartridge. The blade can be moved from a first position at a distal end of the end effector to a second position at a proximal end of the end effector so that the anatomical structure can be cut transversely. In another embodiment, an end effector for use by a surgeon to staple an anatomical structure of a patient has an anvil that includes a first end, a second end, and an anvil face that is positionable on the first side of the anatomical structure. A cartridge may be provided in the end effector that is operatively configured to accommodate a plurality of staples, wherein the cartridge has a first end, a second end, and a face of the cartridge that is positionable on the second side of the anatomical structure. The face of M A / cartridge may include a channel extending from the first end of the cartridge to the second end of the cartridge, wherein the first end of the cartridge may be rotatably engaged with the first end of the anvil. A blade may have a cutting surface and at least one elongated arm, wherein the elongated arm may be slidably engaged with the channel. A rigid link can movably couple the second end of the anvil to the second end of the cartridge. In one embodiment, at least one elongate arm of the blade pushes each of a plurality of staples from the cartridge as the blade advances from a first position at a distal end of the cartridge to a second position at a proximal end of the cartridge. The blade may be I-shaped so that the blade compresses the anvil and cartridge together during use. The first end of the cartridge may be a distal end and the second end of the cartridge may be a proximal end. The rigid bond may be a unitary structure formed monolithically. The first end of the cartridge is rotatably engageable with the first end of the anvil. In another embodiment, an end effector is described having a first jaw having a first end, a second end, an anvil having an anvil face and a first channel; a second jaw having a first end, a second end, a cartridge having a cartridge face and a second channel; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link; and an I-shaped blade. The I-shaped blade has a portion of the blade having a cutting edge; at least one upper side arm, wherein the at least one upper side arm can be slidably positioned in the first channel; and at least one lower side arm, wherein the at least one lower side arm can be slidably positioned in the second channel. The cartridge may include a plurality of staples. In a further embodiment, a surgical instrument is described for stapling and transversely cutting an anatomical structure of a patient, the surgical instrument having: an end effector having; a first jaw having a first end, a second end, a longitudinal axis and an anvil, the anvil having an anvil face positionable on the first side of the anatomical structure; a second jaw having a first end, a second end, a longitudinal axis and a cartridge operatively configured to house a plurality of staples, the cartridge having a face of the cartridge positionable on the second side of the anatomical structure; a first coupling coupling the first end of the first jaw to the first end of the second jaw; and a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link connected to the first jaw and the second jaw. The device may include a drive unit having a motor that drives the end effector. The device may further include an elongated tube, the elongated tube having a proximal end and a distal end, wherein the distal end may engage the end effector; and a handle, the handle having a proximal end and a distal end, wherein the distal end of the handle is engageable with the proximal end of the elongated tube. For example, the first end of the first jaw may be a distal end of the first jaw and the second end of the first jaw may be a proximal end of the first jaw. The first coupling may include a pin having an axis of the pin, the axis of the pin being transverse to the longitudinal axis of the first jaw and the longitudinal axis of the second jaw, wherein the pin rotatably engages the first end of the first jaw to the first end of the second jaw. The second coupling may include a groove defined by the first jaw or the second jaw that retains the rigid link so that the rigid link can slide within the groove. The slot can have a length of 3 millimeters to 8 millimeters. The second jaw cartridge may at least partially retain a plurality of staples, and may be positioned between the first coupling and the second coupling. The blade may have a cutting surface and at least one side arm, and the first jaw or the second jaw may define a channel for retaining the side arm of the blade. The blade can be moved from a first position at a distal end of the end effector to a second position at a proximal end of the end effector so that the anatomical structure can be cut transversely. In another embodiment, a surgical instrument is described for stapling and transversely cutting an anatomical structure of a patient having an end effector with an anvil having a first end, a second end, an anvil face, a length and a width, in where the length of the anvil can be at least ten times the width of the anvil; a cartridge having a first end, a second end, a cartridge face, a length and a width, wherein the length of the cartridge may be at least ten times greater than the width of the anvil, the cartridge is operatively configured to accommodate a plurality of staples, wherein the first end of the anvil is movably engageable with the first end of the cartridge and the second end of the anvil is movably engageable with the second end of the cartridge; and a rigid link having a distal portion and a proximal portion, wherein the rigid link movably couples the second end of the anvil to the second end of the cartridge. The instrument may include an elongated tube, the elongated tube having a proximal end and a distal end, wherein the distal end is engageable with the end effector; and a handle, the handle having a proximal end and a distal end, wherein the distal end of the handle is engageable with the proximal end of the elongated tube. The instrument may include a drive unit having a motor that drives the end effector. The instrument may further have a control unit connected to the end effector, wherein the control unit may be operated to move the rigid link in a first direction so that the anvil and cartridge are separated by a first distance in a first position, and the control unit can be operated to move the rigid link a second direction so that the anvil and the cartridge are separated by a second distance in a second position, where the first distance may be greater than the second distance. The control unit may include a drive unit having a motor that drives the end effector. For example, the first direction may be a distal direction and the second direction may be a proximal direction. A distal portion of the rigid link may be connected to the end effector and the proximal portion of the rigid link may be connected to the control unit. The surgical instrument may further have a ramp, wherein the rigid link may include a ramp surface operatively configured such that when the ramp surface of the rigid link engages the ramp, the end effector transitions from a closed position to an open position. The rigid link may also include an angled surface operatively configured so that when the angled surface of the rigid link engages the elongated tube coupled with the end effector, the end effector transitions from an open position to a closed position. The surgical instrument may further have an elongated slot defined by the anvil or cartridge that slideably retains the rigid link, and a blade having a cutting surface and at least one side arm, wherein the at least one side arm may slideably engage with a channel defined by the anvil or cartridge. The blade can be moved from a first position at a distal end of the end effector to a second position at a proximal end of the end effector so that the anatomical structure can be cut transversely. In yet another embodiment, a surgical instrument for stapling and transversely cutting an anatomical structure of a patient is described as having an end effector with: an anvil including a first end, a second end, and an anvil face that can be positioned on the first side of the anatomical structure; a cartridge operatively configured to accommodate a plurality of staples, the cartridge having a first end, a second end and a cartridge face positionable on the second side of the anatomical structure, the cartridge face including a channel extending from the first end of the cartridge to the second end of the cartridge, wherein the first end of the cartridge is rotatably engageable with the first end of the anvil; a blade, the blade having a cutting surface and at least one elongated arm, wherein the at least one elongated arm is slidably engageable with the channel; and a rigid link that movably couples the second end of the anvil to the second end of the cartridge. The instrument may further include an elongated tube, the elongated tube having a proximal end and a distal end, wherein the distal end may engage the end effector; and a handle, the handle having a proximal end and a distal end, wherein the distal end of the handle is engageable with the proximal end of the elongated tube. The cartridge may house a plurality of staples, at least partially. At least one elongate arm of the blade may be used to push each of the plurality of staples in the cartridge as the blade advances from a first position at a distal end of the cartridge to a second position at a proximal end of the cartridge. The blade may be I-shaped so that the blade compresses the anvil and cartridge during use. In another embodiment, a surgical instrument useful for stapling and transversely cutting an anatomical structure of a patient is described having an end effector with: a first jaw having a first end, a second end, an anvil having an anvil face and a first channel; a second jaw having a first end, a second end, a cartridge having a cartridge face and a second channel; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link; and an I-shaped blade, the I-shaped blade having a portion of the blade with a cutting edge, at least one upper side arm, wherein the at least one upper side arm is slidably positioned in the first channel, and at least one lower side arm, wherein the at least one lower side arm can be slidably positioned in the second channel. ΜΛ / t / ZUZZ / UUUUZO The surgical instrument may further have an elongated tube with a proximal end and a distal end, wherein the distal end may engage the end effector; and a handle, the handle having a proximal end and a distal end, wherein the distal end of the handle is engageable with the proximal end of the elongated tube. At least one lower side arm may be operatively configured to push each of a plurality of staples from the cartridge when the I-shaped blade is actuated from a first position at a distal end of the end effector to a second position at a proximal end of the end effector. In yet another embodiment, a method for stapling an anatomical structure of a patient during a minimally invasive procedure is described, which has the steps of: providing an end effector having; a first jaw having a first end, a second end, a longitudinal axis and an anvil, the anvil having an anvil face; a second jaw having a first end, a second end, a longitudinal axis and a cartridge that retains a plurality of staples, the cartridge having a face of the cartridge; a first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link connected to the first jaw and the second jaw; and a knife engaged and slidable relative to the first jaw or the second jaw. The method further includes the steps of: inserting the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operating the end effector to move the rigid link so that the first jaw can be pushed toward the second jaw to secure the end effector in the anatomical structure; operating the end effector to push the plurality of staples of the cartridge to staple the anatomical structure; and operate the knife to cut the anatomical structure. The first end of the first jaw may be a distal end of the first jaw and the second end of the first jaw may be a proximal end of the first jaw. The first coupling may include a pin having an axis of the pin, the axis of the pin being transverse to the longitudinal axis of the first jaw and the longitudinal axis of the second jaw, wherein the pin rotatably engages the first end of the first jaw to the first end of the second jaw. The second coupling may include a slot defined by the ΜΛ / t / ZUZZ / UUUUZO first jaw or the second jaw that retains the rigid link so that the rigid link can slide into the groove. Operating the end effector to push the plurality of staples from the cartridge and operating the knife to cut the anatomical structure can occur simultaneously. Actuating the knife to cut the anatomical structure may include advancing the knife from a first distal position to a second proximal position. Operating the end effector to push the plurality of cartridge staples to staple the anatomical structure may include pushing the plurality of cartridge staples between the first coupling and the second coupling. Actuating the knife to cut the anatomical structure may include advancing at least a portion of the knife through a channel defined by the first jaw or the second jaw. The knife can be moved from a first position at a distal end of the end effector to a second position at a proximal end of the end effector so that the anatomical structure can be cut transversely. In another embodiment, a method is described for stapling an anatomical structure of a patient during a minimally invasive procedure having the steps of: providing an end effector having; an anvil having a first end, a second end, an anvil face, a length and a width, wherein the length of the anvil may be at least ten times greater than the width of the anvil; a cartridge having a first end, a second end, a cartridge face, a length and a width, wherein the length of the cartridge may be at least ten times greater than the width of the anvil, the cartridge retains a plurality of staples, wherein the first end of the anvil is movably engageable with the first end of the cartridge and the second end of the anvil is movably engageable with the second end of the cartridge; and a rigid link having a distal portion and a proximal portion, wherein the rigid link movably couples the second end of the anvil to the second end of the cartridge; insert the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operating the end effector to move the rigid link so that the anvil can be pushed into the cartridge to secure the end effector onto the anatomical structure; operating the end effector to push the plurality of staples of the cartridge to staple the anatomical structure; and operate a knife to cut the anatomical structure. The method may further utilize a control unit connected to the end effector, wherein the control unit may be operated to move the rigid link in a first direction so that the anvil and cartridge are separated by a first distance in a first position. The M A / ΙΖ / ZUZZ / UUUUZO control unit may be operated to move the rigid link a second direction so that the anvil and cartridge are separated by a second distance in a second position, wherein the first distance may be greater than the second. distance. For example, the first direction may be a distal direction and the second direction may be a proximal direction. The distal portion of the rigid link may be connected to the end effector and the proximal portion of the rigid link may be connected to a control unit. Operating the end effector to push the plurality of staples from the cartridge and operating the knife to cut the anatomical structure can occur simultaneously. Actuating the knife to cut the anatomical structure may include forming a sleeve in accordance with a sleeve gastrectomy procedure. In yet another embodiment, a method is described for stapling an anatomical structure of a patient during a minimally invasive procedure, the anatomical structure having a first side and a second side, the method having the steps of: providing an end effector having ; an anvil including a first end, a second end, and an anvil face; a cartridge retaining a plurality of staples, the cartridge having a first end, a second end and a face of the cartridge, the face of the cartridge including a channel extending from the first end of the cartridge to the second end of the cartridge, wherein the first end of the cartridge is rotatably engageable with the first end of the anvil; a blade, the blade having a cutting surface and at least one elongated arm, wherein the at least one elongated arm is slidably engageable with the channel; and a rigid link that movably couples the second end of the anvil to the second end of the cartridge. The method further includes the steps of: inserting the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operating the end effector to move the rigid link so that the anvil can be pushed into the cartridge to secure the end effector onto the anatomical structure; operating the end effector to push the plurality of staples of the cartridge to staple the anatomical structure; and operate the blade to cut the anatomical structure. In yet another embodiment of a method for stapling an anatomical structure of a patient during a minimally invasive procedure, the method involves the steps of: providing an end effector having; a first jaw having a first end, a second end, an anvil having an anvil face and a first channel; a second jaw having a first end, a second end, a cartridge having a cartridge face and a second channel; a ΜΛ / t / ZUZZ / UUUUZO first coupling coupling the first end of the first jaw to the first end of the second jaw; a second coupling movably coupling the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link; and an I-shaped blade, the I-shaped blade that has; a portion of the blade having a cutting edge; at least one upper side arm, wherein the at least one upper side arm can be slidably positioned in the first channel; and at least one lower side arm, wherein the at least one lower side arm can be slidably positioned in the second channel. The method further involves the steps of: inserting the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; operating the end effector to move the rigid link so that the anvil can be pushed into the cartridge to secure the end effector onto the anatomical structure; operating the end effector to push the plurality of staples of the cartridge to staple the anatomical structure; and operate the I-shaped blade to cut the anatomical structure. The anatomical structure may be a stomach and actuation of the I-shaped blade to cut the anatomical structure may include forming a sleeve according to a sleeve gastrectomy procedure. At least one lower side arm may be operatively configured to push each of the plurality of cartridge clips when the I-shaped blade is actuated from a first position at a distal end of the end effector to a second position at a proximal end of the effector. final. At least one lower side arm may be operatively configured to push each of the plurality of cartridge clips when the I-shaped blade is actuated from a first position at a distal end of the end effector to a second position at a proximal end of the effector. final. In one embodiment, an end effector is described for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure. The anatomical structure has a first side and a second side. The end effector includes a first jaw having a first end, a second end, and an anvil having an anvil face positionable on the first side of the anatomical structure. Also included is a second jaw having a first end, a second end, and a cartridge that houses a plurality of staples, the cartridge having a face of the cartridge that can be positioned on the second side of the anatomical structure. ΜΛ / t / ZUZZ / UUUUZO A first coupling couples the first end of the first jaw to the first end of the second jaw, and a second coupling is included that movably couples the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link that is movably coupled to the first and second jaws. The end effector may have a longitudinal axis, wherein the first coupling includes a pin that rotatably couples the first jaw to the second jaw, wherein rotation about the pin is transverse to the longitudinal axis. The pin rotatably coupling the first jaw to the second jaw may be slidably received within a slot in at least one of the first jaw or the second jaw. At least one of the first jaw or the second jaw may slideably receive the rigid link within a slot as the first jaw moves toward the second jaw. The rigid link may be coupled to the first jaw through the use of a slot that allows movement of the rigid link in a first direction, but limits movement of the rigid link in a direction perpendicular to the first direction. In one embodiment, the rigid link pushes the anvil open in the perpendicular direction. The slot may have a length of about 3 to about 8 millimeters, and preferably has a length of about 6 to about 7 millimeters. The plurality of clips can be positioned between the first coupling and the second coupling. The end effector may include a blade having a cutting surface and an elongated arm, the elongated arm extending at least from the blade positionable near the second end of the cartridge to the first end of the cartridge, where the arm engages. slideable way to a cartridge channel. In a particular embodiment, a surgical instrument is used to staple an anatomical structure of a patient, the anatomical structure having a first side and a second side. The surgical instrument may include an elongated end effector having a length and a width, where the length is at least ten times greater than the width, the length defining a longitudinal axis, the longitudinal axis defining an axial direction perpendicular to the axis. longitudinal. An anvil of the instrument may include a first end, a second end, and an anvil face. The instrument may also have a cartridge that houses a plurality of staples including a first end, a second end, and a face of the cartridge, wherein the second end of the anvil is movably coupled to the second end of the cartridge, wherein at least one of the anvil and the cartridge may include an elongated slot having its direction of elongation along the longitudinal axis. A rigid link may movably couple the first end of the anvil to the first end of the cartridge, wherein the rigid link may be retained within the elongated slot so that the rigid link may slide along the elongated slot, but limited in the movement of the rigid link within the elongated slot in the axial direction. The surgical instrument may further include a control unit connected to the end effector by a tube along the longitudinal direction, wherein the control unit may be operated to move the rigid link and separate the anvil and cartridge in the axial direction. The elongated slot may allow longitudinal movement of the rigid link relative to the tube. The handle can function to push the rigid link out of the tube and pull the rigid link into the tube. The rigid link may include a distal portion connected to the end effector and a proximal portion connected to the handle, wherein the end effector includes a ramp adjacent to the distal portion of the rigid link, the ramp being positioned to push the rigid link in the direction axial as the rigid link moves distally. The rigid link may include a ramp surface that slides along the ramp as the rigid link moves distally. The rigid link may include a distal portion connected to the end effector and a proximal portion connected to the handle, wherein the rigid link includes an angled surface between the distal portion and the proximal portion that engages the tube as the handle pulls. Proximally of the rigid linkage, the tube coupling moves the anvil face and the cartridge face relative to each other. The elongated slot can be moved from the longitudinal axis. Furthermore, the elongated slot may have an axis of elongation that intersects the longitudinal axis. The end effector may include a blade having a cutting surface and an elongated arm, the elongated arm extending at least from the blade positionable near the second end of the cartridge to the first end of the cartridge, where the arm engages. sliding way with a cartridge channel. In another embodiment, an end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure includes an anvil that includes a first end, a second end, and a face of the anvil that can be positioned on the first side of the anatomical structure. The end effector further includes a cartridge that houses a plurality of staples including a first end, a second end, and a face of the cartridge that is positionable on the second side of the anatomical structure. The face of the cartridge may include a channel extending from the second end to the first end, wherein a blade having a cutting surface and an elongated arm extending at least from the blade that can Position yourself close to the second end of the cartridge to the first end of the cartridge. A rigid link may movably engage the first end of the anvil to the first end of the cartridge, wherein the second end of the anvil may movably engage the second end of the cartridge. Each of the anvil and the cartridge can be inserted through a trocar and the end effector can be operated remotely from outside the patient with at least a portion of one of the anvil and the cartridge can be moved toward the other to attach the end effector to the anatomical structure. The elongated arm of the blade may fill the cartridge channel proximally from the blade as the blade moves from the second end to the first end, thereby forming the staples into the anatomical structure as the blade cuts the anatomical structure. . The blade may include an I-shaped portion having an upper portion and a lower portion connected by a central portion of the blade, wherein the central portion of the blade has a sharp cutting edge. The anvil includes a first opening near its first end and a second opening near its second end, each of the first opening and second opening functioning to removably receive the upper portion of the I-shaped portion when the anvil moves towards or away from the cartridge. The elongated arm of the blade may fill the cartridge channel proximally from the blade as the blade moves from the second end to the first end thereby forming staples in the anatomical structure as the blade cuts the anatomical structure. The surgical instrument may further include a control unit connected to the end effector by a tube along the longitudinal direction, wherein the control unit may be operated to move the rigid link and separate the anvil and cartridge in the axial direction. The rigid link may include a distal portion connected to the end effector and a proximal portion connected to the handle, wherein the end effector may include a ramp adjacent to the distal portion of the rigid link, the ramp positioned to push the link in the axial direction. as the bond moves distally. The rigid link may include a ramp surface that slides along the ramp as the rigid link moves distally. In a further embodiment, a stapler includes a first jaw having a first end, a second end and an anvil having an anvil face, a second jaw having a first end, a second end and a cartridge that houses a plurality of ΜΛ / t / ZUZZ / UUUUZO staples, the cartridge having a cartridge face and a cartridge channel along the length of the cartridge. There is a first coupling that couples the first jaw to the second jaw and a second coupling that movably couples the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link that engages movable manner to the first and second jaws. It may include a blade having an I-shaped portion having an upper portion and a lower portion connected by a central portion of the blade, the central portion of the blade having a sharp cutting edge, wherein the anvil has a first opening near its first end and a second opening near its second end, each of the first opening and second opening operable to removably receive the upper portion of the I-shaped portion when the anvil approaches or leaves of the cartridge. The stapler may include a rigid link that is retained within an elongated slot so that the rigid link can slide along the elongated slot in a first direction, but limited in movement of the rigid link within the elongated slot in a second address. The elongated slot can be moved from a longitudinal axis of the stapler. In yet another embodiment, a method for stapling an anatomical structure of a patient during a minimally invasive procedure is described, wherein the anatomical structure has a first side and a second side. The method may include the steps of: providing a stapler with an end effector having a first jaw having a first end, a second end and an anvil having an anvil face; a second jaw having a first end, a second end and a cartridge that houses a plurality of staples, the cartridge having a face of the cartridge; a first coupling that couples the first jaw to the second jaw; and a second coupling that movably couples the second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a link that movably couples to the first and second jaws; insert the end effector through a trocar to access the anatomical structure; position the face of the cartridge on the first side of the anatomical structure; position the face of the incus on the second side of the anatomical structure; remotely operating the stapler from outside the patient to move the link so that at least a portion of one of the anvils or the cartridge moves toward the other to secure the end effector in the anatomical structure; and trigger the stapler to simultaneously staple and cut the anatomical structure. The end effector may have a longitudinal axis, where the first coupling includes a M A / t / ZUZZ / UUUUZO ΜΛ / pin that rotatably couples the first jaw to the second jaw, where the rotation around the pin is transverse to the longitudinal axis. The method may further include the step of slidably receiving the link within a slot in at least one of the anvil or cartridge when the end effector is attached to the anatomical structure, wherein the link is rigid. The rigid link may be coupled to the anvil by use of the slot such that the slot allows movement of the rigid link within the slot in a first direction, but limits movement of the rigid link within the slot in a substantially perpendicular direction. to the first address. The rigid link may be attached to the cartridge by use of the slot such that the slot allows movement of the rigid link in a first direction within the slot, but the slot limits movement of the rigid link within the slot in one direction. substantially perpendicular to the first direction. The rigid link can move within the groove in the first direction over a length of about 3 to about 8 millimeters, and preferably the rigid link can move within the groove in the first direction over a length of about 7 millimeters. In one embodiment, the first coupling is distal to the second coupling and the method further includes the step of compressing the anatomical structure between the first coupling and the second coupling. In a further embodiment, a method is described for using a surgical instrument to staple an anatomical structure of a patient, wherein the anatomical structure has a first side and a second side, and the method includes the steps of: providing an elongated end effector having a length and a width, wherein the length is at least ten times the width, the length defining a longitudinal direction, the longitudinal direction defining an axial direction substantially perpendicular to the longitudinal direction; providing an anvil on the end effector including a first end, a second end, and an anvil face; providing a cartridge in the end effector that houses a plurality of staples and that includes a first end, a second end and a face of the cartridge, wherein the second end of the anvil is movably coupled to the second end of the cartridge, wherein the at least one of the anvil and the cartridge includes an elongated slot having its direction of elongation substantially along the longitudinal direction; actuating a rigid link that movably couples the first end of the anvil to the first end of the cartridge; and retaining the rigid link within the elongated slot as the surgical instrument is actuated such that the rigid link slides within the elongated slot along the longitudinal direction, but the rigid link is substantially limited in movement within the elongated slot. the slot elongated in the axial direction. The method may further include the use of a handle connected to the end effector by a tube along the longitudinal direction, wherein the method further includes the step of operating the handle to move the rigid link and separate the anvil and the cartridge in the axial direction. The handle can function to push the rigid link out of the tube and pull the rigid link into the tube. The rigid link may include a distal portion connected to the end effector and a proximal portion connected to the handle, wherein the end effector includes a ramp adjacent to the distal portion of the rigid link, wherein the method further includes the step of pushing the rigid link. on the ramp that pushes the rigid link in the axial direction as the rigid link is pushed. The rigid link may include a ramp surface, wherein the method may further include the step of sliding the ramp surface along the ramp as the rigid link moves. The rigid link may alternatively include a distal portion connected to the end effector and a proximal portion connected to the handle, wherein the rigid link includes an angled surface between the distal portion and the proximal portion, wherein the method further includes the step of coupling the tube to compress the rigid link along the angled surface As the handle pulls proximally on the rigid link, the tube coupling moves the anvil face and the cartridge face relative to each other. In another embodiment, a method for stapling an anatomical structure of a patient during a minimally invasive procedure is described, wherein the anatomical structure has a first side and a second side. The method includes the steps of: providing an anvil including a first end, a second end and a face; positioning the face of the incus on the first side of an anatomical structure; providing a cartridge that houses a plurality of staples, the cartridge including a first end, a second end and a face, the face including a channel extending from the second end to the first end, wherein the second end of the anvil movably attaches to the second end of the cartridge; position the face of the cartridge on the second side of the anatomical structure; providing a blade having a cutting surface and an elongated arm, the elongated arm extending at least from the blade positionable near the second end of the cartridge to the first end of the cartridge, the arm slidably engaging with the channel of the cartridge; providing a rigid link that movably couples the first end of the anvil to the first end of the cartridge; move the rigid link causing at least a portion of one of the anvil and cartridge to move M A / LH / ¿U¿¿ / UUUU¿O move towards each other to hold the anatomical structure between the face of the anvil and the face of the cartridge; and pull the blade through the anatomical structure, simultaneously cutting and stapling the anatomical structure. The elongated blade arm may substantially fill the cartridge channel proximally from the blade as the blade moves from the second end to the first end. The blade may include a substantially I-shaped portion having an upper portion and a lower portion connected by a central portion of the blade, the central portion of the blade having a sharp cutting edge, wherein the anvil has a first opening near its first end and a second opening near its second end. The method may further include the step of receiving the upper portion of the substantially I-shaped portion in the first opening before pulling the blade through the anatomical structure and removing the upper portion of the substantially I-shaped portion of the second opening after pulling the blade through the anatomical structure. The rigid link may include a distal portion connected to the anvil and a proximal portion connected to a handle, wherein the cartridge includes a ramp adjacent to the distal portion of the rigid link, wherein the method further includes the step of sliding the rigid link against the ramp to push the rigid link in the axial direction as the rigid link slides. The rigid link may include a ramp surface that contacts the ramp as the rigid link slides. One or more of the methods described herein may be useful for sleeve gastrectomy, vertical sleeve gastrectomy, or procedures involving a resection of the stomach. In another embodiment, an end effector is described for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure, wherein the anatomical structure has a first side and a second side. The end effector includes an anvil including a first end, a second end, and an anvil face positionable on the first side of the anatomical structure, the anvil having a plurality of anvil side cable holders; a cartridge housing a plurality of staples and including a first end, a second end, and a face of the cartridge positionable on the second side of the anatomical structure, the cartridge having a plurality of cable holders on the side of the cartridge; and a link movably coupling the first end of the anvil to the first end of the cartridge, wherein the second end of the anvil is movably coupled to the second end of the cartridge, each of the anvil and the cartridge being insertable through a trocar and the end effector can be operated remotely from outside the patient to move at least one ΜΛ / t / ZUZZ / UUUUZO portion of one of the anvil and the cartridge towards the other to hold the end effector on the anatomical structure. The plurality of anvil-side cable holders may have an opening that is oriented away from the cartridge, and the plurality of cartridge-side cable holders may have an opening that is oriented away from the anvil. The plurality of anvil-side cable supports and the plurality of cartridge-side cable supports may have an open tubular structure with a substantially C-shaped cross-sectional shape. In a particular embodiment, the plurality of cable supports The anvil side and the plurality of cartridge side cable supports have an open tubular structure with a substantially C-shaped cross-sectional shape, with the opening of the C oriented away from the cartridge in the plurality of cable supports. anvil side cables and the C opening that is oriented away from the anvil in the plurality of cartridge side cable holders. The plurality of anvil-side cable holders and the plurality of cartridge-side cable holders may have a hollow tubular structure and the end effector may include a reinforcing material, the reinforcing material having a plurality of openings with a cable slidably positioned within the plurality of openings in the reinforcing material. At a preponderance of the plurality of openings in the reinforcing material, the cable may be slidably positioned within at least one of the plurality of anvil-side cable holders and the plurality of cartridge-side cable holders. Cartridge side cable holders can be mounted to the cartridge frame. At least one of the anvil and the cartridge may include an elongated slot wherein the end effector has a rigid link that movably couples the first end of the anvil to the first end of the cartridge, wherein the rigid link is retained within the elongated slot. so that the rigid link can slide along the elongated slot in a first direction, but limited in the movement of the rigid link within the elongated slot in a second direction. In one embodiment, a surgical instrument is described for stapling an anatomical structure of a patient, wherein the anatomical structure has a first side and a second side. The surgical instrument includes an elongated end effector having a length and a width, where the length is at least ten times greater than the width, the length defining a longitudinal direction, the longitudinal direction defining an axial direction substantially perpendicular to the longitudinal direction. The surgical instrument has an anvil including a first end, a second end, a plurality of anvil side wire supports disposed from approximately the first end to approximately the second end, and a face ΜΛ / t / ZUZZ / UUUUZO ΜΛ / of the anvil that can be positioned on the first side of the anatomical structure The surgical instrument further includes a cartridge that houses a plurality of staples and that includes a first end, a second end, a plurality of cable holders on the side of the cartridge arranged from approximately the first end to approximately the second end, and a face of the cartridge that is positionable on the second side of the anatomical structure, wherein the second end of the anvil is movably coupled to the second end of the cartridge. At least one of the anvil and the cartridge include an elongated slot having its direction of elongation substantially along the longitudinal direction, and a rigid link that movably couples the first end of the anvil to the first end of the cartridge, wherein the The rigid link is retained within the elongated groove so that the rigid link can slide along the elongated groove, but substantially limited in the movement of the rigid link within the elongated groove in the axial direction. In a particular embodiment, the plurality of anvil-side cable holders have an opening oriented substantially away from the cartridge, and the plurality of cartridge-side cable holders have an opening oriented substantially away from the anvil. The plurality of anvil-side cable supports and the plurality of cartridge-side cable supports may have an open tubular structure with a substantially C-shaped cross-sectional shape, where the opening of the C may be oriented away from the cartridge. in the plurality of cable holders on the anvil side and the opening of the C can be oriented away from the anvil in the plurality of cable holders on the cartridge side. The plurality of anvil-side cable holders and the plurality of cartridge-side cable holders may have a hollow tubular structure and wherein the end effector may include a reinforcing material, the reinforcing material having a plurality of openings. with a cable slidably positioned within the plurality of openings. At a preponderance of the plurality of openings in the reinforcing material, the cable may be slidably positioned within at least one of the plurality of anvil-side cable holders and the plurality of cartridge-side cable holders. The plurality of cartridge side cable holders can be mounted on the cartridge frame. The reinforcing material may include an adhesive that removably adheres the reinforcing material to one of the anvil faces and the cartridge face. In yet a further embodiment, a method of using a reinforcing material with an end effector includes the steps of: providing an end effector having an anvil including a first end, a second end and an anvil face, a cartridge that houses a plurality of clips and including a first end, a second end and a face of the cartridge, and a rigid link that movably couples the first end of the anvil to the first end of the cartridge, wherein the second end of the anvil engages movable manner to the second end of the cartridge; providing a reinforcing material; move the rigid link to open the anvil face away from the cartridge face; attaching the reinforcing material to at least one of the anvil faces and the cartridge face; move the rigid link to close the anvil face towards the cartridge after attaching the reinforcing material; driving the plurality of staples from the cartridge, through the reinforcing material, and toward the anvil to form the staples; move the rigid link to open the anvil face away from the cartridge face after driving the staples; and remove the reinforcing material from the end effector. The reinforcing material may be formed from a bioabsorbable material. The reinforcing material may be attached to at least one of the anvil faces and the cartridge face through the use of an adhesive. The anvil may include a plurality of anvil-side cable supports disposed from approximately the first end to approximately the second end, the cartridge including a plurality of cartridge-side cable supports disposed from approximately the first end to approximately the second end. end, and the reinforcing material including a plurality of openings, with a cable slidably positioned within the plurality of openings. The method may further include one or more of the steps of: sliding the reinforcing material cable into a preponderance of the cable holders when attaching the reinforcing material to at least one of the anvil face and the cartridge face, and sliding the cable from the reinforcing material away from the preponderance of the cable supports when removing the reinforcing material from the end effector; tension the cable to align the reinforcing material with the end effector; and pulling the cable to disengage the reinforcing material from the end effector by sliding the cable out of the plurality of cable supports and out of the plurality of openings in the reinforcing material. In another embodiment, a device is described that includes a first jaw having an anvil that includes a first end, a second end and an anvil face, the anvil having a plurality of cable supports on the side of the anvil; a second jaw having a cartridge that houses a plurality of clips and including a first end, a second end and a face of the cartridge, the cartridge having a plurality of cable holders on the side of the cartridge; a first coupling coupling the first end of the first jaw to the first end of the second jaw; and a second coupling that movably couples the M A / second end of the first jaw to the second end of the second jaw, wherein the second coupling includes a rigid link that is movably coupled to the first and second jaws. An outer tube may extend from the first jaw and the second jaw to an actuator, wherein the actuator moves the outer tube from a first position to a second position, wherein the first position of the tube allows the rigid link to hold the jaws in place. an open position, and the second tube position moves the rigid link to move the first jaw toward the second jaw. The second jaw may have a longitudinal axis, wherein the first coupling includes a pin that rotatably engages the first jaw to the second jaw, wherein rotation about the pin is transverse to the longitudinal axis. The pin rotatably coupling the first jaw to the second jaw may be slidably received within a slot in at least one of the first jaw or the second jaw. In one embodiment, at least one of the first jaw or the second jaw slideably receives the rigid link within a slot when the first jaw moves toward the second jaw. The rigid link may be coupled to the first jaw through the use of a slot that allows movement of the rigid link in a first direction, but limits movement of the rigid link in a direction perpendicular to the first direction. In another embodiment, an end effector useful for stapling an anatomical structure is described, the anatomical structure having a first side and a second side. The end effector includes: an anvil including a first end, a second end and an anvil face positionable on the first side of the anatomical structure, the anvil face including a plurality of rows of staple forming pockets, wherein a first row of the plurality of rows of staple-forming pockets has a first pocket depth and the second row of the plurality of rows of staple-forming pockets has a second pocket depth, where the first pocket depth is different from the second pocket depth; a cartridge that houses a plurality of staples and that includes a first end, a second end, and a face of the cartridge that is positionable on the second side of the anatomical structure; and a staple drive ramp and a tissue cutting assembly having a staple drive ramp that moves from the first end of the cartridge to the second end of the cartridge and drives the staples from the cartridge toward the anvil to form the staples, the staple drive ramp and the tissue cutting assembly further including a blade that cuts the anatomical structure after the staples have been formed with at least a portion of one of the anvil and the cartridge moving toward the other to secure the end effector on the anatomical structure. The face of the cartridge may include a channel extending from about the second end to about the first end, the channel defining the path of a cutting blade, wherein the pocket depth of the first row of the plurality of rows of staple forming pockets has a first pocket depth that is shallower than the pocket depth of the second row of the plurality of rows, wherein the first row of the plurality of rows of staple forming pockets is closer to the slot than the second row of the plurality of rows of staple forming pockets. The anvil may have an anvil length extending from about the first end of the anvil to about the second end of the anvil, the plurality of rows of the plurality of staple-forming pockets extending along the length of the anvil. , wherein in at least one row of the plurality of rows of the plurality of staple-forming pockets, a first pocket depth at a first location along the length is different from a second pocket depth at a second location along the length. The anvil may include at least 3 rows of the plurality of staple-forming pockets, each of the at least three rows having the plurality of pocket depths different from the other two of the at least three rows. For example, the row of staple-forming pockets closest to the channel may be shallower than the row of staple-forming pockets furthest from the channel. In one embodiment, the rows of staple-forming pockets are substantially circular. The plurality of staples in a first row of the plurality of rows of staples may be manufactured from a first material and the plurality of staples in a second row of the plurality of rows of staples may be manufactured from a second material, wherein the first material is different from the second material. The anvil has an anvil length extending from approximately the first end of the anvil to approximately the second end of the anvil, wherein at least one row of the plurality of rows of the plurality of staple forming pockets, a first depth pocket depth at a first location along the length is different from a second pocket depth at a second location along the length. The depth of the pocket can vary continuously along the length of the anvil. In one embodiment, in at least one row of the plurality of rows of staple-forming pockets, the depth of the pocket has a first depth for ΜΛ / a first portion of the length of the row and a second depth for a second portion of the length of the row. In another embodiment, in at least one row of the plurality of rows of staple-forming pockets, the depth of the pocket has a first depth for a first portion of the length of the row and a second depth, deeper than the first depth. , for a second portion of the row length adjacent to the first portion of the row length and a third depth for a third portion of the row length, shallower than the second depth, the third portion of the length of the row is adjacent to the second portion of the row length. The rows of staple-forming pockets may be substantially circular, such as for use in a circular stapler useful for intestinal resection, may be linear for a linear cutter, or may have another desired shape. In at least one row of the plurality of rows of staple-forming pockets in one embodiment, the pocket depth variation along the first row of the plurality of rows varies in pocket depth at a different scale or speed than a second row of the plurality of rows. In another embodiment, an end effector is described for stapling an anatomical structure, the anatomical structure having a first side and a second side. The end effector includes: an anvil including a first end, a second end and an anvil face positionable on the first side of the anatomical structure, the anvil face including a plurality of rows of staple forming pockets, wherein a first row of the plurality of rows of staple-forming pockets has a first pocket depth and the second row of the plurality of rows of staple-forming pockets has a second pocket depth, wherein the first depth of pocket is different from the second pocket depth; a cartridge that houses a plurality of staples and that includes a first end, a second end, and a face of the cartridge that is positionable on the second side of the anatomical structure; and a staple drive ramp and the tissue cutting assembly, wherein the staple drive ramp moves from the first end of the cartridge to the second end of the cartridge and drives the staples from the cartridge toward the anvil to form the staples, the staple drive ramp and the tissue cutting assembly further including a blade that cuts the anatomical structure after the staples have been formed, with at least a portion of one of the anvil and the cartridge moving toward the other to secure the end effector in the anatomical structure, wherein a first row of the plurality of rows of staple-forming pockets has a first pocket shape and the second row of the plurality of rows of staple-forming pockets has a second shape of pocket, wherein the first pocket shape is different from the second pocket shape. The first row of the plurality of rows of staple-forming pockets may produce bow-tie-shaped staples and the second row of the plurality of rows of staple-forming pockets may produce rectangular-shaped staples after forming, in one example. . A first row of the plurality of rows of staples may be manufactured from a first material and the plurality of staples in a second row of the plurality of rows of staples may be manufactured from a second material, wherein the first material is different. of the second material in another example. For example, the first material may contain more than 95% by weight of titanium and the second material may be an alloy of less than 95% by weight of titanium alloyed with aluminum. In another example, the first material may contain more than 96% by weight of titanium and the second material may be an alloy of less than 96% by weight of titanium alloyed with aluminum and vanadium. In another example, the plurality of clips at a first location along the length may be manufactured from a material greater than 95% by weight titanium and the plurality of clips at a second location along the length may be manufactured from an alloy of less than 95% by weight of titanium alloyed with aluminum. In another embodiment, the row of the plurality of staples closest to the channel has staples with less springback than the row of the plurality of staples furthest from the channel. In another illustrative embodiment, an anvil including a first end, a second end, and an anvil face positionable on the first side of an anatomical structure. A cartridge that houses a plurality of staples and that includes a first end, a second end, a length of the cartridge that extends from approximately the first end of the cartridge to approximately the second end of the cartridge, and a face of the cartridge that can be positioned in the second side of the anatomical structure. The cartridge may include a plurality of rows of a plurality of staples, wherein the plurality of staples in a first portion of a first row of the plurality of rows of staples may be manufactured from a first material and the plurality of staples in a The second portion of the first row of the plurality of rows of staples may be manufactured from a second material, wherein the first material is different from the second material. A staple drive ramp and a tissue cutting assembly may have a staple drive ramp that moves from the first end of the cartridge to the second end of the cartridge and drives the staples from the cartridge toward the anvil to form the staples. The Staple Drive Ramp and Tissue Cutting Assembly M A / ΙΖ / ZUZZ / UUUUZO may further include a blade that cuts the anatomical structure after the staples have been formed, with at least a portion of one of the anvil and the cartridge moving toward the other to hold the end effector in place. the anatomical structure The first material may contain more than 96% by weight of titanium, for example, and the second material may be an alloy of less than 96% by weight of titanium alloyed with aluminum and vanadium. In another embodiment, an end effector is described that is useful for stapling an anatomical structure during a surgical procedure, the anatomical structure having a first side and a second side. The end effector includes an anvil having a first end, a second end and an anvil face that can be positioned on the first side of the anatomical structure, the anvil face including a plurality of rows of staple forming pockets, in wherein a first row of the plurality of rows of staple-forming pockets has a first pocket shape and a second row of the plurality of rows of staple-forming pockets has a second pocket shape, wherein the first pocket shape It is different from the second pocket form. Also described is a cartridge that houses a plurality of staples and that includes a first end, a second end, and a face of the cartridge that can be positioned on the second side of the anatomical structure. It is described that a staple drive ramp and a tissue cutting assembly having a staple drive ramp that moves from the first end of the cartridge to the second end of the cartridge and drives the staples from the cartridge toward the anvil to form the staples, the staple drive chute and the tissue cutting assembly further including a blade that cuts the anatomical structure after the staples have been formed, with at least a portion of one of the anvil and the cartridge moving toward the another to hold the end effector on the anatomical structure. The first row of the plurality of rows of staple-forming pockets may produce bow-tie-shaped staples after forming and the second row of the plurality of rows of staple-forming pockets may produce rectangular-shaped staples after forming. , For example. In at least one row of the plurality of rows of the plurality of staple-forming pockets, a first pocket shape at a first location along the length is different from a second pocket shape at a second location along of the length in another example. A first row of the plurality of rows of staple-forming pockets may produce bow-tie-shaped staples after forming and a second row of the plurality of rows of staple-forming pockets may produce rectangular-shaped staples after forming. in another example. Furthermore, the plurality of ΜΛ / t / ZUZZ / UUUUZO staples in a first portion of the first row of the plurality of rows of staples may be manufactured from a first material and the plurality of staples in a second portion of the first row of the plurality of rows of Staples may be manufactured from a second material, where the first material is different from the second material. BRIEF DESCRIPTION OF THE FIGURES The present description will be more easily understood from a detailed description of some sample embodiments taken together with the following figures: Figure 1 represents the anatomy of a stomach; Figure 2A represents a perspective view of a stapling device, shown in an open position, having an end effector, an elongated tube and a handle portion according to one embodiment; Figure 2B represents a perspective view of the stapling device of Figure 2A, shown in a closed position, according to one embodiment; Figure 3A is a partially exploded perspective view of the stapling device shown in Figures 2A and 2B; Figure 3B is an exploded perspective view of the stapling device shown in Figures 2A and 2B; Figure 4 represents an axial cross-sectional view of the end effector shown in Figure 2B, taken along section A-A, showing the relationship between a blade, an anvil assembly and an end effector cartridge assembly; Figure 5A represents a cross-sectional side view of the handle portion, taken along section B-B, of the stapling device shown in Figure 2B in a first position; Figure 5B represents a cross-sectional side view of the handle portion, taken along section B-B, of the stapling device shown in Figure 2B, in a second position; Figure 5C represents a cross-sectional side view of the handle portion, taken along section B-B, of the stapling device shown in Figure 2B, in a third position; ΜΛ / t / ZUZZ / UUUUZO Figure 5D represents a cross-sectional side view of the handle portion, taken along section B-B, of the stapling device shown in Figure 2B in a fourth position; Figure 5E represents a cross-sectional side view of the handle portion, taken along section B-B, of the stapling device shown in Figure 2B in a fifth position; Figure 6 is a partial perspective view of a blade assembly and drive mechanism for a surgical device according to one embodiment; Figure 7 represents a cross-sectional view of the elongated support tube shown in Figure 2B, taken along section C-C, illustrating the relationship between the blade assembly and the drive mechanism shown in Figure 6 according to with a modality; Figure 8 represents a partial cross-sectional side view of the portion of the handle shown in Figure 2B illustrating the relationship between the blade assembly and the drive mechanism, shown in Figure 6 according to one embodiment; Figure 9 represents a side view of a proximal end of the end effector shown in Figure 2A; Figure 10 represents a partial bottom plan view of an anvil assembly according to one embodiment; Figure 11 represents a perspective view of a stapling device, shown in an open position, having an end effector, an elongated tube, a handle portion and a motor according to an alternative embodiment; Figure 12 is a partially exploded perspective view of the end effector, elongated tube and handle portion of the stapling device shown in Figure 11; Figure 13 is a partially exploded perspective view of the motor of the stapling device shown in Figure 11; Figure 14A represents a side view of the stapling device of Figure 11 shown in an open position; Figure 14B represents a side view of the stapling device of Figure 11, shown in a closed position; Figure 15 represents a cross-sectional side view, taken along section DD, of the handle and motor portion shown in Figure 14A; Figure 16 represents a side view of the end effector shown in Figure 14A; Figure 17 represents a cross-sectional side view, taken along section E-E, of the handle and motor portion shown in Figure 14B; Figure 18 represents a side view of the end effector shown in Figure 14B; Figure 19 is a sectional side view of a knife assembly and a drive unit for a stapling device according to one embodiment; Figure 20 is a sectional side view of a knife assembly and a drive unit for a stapling device according to an alternative embodiment; Figure 21 is a sectional side view of a knife assembly and a drive unit for a stapling device according to an alternative embodiment; Figure 22 is a partial perspective view of an anvil assembly having an anvil chamfer according to one embodiment; Figure 23 is a perspective view of a motor controller according to one embodiment; Figure 24 is an exploded perspective view of the motor controller shown in Figure 23; Figure 25 is a partial cross-sectional perspective view of an end effector for a stapling device showing a blade assembly in relation to a cartridge assembly having a plurality of drivers and staples; Figure 26A is a side cross-sectional view of an end effector for a stapling device, including an anvil assembly and a cartridge assembly, having a plurality of staple drivers having variable heights combined with a plurality of staples that have variable heights according to a modality; Figure 26B is a cross-sectional side view of an end effector for a stapling device, including an anvil assembly and a cartridge assembly, having a plurality of staple drivers having variable heights combined with a plurality of staples that have variable heights according to an alternative modality; Figure 26C is a cross-sectional view of an end effector for a stapling device, including an anvil assembly and a cartridge assembly, having a plurality of staple drivers with a first height associated with a plurality of staples that have a first height and a plurality of drivers having a second height associated with a plurality of clips having a second height according to one embodiment; ΜΛ / t / ZUZZ / UUUUZO Figure 26D is a cross-sectional view of an end effector for a stapling device, including an anvil assembly and a cartridge assembly, having a plurality of staple drivers having a height combined uniform having a plurality of staples having variable heights according to an embodiment; Figure 26E is a cross-sectional view of an end effector for a stapling device, including an anvil assembly having an angled anvil plate and a cartridge assembly, the stapling device having a plurality of actuators. staples having a uniform height and a plurality of staples having a uniform height; Figure 27 is a flow chart depicting a method of operating a stapling device according to one embodiment; Figure 28 is a partial flow chart depicting a method of operating a stapling device according to one embodiment; Figure 29 is a partial flow chart depicting the method of operating a stapling device following the method of Figure 28; Figure 30 is a partial flow chart depicting the method of operating a stapling device following the method of Figure 29; Figure 31 represents a perspective view of a stapling device, shown in an open position, having an end effector, an elongated tube, a handle portion and a motor according to one embodiment; Figure 32 represents a partial exploded perspective view of the stapling device of Figure 31 shown with a gusset; Figure 33A is a side view of the stapling device of Figure 31 shown in an open position; Figure 33B is a side view of the stapling device of Figure 31, shown in a closed position; Figure 34A is a top view of the reinforcement shown in Figure 32; Figure 34B is a partial perspective view of the reinforcement shown in Figure 32; Figure 35A represents a bottom plan view of an end-effector anvil assembly shown in Figure 31; Figure 35B represents a bottom plan view of the anvil assembly, shown in Figure 31, with the reinforcement of Figure 32 attached, according to one embodiment; ΜΛ / t / ZUZZ / UUUUZO Figure 36 represents a perspective view of the stapling device of Figure 31, shown with the reinforcement of Figure 32 attached, according to one embodiment. Figure 37 represents a partial exploded perspective view of a stapling device, shown in an open position, having an end effector, an elongated tube, a handle portion and an adhesive-type reinforcement according to one embodiment; Figure 38A is a cross-sectional view of the adhesive-type reinforcement, taken along section F-F, shown in Figure 37; Figure 38B is a perspective view of the adhesive-type reinforcement, shown in Figure 37, with a removable portion removed; Figure 38C is a front view of the adhesive type reinforcement shown in Figure 38B; Figure 38D represents a side view of the end effector of Figure 37 shown with the adhesive-type reinforcement attached to the end effector according to one embodiment; Figure 38E depicts a front view of a stomach shown cut transversely with a line of staples, engaged with a reinforcing material, forming a sleeve gastrectomy. Figure 39A is a bottom view of an anvil assembly for an end effector of a stapling device according to one embodiment; Figure 39B is a cross-sectional view of the anvil assembly illustrated in Figure 39A, taken along section G-G, according to one embodiment; Figure 39C is a cross-sectional view of the anvil assembly illustrated in Figure 39A, taken along section H-H, according to one embodiment; Figure 40 is a cross-sectional side view of an end effector having an anvil plate with variable pocket depths according to one embodiment; Figure 41 is an axial cross-sectional view of an anvil assembly with an anvil plate, shown with a plurality of clips, according to one embodiment; Figure 42A is a side view of a clip formed by the anvil plate of Figure 40; Figure 42B is a side view of a clip formed by the anvil of Figure 40; Figure 42C is a side view of a clip formed by the anvil of Figure 40; Figure 43A is a partial bottom plan view of an anvil assembly having a plurality of anvil pockets according to one embodiment; Figure 43B is a more detailed view of a section of the anvil assembly shown in Figure 43A; Figure 43C is a partial bottom plan view of an anvil for an end effector having a plurality of anvil pockets according to an alternative embodiment; Figure 44 is a side view of a clip formed by an anvil assembly according to one embodiment; Figure 45 is a top view of a clip formed by an anvil assembly according to an alternative embodiment; Figure 46 is a perspective view of a clip formed by an anvil assembly according to an alternative embodiment; and Figure 47 is a perspective view of a stapler according to an embodiment having a circular anvil. DETAILED DESCRIPTION Various non-limiting embodiments of the present description will now be described to provide a general understanding of the principles of the structure, function, and use of the apparatus, systems, methods, and processes described in the present description. One or more examples of these non-limiting embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the systems and methods specifically described herein and illustrated in the accompanying drawings are non-limiting embodiments. Features illustrated or described in connection with a non-limiting embodiment may be combined with features of other non-limiting embodiments. Such variations and modifications are intended to be included within the scope of this description. Reference throughout the description to several modalities, some modalities, a modality, some illustrative modalities, an illustrative modality, or a modality means that a particular element, structure or characteristic described in connection with any modality is included in at least a modality. Therefore, the occurrences of phrases in various modalities, in some modalities, in one modality, some illustrative modalities, an illustrative modality, or in one modality in places throughout the description do not necessarily all refer to the same modality. . Furthermore, the particular elements, structures, or features of the invention may be combined in any suitable manner in one or more embodiments. Illustrative embodiments of apparatus, systems, and methods for surgical staplers are described herein. In an illustrative embodiment, an end effector and / or an endoscopic self-suturing stapling device (collectively referred to herein as devices) is described for forming a resection line during resection of an organ, tissue or other anatomical structure. In some embodiments, the devices may be used during minimally invasive surgical procedures. This application relates to United States Patent Application No. serial number 15 / 129,385, which is hereby incorporated by reference in its entirety. Surgical staplers according to embodiments described herein may include a handle, an actuator, and an end effector that includes a clamping mechanism. The clamping mechanism may include a cartridge and an anvil. During the operation, the surgeon can hold two limbs (for example, the anvil and the cartridge) in the organ and compress the organ between them. Once the organ has been compressed, the surgeon can use the stapler to drive or shoot staples through the organ. In one embodiment, with convenient compression and alignment of the clamping mechanism, a plurality of B-shaped staples can be formed. In some embodiments, the stapling device can be fired multiple times by using multiple cartridges, or in one embodiment. Alternatively a single cartridge can be used with a single shot to complete an organ resection. It may be advantageous to reduce the number of shots and cartridges required, as the expense of a procedure may increase with the use of cartridges and with a longer procedure that may be associated with multiple shots of the stapler. It may also be advantageous to provide single cartridge stapling and / or organ resection to reduce the time a patient is in surgery, which may improve clinical outcomes. For example, resection of a portion of the stomach according to a sleeve gastrectomy procedure by using a single cartridge and triggering of the stapler can improve patient outcomes and reduce complications that may be associated with such procedures. The integrity of a staple line may depend, in part, on the proper formation of B-shaped staples when such a staple configuration is desirable. Providing a single cartridge and a single shot stapling device can improve the quality of staple formation in a device or system that uses multiple cartridges to complete the same procedure. For example, when an end effector is used multiple times to staple and crosscut tissue, previously deployed staples may come into contact with new staples and / or cutting knives in subsequent applications. Providing a single cartridge and firing staples can help ensure that the staple line and staple shape are consistent. ΜΛ / t / ZUZZ / UUUUZO A single cartridge and single shot stapling device can also provide compression benefits relative to a device and system that requires the use of multiple cartridges. It may be advantageous to provide a single shot stapling device that provides convenient compression along the length of the tissue to be transected while also providing a single stapling line with appropriately formed staples. A B-shaped staple is the standard of care for gastrointestinal, vascular, pulmonary and hepatic applications of surgical tissue fastening devices. Alignment in each of the It will be appreciated that any suitable structure or mechanism may be incorporated into the stapling devices described herein to provide such alignment. Embodiments of the stapling devices described herein may include multiple rows of staples so that there is less potential for loss of light content between each of the staples and the rows of staples. For example, a stapling device may have two to six rows of staples, where the rows of staples may be bisected by a knife or blade configured to pass between the rows to transversely cut the stapled tissue. In one embodiment, the rows of staples can be spaced and / or staggered to reduce the likelihood of leakage. Embodiments of stapling devices may include an anvil and a cartridge, where the cartridge may include recesses that retain a plurality of staples. The staples may be retained above one or more staple drivers which, during operation, may push each of the plurality of staples upward through the tissue toward the face of the anvil. The anvil, which may include pockets having any suitable size, number and dimensions, may cooperate with the cartridge drivers to form, for example, a B shape within the tissue. The anvil pockets, in one embodiment, can be sized to provide a suitable closed staple height which can be determined by the clearance between the anvil and the cartridge, the depth of the pocket and the height of the staple, and / or the staple driver. and the driving mechanism. During stapling, it may be advantageous to provide a support or reinforcing material through which the staples can be deployed. The backing or backing material can help distribute the pressure of multiple rows of staples, to improve the grip of the staples in the tissue or to M A / t / ZUZZ / UUUUZO maintain the integrity of a staple line. For example, a biodegradable material may be provided on the faces of the anvil and / or cartridge through which the staples may be deployed during use. This reinforcing material, which retains the staples, can be cut with a blade or knife and, in one embodiment, can be left inside a patient. Any suitable support or reinforcement material may be used, such as polymer composites (both permanent and bioabsorbable) as well as biofilms in accordance with the embodiments described herein. These materials can be reversibly attached to the anvil, the cartridge, or both. Methods of attaching the reinforcement or support material to the anvil or cartridge may include adhesives, such as hydrogel polymers, where the reinforcement can be removed from the end effector after it has been secured with staples to the tissue. The end effector may also include mechanical structures or elements for retaining reinforcement, such as projections or the like. In one embodiment, the anvil and / or cartridge may include a plurality of spaced projections, the reinforcing material may define a plurality of holes, and a wire or suture may be used to threadably secure the reinforcing material to the projections of the anvil. and / or cartridge. Embodiments of the stapling devices described herein, consistent with a laparoscopic approach, may include inserting the end effector of the stapler through a trocar to perform the surgical procedure. As an example, minimally invasive surgical procedures may include a laparoscopic vertical sleeve gastrectomy. Because the spatial environment for such procedures is limited, surgical stapling devices according to the embodiments described herein may have a relatively low profile. Minimally invasive devices in the prior art are generally long (e.g., 35 mm to 60 mm) and thin devices (e.g., 5 mm to 15 mm in diameter). This long, thin configuration may be necessary to be placed through the trocar into the body cavity. The limited size may present a mechanical problem since forming B-shaped clips typically requires a pressure of approximately 100 psi. Under these pressures, small, less rigid staplers can deform and therefore prevent proper formation of B-shaped staples. Prior art devices used in minimally invasive surgical procedures often have a fixed hinge at a proximal end. This hinge allows the anvil and cartridge to be separated in a V-shaped configuration. Once separated, the M A / IZ / ¿U¿¿ / UUUU¿O The surgeon can position the open anvil and cartridge around the organ and then fold the V over the organ. However, as the length of the anvil and cartridge increases, it may be more difficult to maintain alignment between the anvil and cartridge along the tissue. Malalignment with such designs may be exacerbated at the more distant ends of such devices, they may deflect due to the forces required to compress the tissue. Due to this deviation, the length of current V-shaped staplers for minimally invasive procedures is limited. As a result of this limitation, the anvil and cartridge have a correspondingly limited length. This limitation in length requires, for larger organs such as the stomach, multiple reloads and staple firings to complete a procedure such as a sleeve gastrectomy. Each reload may require the surgeon to remove the stapler from the trocar, reload the cartridge, reinsert it, and then reposition the stapler in the organ. Such systems may require more surgical time, may be more expensive, may have a greater likelihood of resulting in an adverse event for the patient, and may result in a staple line having less integrity. The examples described in the present description are examples only and are provided to assist in the explanation of the apparatus, devices, systems and methods described in the present description. None of the elements or components shown in the drawings or described below should be taken as mandatory for any specific implementation of any of these apparatus, devices, systems or methods, unless specifically designated as mandatory. For ease of reading and clarity, certain components, modules or methods may be described only in relation to a specific figure. Any failure to specifically describe a combination or subcombination of components should not be understood as an indication that any combination or subcombination is not possible. Furthermore, for any method described, regardless of whether the method is described in conjunction with a flow chart, it should be understood that, unless the context specifies or otherwise requires, any explicit or implicit order of the steps performed in Executing a method does not imply that those steps must be performed in the order presented, but instead they can be performed in a different order or in parallel. Illustrative modalities described herein may be used, for example, in a sleeve gastrectomy or stomach resection procedure. However, it will be appreciated that the devices can be used in other procedures involving other anatomical structures. For example, the devices can be used in parenchymal resection, lung volume reduction surgery, or other procedures involving the lung. Additionally, the modalities described herein may be useful in an anatomical resection, such as a lobectomy, non-anatomical parenchymal resection, or other procedures involving the liver, or in a partial nephrectomy, total nephrectomy, or other procedures involving the kidney. . Referring now to Figure 1, the anatomy of the stomach 10 and an illustrative resection line 12 for a vertical sleeve gastrectomy are shown. The stomach 10 generally includes a lower end 14, an upper end 16, an anterior side 18 and a posterior side 20. A gastroesophageal junction 22 opens into the stomach 10 and is a common landmark in bariatric surgeries. A fundus 24 and the stomach section 10 defined by a greater curvature 26 are generally the parts of the stomach 10 removed during a vertical sleeve gastrectomy. The remaining pouch or sleeve can generally be defined by a minor curvature 28 and the resection line 12, which presents a stomach with a significantly reduced volume. The desired location of resection line 12 may be from about 0.5 cm to about 2 cm away from the gastroesophageal junction 22 and from about 2 cm to about 10 cm away from a pylorus 30. In accordance with the embodiments described herein , endoscopic self-suturing stapling devices can be used to form consistent, high-quality resection lines during a vertical sleeve gastrectomy. Embodiments of the devices may be advantageous because they can be easily positioned laparoscopically, can accommodate different thicknesses of tissue along the length of the resection line, may be capable of providing uniform compressive pressure on the tissue at along the resection line and may allow for low staple firing force. Figure 2A represents a perspective view of a stapling device 100 that includes an end effector 121, a support tube 140, and a handle portion 123, shown in an open position. Figure 2B represents a perspective view of stapling device 100 shown in a closed position. Figures 3A and 3B represent an exploded perspective view of the stapling device 100 illustrated in accordance with at least one embodiment. The end effector 121 of the stapling device 100 may include an anvil assembly 101 and a cartridge assembly 103. The anvil assembly 101 may include an anvil frame 102 and an anvil plate 112. The anvil plate 112 may be welded to the frame of the anvil 102, or may be attached in any other way to the ΜΛ / t / ZUZZ / UUUUZO anvil frame 102 or end effector 121 such as by gluing, brazing, sintering, machining, 3D printing or the like. The anvil assembly 101 may include a longitudinal axis along which the anvil frame 102 and the anvil plate 112 are oriented. The anvil plate 112 may define a channel of the anvil plate 137 aligned with the longitudinal axis that can be sized to receive a blade 107 associated with a blade assembly 108. As illustrated in Figure 4, the anvil frame 102 and the anvil plate 112 can cooperate to define an anvil blade channel 139 that can be sized to accept an upper portion 228 of the blade 107. During operation, the blade channel of the anvil 139 may guide the blade 107 as it moves, for example, from a first distal position to a second proximal position within the channel of the anvil plate 137. In an alternative embodiment, the blade 107 can move from a first proximal position to a second distal position. Because the distal end of the end effector 121 engages in certain embodiments, rather than opening, it allows the ability to initially position the blade 107 at the distal end of the end effector prior to use or cutting. Such a position may be advantageous because the blade 107 associated with the blade assembly 108 can be pulled, rather than pushed, to prevent buckling. Providing a blade assembly 108 with an elongated bar 226 (Figure 6) may be beneficial because, as the bar 226 is within the anvil and cartridge channels, it may prevent the cartridge from deflecting into the channel cavity. Such deviation towards the canal can cause staple malformations. The I-bar portions of the blade can correct deflection of the anvil and cartridge structural elements that may occur during loading to allow proper clearance for staple formation. Referring to Figures 3A and 3B, the anvil plate 112 may be, for example, 20 cm to 26 cm in length, 10 cm to 30 cm in length, 5 cm to 32 cm in length, 21 cm to 24cm in length, or any other suitable length. In one embodiment, the length of the anvil plate 112 is sized so that it can traverse the length of an organ, such as the stomach, for use in a sleeve gastrectomy procedure. For example, the anvil plate 112 may have a length of 23 cm, so that it can be used in combination with the cartridge assembly 103 to provide a stapling line in accordance with a sleeve gastrectomy procedure with a single shot and a single cartridge. The cartridge assembly 103 may include a cartridge frame 116 that may retain a cartridge plate 114 and a cartridge 110. The cartridge plate 114 may be welded to the cartridge frame 116, or may be otherwise attached to the cartridge frame 116. cartridge 116 or to the end effector 121 such as by gluing, brazing, sintering, machining, 3D printing or the like. Cartridge assembly 103 may include a longitudinal axis along which cartridge frame 116 and cartridge plate 114 may be oriented. Cartridge plate 114 may define a cartridge channel 143 aligned with the longitudinal axis that may be sized. to receive the blade 107 associated with the blade assembly 108. As illustrated in Figure 4, the cartridge frame 116 and the cartridge plate 114 can cooperate to define a cartridge blade channel 141 that can be sized to accept a lower portion 230 of the blade 107. During operation, the cartridge blade channel 141 may guide the blade 107 as it moves, for example, from a first distal position to a second proximal position within the cartridge channel 143. . In an alternative embodiment, the blade 107 can move from a first proximal position to a second distal position. In an alternative embodiment, the cartridge blade channel 141, or associated channels, may be curvilinear or have any other suitable configuration. Referring to Figures 3A and 3B, the cartridge 110 may be attached to the cartridge frame 116 by a first cartridge pin 136 at a first end and a second cartridge pin 118 at a second end or, alternatively, the cartridge 110 may be attached to the cartridge frame 116 by press fit, gluing or other joining methods. The cartridge 110 may be, for example, 20 cm to 26 cm in length, 10 cm to 30 cm in length, 5 cm to 32 cm in length, 21 cm to 24 cm in length, or any other suitable length. . In one embodiment, the length of the cartridge 110 is sized so that it can traverse the length of an organ, such as the stomach, for use in a sleeve gastrectomy procedure. For example, the cartridge 110 may have a length of 23 cm so that it can be used in combination with the anvil assembly 101 to provide a stapling line in accordance with a single shot, single cartridge sleeve gastrectomy procedure. The end effector 121 may include a master link 106 that may be used to transition the end effector 121 from a closed position (see, for example, Figure 2B), to an open position (Figure 2A), back to a closed position. The master link 106 may be attached to a first end of the anvil frame 102, which may be a proximal end of the anvil frame 102, by a first master link pin 104 such that the first master link pin 104 engages. rotatably and slidably to a master link groove 105 defined by the anvil frame 102. The master link groove 105 may be a channel parallel to the axis ΜΛ / t / ZUZZ / UUUUZO ΜΛ / longitudinal of the anvil frame 102, or the master link slot 105 may be angled up or down, or otherwise offset relative to the longitudinal axis of the anvil frame. In certain embodiments, the master link slot 105 may be angled or offset to achieve a greater (angled away) or smaller (angled toward) separation between the anvil assembly 101 and the cartridge assembly 103. In certain embodiments, where the master link slot 105 is angled or offset, the master link 106 can be configured to stop at any point along the master link slot 105 to change the clearance and therefore the angle of the anvil assembly 101 relative to cartridge assembly 103. Tilting the master link slot 105 can also improve closure efficiency for the end effector 121. A second master link pin 138 may be used to rotatably couple the master link 106 to a platform 142 as will be described in more detail below in the present description. In the embodiment illustrated in Figures 3A and 3B, the cartridge frame 116 can be inserted at its proximal end into a support tube 140, thereby aligning and connecting the end effector 121 of the stapling device 100 to the handle portion 123 of the stapling device 100. The support tube 140 may be an elongated member, having a proximal end and a distal end, which may be configured to extend through a trocar (not shown) so that the end effector 121 of the stapling device 100 can access to a patient's organ. The support tube 140 may have any suitable length such as, for example, 50 mm to 350 mm, 100 mm to 350 mm, 100 mm to 200 mm, 150 mm to 300 mm or 100 mm. The support tube 140 may have an outer diameter of 5 mm to 22 mm and may have a wall thickness of 0.25 mm to 1.5 mm, for example. The support tube 140 may be unitarily formed with a monolithic construction, or in an alternative embodiment, the support tube 140 may include multiple sections. The support tube 140 may have a uniform diameter of any size, for example, for accessing a body cavity according to a laparoscopic procedure. The proximal end of the support tube 140 may be engaged with the handle portion 123 of the stapling device 100. The support tube 140 may have a handle ring 144 that slideably engages an outer surface of the support tube 140. and maintains the alignment and connection of the support tube 140 to the handle portion 123. A tube support 174 may be attached to the support tube 140 for attachment to the handle portion 123. The handle portion 123 of the stapling device 100 may be used to facilitate insertion of the end effector 121 into the body cavity of a patient. The handle portion 123 may include mechanical or motorized components to facilitate actuation of the end effector 121. In one embodiment, the handle portion 123 may include a right handle half 120 and a left handle half 122 that can be coupled together. similar to a shell. The right half of the handle 120 and the left half of the handle 122 can be joined together, for example, by the handle nuts 168, 170 and the handle screws 160, 162, 164, or can be ultrasonically welded, press fit, glue, screw with self-tapping screws into holes molded into the right half of handle 120, or assemble in any other way. The handle portion 123 may include a trigger 146 that can be used to actuate and activate the stapling device 100. The trigger 146 may include a first mounting element 148 and a second mounting element 150 that can be used to attach the trigger 146 of manner that is rotatable or movable relative to the right half of the handle 120 and the left half of the handle 122. A trigger detent 158 ​​may be positioned on the portion of the handle 123, adjacent to the trigger 146, and may include centering springs 152. , 154 and a reset spring 156 that can be used, respectively, to center and reset the trigger detent 158 ​​in coordination with the use of the trigger 146. An embodiment of the operation of the handle portion 123 and the trigger 146 is shown more detail in Figures 5A-5B. The tube holder 174 of the support tube 140 can engage the elements on the right half of the handle 120 and the left half of the handle 122 to couple the support tube 140 to the handle portion 123. The platform 142 can be attached through of the support tube 140 to a tooth rack 176 or other coupling elements that can engage a ratchet arm 128. The ratchet arm 128 can be pushed towards the rack 176 by use of a ratchet spring 130. The ratchet arm 128 may be retained at least partially within the handle portion 123 and may include a left release lever 126 and a right release lever 124 that may be used ambidextrously to overcome the pressure of the pawl spring 130 and lift a pawl 208. of the ratchet arm 128 of the rack 176. In one embodiment, an electric motor 192 containing an armature 193 may be inserted into a motor mount 194 and may be secured by screws 190 for use as a drive or actuator. In certain embodiments, the electric motor 192 may be selectively removable from the motor mount 194 for reuse by an operator, where the end effector 121 and / or the tube Support ΜΛ / t / ZUZZ / UUUUZO 140 can be single-use and disposable. The electric motor 192 and a switch 196 may be held in the motor bracket 194 by use of a cover 197 and an outer cover 198. The frame 193 may be coupled to a rotating member 180 by use of a gear 186 and a hub. 188. A thrust washer 184 may be used to provide a stop for a trigger return spring 181. A switch 134 associated with a switch pad 132 may be used in coordination with the switch 196 to activate the electric motor 192 to activate the member. swivel 180. The motor mount 194 can be mounted on the handle portion 123 by using a left support arm 195 and a right support arm 199 and can be fixed in place by pins formed in the left half of the handle 122 and the left release lever 126, by using screws such as the handle screw 164 or other fastening structures or methods. Figure 5A is a cross-sectional side view of the handle portion 123 of the stapling device 100 shown in a first open position (see, for example, Figure 2A). Figure 5B is a cross-sectional side view of the portion of the handle 123 that moved to a second closed position (see, for example, Figure 2B). The second mounting member 150 of the trigger 146 may include an elongated slot so that a pin of the trigger 204 can move within the second mounting member 150 in an unloaded rolling direction while the trigger 146 applies a load to the platform 142. as the trigger 146 is pulled proximally. As the trigger 146 is pushed proximally, the second mounting member 150 can correspondingly apply a force to the trigger pin 204 that pushes the platform 142 proximally. Rack 176 may be rigidly attached to a proximal end of platform 142 such that when trigger 146 is pushed proximally the teeth 206 of rack 176 engage ratchet 208 on ratchet arm 128 to prevent distal movement. of rack 176 and platform 142 Rack 176 and platform 142 may be prevented from moving distally until, for example, a left release lever 126 (Figure 3) or a right release lever 124 (Figure 3) is pressed. ) to release the pawl 208 from the teeth 206 of the rack 176. A plurality of teeth 206 on the rack 176 may provide incremental closing of the end effector 121a as the trigger 146 is pulled, which may allow for precise positioning of the effector final 121 in the fabric. The clinician can push the trigger 146 proximally until a convenient compression or position in the tissue is achieved. If the clinician needs M By repositioning the stapling device 100, the right release lever 124 or the left release lever 126 can be operated to open the stapling device 100 to release the tissue. The handle portion 123 may include a trigger detent 158 ​​having a trigger detent tip 210. As shown in Figure 5B, the trigger 146 may be pushed proximally until an edge of the trigger 212 on the trigger 146 touches the tip. of the trigger detent 210, which can prevent further proximal movement of the trigger 146. In one embodiment, when the trigger 146 engages the trigger detent, the stapling device 100 is in the fully closed position (see, for example, Figure 2B). In the fully closed position, the endoscopic self-suturing instrument can be used to deploy staples and / or transversely cut tissue. Referring to Figure 5C, once the stapling device 100 is in a closed position, it can transition to a third pre-firing position. In one embodiment, the stapling device 100 can be fired only after the trigger detent 158 ​​is moved laterally with respect to the trigger 146 such that the tip of the trigger detent 210 is aligned with a trigger release recess 202. Once the trigger detent 158 ​​is aligned with the trigger release recess 202, the trigger 146 can be pushed more proximally so that the tip of the trigger stop 210 enters the trigger release recess 202. The trigger detent 158 can be pushed laterally by a clinician, for example, by compressing the centering spring 152 or the centering spring 154, to allow the tip of the trigger detent 210 to move laterally with respect to the edge of the trigger 212 until the tip of the Trigger detent 210 engages with trigger release recess 202. Referring to Figure 5D, when the tip of the trigger detent 210 is aligned with the trigger release recess 202, the trigger 146 can be pushed more proximally to a fourth firing position to actuate a switch 172 that engages the electric motor 192. to push the knife assembly 108. Actuating the knife assembly 108 may correspondingly cause the stapling device 100 to provide a stapling line while simultaneously cutting tissue. A nut 109 (Figures 6 and 7) can be attached to the blade assembly 108 and can transfer a force to the blade assembly 108 from the rotating member 180 as the rotating member 180 is driven by the electric motor 192. Referring now to Figure 5E, when the trigger 146 is released, the reset spring 156 can push the trigger detent 158 ​​distally, so that the switch 172 is disconnected and the electric motor 192 is turned off. Centering spring 152 and centering spring 154 can recenter trigger detent 158 ​​and reset stapling device 100 so that electric motor 192 cannot inadvertently reengage. Referring to Figure 6, a perspective view of the blade assembly 108 is shown illustrating that the nut 109 may be attached to the blade assembly 108 via a pin 145, a spot weld, or may be formed monolithically as a unitary construction with the blade assembly 108. The blade 107 can be attached to a distal end of the blade assembly 108 and can be pushed, for example, from a distal position to a proximal position to cut tissue during staple formation . Figure 7 illustrates a cross-sectional view of an example of the relationship between the support tube 140, the platform 142, the nut 109 and the rotating member 180. It will be appreciated that any suitable coupling that facilitates the transfer of force from the rotating member 180 to the blade assembly 108. In embodiments, the blade 107 can be pushed proximally to cut tissue while simultaneously deploying staples from the cartridge 110. It may be advantageous for the blade 107, supported by an elongated bar 226, to be positioned at the distal end of the end effector 121. before supplying the staples and cutting the tissue. The elongated bar 226 may provide additional support to the cartridge frame 116 during positioning and transition of the end effector 121 from the open position to the closed position. As described with reference to Figure 3A, Figure 3B and Figure 4, the blade 107 may include an upper portion 228 that may be sized to slideably move within the blade channel of the anvil 139 and the blade 107 may include a lower portion 230 that can be sized to move slidably within the blade channel of the cartridge 141. In one embodiment, as the blade 107 is pushed proximally to cut tissue, the upper portion 228 and the lower portion 230 of The blade 107 can compress the end effector 121 to provide advantageous compression to the tissue. It will be appreciated that the manually operated embodiments of the stapling device 100 are described by way of example only. For example, the handle of the stapling device 100 may be a control unit of a surgical robot and the stapling device 100 may be operated remotely through the use of a surgical robot or other electromechanical systems, such as by an electric motor, cable and pulley, pneumatic or hydraulic mechanisms. Figure 8 is a cross-sectional side view of selected components of the handle portion 123 of the stapling device 100 according to at least one embodiment. The rotating member 180 may include threaded or spirally cut grooves 214 that may be used M A / ΙΖ / ZUZZ / UUUUZO to drive the stapling device 100. As the rotating member 180 is driven, the corresponding threads on the nut 109 can push the nut 109 in a proximal or distal direction. Nut 109, which engages elongated bar 226 of blade assembly 108, can advance blade 107 in a proximal or distal direction. Figure 9 is a side view of one end of the end effector 121 according to at least one embodiment. In the illustrated version, the cartridge frame 116 is illustrated extending into the support tube 140, which may provide advantageous rigidity and support for the end effector 121. The cartridge frame 116 may include a ramp 216 which may be unitarily formed as a monolithic structure with the cartridge assembly 103, or may be a separate component that can be attached to the cartridge frame 116. The ramp 216 can be positioned to interfere with a surface of the ramp 220 of the master link 106. As the platform 142 advances distally, the surface of the ramp 220 can engage with the ramp 216 to push the master link 106 upward to open the end effector 121. The ramp 216 can have any suitable shape and configuration that can cause the master link 106 to open. or otherwise separate the cartridge assembly 103 and the anvil assembly 101. In an alternative embodiment (not shown), the ramp can be replaced with a spring to push the master link into an open or up position. As the platform 142 advances, the first master link pin 104 may engage the distal end of the master link slot 105 to push the anvil assembly 101 up or away from the cartridge assembly 103. The master link slot 105 It may be an elongated channel that can be sized so that the platform 142 and the master link 106 can move proximally and distally along a longitudinal axis to allow the master link 106 to apply an opening and closing force to the anvil frame 102. . The master link slot 105 can be sized so that, after the end effector 121 is completely closed and the master link 106 is horizontal within the support tube 140, the master link slot 105 can allow the trigger 146 to advance further. proximally to engage the edge of the trigger 212 with the switch 172. Still referring to Figure 9, the master link 106 may include a second surface 221 that may contact an edge of the tube 223 of the support tube 140 when the trigger 146 is actuated. To close the end effector 121, as As the platform 142 is pushed proximally, the second surface 221 can be pushed along the edge of the tube 223 to move the anvil frame 102 toward the cartridge assembly 103. The ramp surface 220 can ΜΛ / facilitate the opening of the stapling device 100 and the second surface 221 may facilitate the closing of the stapling device 100 for improved action of the stapling device 100 during use. In one embodiment, coupling the first end of the master link 106 to the platform 142 and the second end of the master link 106 to the anvil frame 102 may facilitate actuation of the end effector 121 without requiring actuation of the support tube 140. As shown in Figure 9, the master link 106 may be rotatably attached at a first end by the first master link pin 104 to a second end of the second master link pin 138. The master link 106 may have a linear configuration. or, as shown in Figure 9, the master link may have a first linear portion originating approximately from the second master link pin 138 and a second linear portion connected to the anvil frame 102 through the first master link pin 104. The first linear portion and the second linear portion may be displaced, for example, between 1.5 and 10.0 millimeters, and may be displaced by 2.5 millimeters. The angle included between the linear portions and the ramp surface 220 and the second surface 221 may be, for example, 20 degrees to 50 degrees, or 37 degrees. The distance between the first master link pin 104 and the second master link pin 138 may be 10 mm to 50 mm, 15 mm to 20 mm, or 18 mm. The length of the second surface 221 may be 15 mm to 22 mm, 10 mm to 30 mm, or 18 millimeters from the top of the first linear portion to the top of the second linear portion. The master link slot 105 may have a length of 4 mm to 9 mm, 3 mm to 8 mm or 6 mm to provide convenient movement of the first master link pin 104 within the master link slot 105. The height and Width of the master link 106 can be from 3 mm to 13 mm, or 6 mm, for example, to provide strength and rigidity while still fitting within the profile of the end effector 121. The material of the master link 106, in combination with the size of the master link 106, can be selected to ensure that the master link 106 can withstand closing loads of, for example, 10 Ibs to 100 Ibs. In one embodiment, the width of the master link 106 is 8 mm, the height of the master link 106 is 4.6 mm, and the material of construction for the master link 106 is stainless steel. Figure 10 represents a bottom plan view of the anvil assembly 101 according to one embodiment. The blade 107 is shown positioned at one end of the anvil frame 102 in a first opening 234. As the anvil assembly 101 closes against the cartridge assembly 103, the blade 107 can enter the channel 137 of the plate. anvil to cut the tissue between the staples. After reaching the end of its cutting sequence, the blade 107 may enter a second opening 236 which may allow the end effector 121 to open. The blade 107 may be guided through the channel of the anvil plate 137 to maintain centering. blade 107. Figure 11 is a perspective view of a stapling device 300 according to one embodiment. The stapling device 300 may include an endoscopic self-suturing instrument 308 and a motor assembly 315. The stapling device 300 comprises an end effector 321 that includes an anvil assembly 301 and a cartridge assembly 303, a support tube 340 and a handle portion 323. The anvil assembly 301 may function as a first jaw of the end effector 321 and the cartridge assembly may function as a second jaw of the end effector 321. The end effector 321 may be connected to the handle portion 123. through a support tube 340. The handle portion 323 may include a handle 311 and a trigger 304 for operating the stapling device 300. The handle portion 323 may include a mode button 324 for switching between operating modes. For example, in a first mode, the trigger 304 can be pressed upward to open the jaws (e.g., the anvil and cartridge) or pressed downward to close the jaws. When the jaws are in a closed position, the mode button 324 can be pressed to place the stapling device 300 into a firing mode. When in the firing mode, pressing the trigger 304 can fire the stapling device 300 to simultaneously form a stapling line comprising one or a plurality of rows of staples while cutting the tissue. In one embodiment, pressing the trigger 304 in the firing mode can deploy a line of staples that includes six rows of staples, where a knife (not shown) can simultaneously cut the tissue between a third and a fourth row of the staples. Figure 12 represents an exploded perspective view of the endoscopic self-suturing instrument 308 according to at least one embodiment. The anvil assembly 301 may include an anvil frame 302 and an anvil plate 312. The anvil plate 312 may be welded to the anvil frame 302, or may be joined in any other manner, such as by gluing, brazing, sintering, machining, 3D printing or similar. A cartridge 310 containing a plurality of staples may be attached to the cartridge frame 316 by a first cartridge pin 341 at a first end and a second cartridge pin 318 at a second. ΜΛ / t / ZUZZ / UUUUZO end, or alternatively the cartridge 310 may be attached to the cartridge frame 116 by press fit, gluing or other joining methods. In the embodiment illustrated in Figure 12, the cartridge frame 316 can be inserted at its proximal end into the support tube 340 to align and connect the end effector 321 of the endoscopic self-suturing instrument 308 to the handle portion 323. A set of Blade 322 may include a knife or blade 307 that can be coupled to a rotating member 380 through a bushing. The handle portion 323 may include a right handle half 320 and a left handle half 322 that may be held together in a clamshell-like manner. The right half of the handle 320 and the left half of the handle 322 may be joined by, for example, ultrasonic welding, glue, screws, grip pins or press-fit pins placed in holes molded in the handle, or other assembly methods . A left handle cover 350 and a right handle cover 352 may be used to provide a pleasing aesthetic appearance to the exterior of the handle portion 323 by covering the left half of the handle 322 and the right half of the handle 320. A drive screw 354 may be used to drive a control arm 351 through a control arm nut 353. The drive screw 354 may be connected to a second drive gear coupler 345 which may couple the motor assembly 315. The rotating member 380 can be coupled to the motor assembly 315 through a firing drive gear 366 and a second firing driving gear 369, where the second firing driving gear 369 can be coupled with the first firing gear coupler. drive 356 that can be coupled with the motor assembly 315. In one embodiment, the second firing drive gear 369 and the first drive gear coupler 356 may be a single component or element. Figure 13 is a perspective view of the motor assembly 315 according to one embodiment. A first electric motor 335 and a second electric motor 337 may be provided in a motor housing 313. In one embodiment, the first motor gear 363 may be coupled with the first drive gear coupler 356 (Figure 12) and a second gear of the motor 365 can be coupled with the second coupler of the drive gear 345 (Figure 12). The motor housing 313 may include a left half of the motor housing 327 and a right half of the motor housing 316. The motor housing 313 may include clips 317 for engaging the motor assembly 315 with the handle portion 323. Can ΜΛ / t / ZUZZ / UUUUZO provide a strain relief 319 to support wiring to the motor assembly 315. A connector 325 may provide electrical coupling of the trigger 304 (Figure 12) and other electrical components between the motor assembly 315 and the stapling device 300. Figure 14A is a side view of the stapling device 300 according to one embodiment showing the end effector 321 in an open position. The end effector 321 may include a first jaw comprising the anvil assembly 301 and a second jaw comprising the cartridge assembly 303. The end effector 321 may include a master link 306 operatively coupled to the motor assembly 315. Figure 14B is a side view of stapling device 300 showing end effector 321 in a closed position. The end effector 321, in its closed position, may be ready to fire, which may include deploying staples and / or cutting tissue. In one embodiment, the end effector 321 may include a blade 307 (Figure 12) for cutting tissue while deploying staples. Figure 15 represents a cross-sectional side view of the handle portion 323 of the stapling device 300 in the open position (e.g., the position shown in Figure 14A). A second drive gear coupler 345 for opening and closing the end effector 321 can be coupled to the second motor gear 365 (Figure 13) associated with the second electric motor 337. The second drive gear coupler 345 can rotate the screw of drive 354 to open and close the end effector 321 to move the end effector 321 between an open position and a closed position, and vice versa. In Figure 15, the control arm nut 353 is shown in its most distal position on the drive screw 354 so that the master link 306 is fully extended and the end effector 321 is in the open position. The control arm nut 353 may contact a control arm distal limit switch 368 in the illustrated position, when the end effector 321 is in the fully open position, to interrupt power to the second electric motor 337. The First drive gear coupler 356 can be coupled to second motor gear 365 to deploy staples from stapling device 300 while simultaneously cutting tissue. Figure 16 represents a side view of the end effector 321 of the stapling device 300 shown in the open position. The master link 306 can be attached to a first end of the anvil frame 302 by a first master link pin 320 so that the first master link pin 320 can rotatably and slidably engage the groove of ΜΛ / t / ZUZZ / UUUUZO master link 305. The master link groove 305 may be a channel parallel to the longitudinal axis of the anvil assembly 301, or the master link groove 305 may be angled up or down relative to this longitudinal axis. A second master link pin 338 may be used to pivotally couple the master link 306 to the control arm 351. Figure 17 depicts a cross-sectional side view of the handle portion 323 of the stapling device 300 shown in the closed position. . The control arm nut 353 is illustrated in its most proximal position on the drive screw 354 such that the anvil assembly 301 is closed relative to the cartridge assembly 303. In one embodiment, when the end effector 321 is closed, The control arm nut 353 may travel proximally until it contacts a proximal limit switch 355. When the control arm nut 353 contacts the proximal limit switch 355, it may interrupt power to the second electric motor. 337. The stapling device 300 may be configured so that it cannot enter a firing mode until the control arm nut 353 engages the proximal limit switch 355 to ensure that the stapling device 300 is in the closed position before to shoot. Figure 18 represents a side view of the end effector 321 of the stapling device 300 shown in the closed position. Master link 306 is illustrated as partially inserted into support tube 340 such that anvil assembly 301 and cartridge assembly 303 are in a closed position ready for firing. Figure 19 is a side view of a drive unit 460 for stapling and cutting tissue simultaneously. The drive unit 460 may include a blade assembly 408 that includes a blade 407 coupled to a bar 426. The bar 426 may include a nut 409 that can be threadedly coupled to a rotating member 480. The rotating member 480 can be coupled operatively with the first electric motor 412 such that rotation of the rotating member 480 pushes the nut 409 proximally. During operation, activation of the first electric motor 412 may push the nut 409 proximally so that the bar 426 and the blade assembly 408 move correspondingly in a proximal direction. As the blade assembly 408 is pushed proximally, a cutting edge 432 on a blade 407 may transversely cut the tissue. The blade 407 may include an upper portion 428 and a lower portion 430 that may compress an anvil and an end-effector cartridge when pushed proximally. Still referring to Figure 19, when the blade assembly 408 is pulled to its most proximal position, the nut 409 can engage a full trip limit switch 468. When the nut 409 engages the full trip limit switch 468 , power to the first electric motor 412 may be interrupted. It is contemplated that the nut 409 may be attached to the blade assembly 408 or bar 426 in any suitable manner such as through a pin, spot welding, or other method of attachment. Union. Alternatively, nut 409 may be formed monolithically as a unitary structure with blade assembly 408 or bar 426. Figure 20 is a side view of a drive unit 560 for opening and closing an anvil assembly 501 according to one embodiment. The anvil assembly 501 may be movably coupled with a master link 506, where the master link 506 may be rotatably coupled with a distal end of a platform 542. In the illustrated embodiment, the master link 506 includes a first master link pin 504 that is capable of engaging a master link slot 505 positioned at the proximal end of the anvil assembly 501. The first master link pin 504 is movable within the slot. of master link 505 to facilitate opening and closing of the anvil assembly 501. A proximal end of the platform 542 may include a drive nut 567 that can be threadedly coupled to a drive screw 554. The drive nut 567 and the Drive screw 554 may be engaged such that rotation of drive screw 554 in a first direction pushes drive nut 567 proximally and rotation of drive screw 554 in a second direction pushes drive nut 567 distally. A proximal end of the drive screw 554 can be engaged with a second motor gear 565 that is rotatably coupled with a second electric motor 514. During operation, the second electric motor 514 can rotate the drive screw 554 in the direction clockwise or counterclockwise to open and close the anvil assembly 501, respectively. Still referring to Figure 20, the drive unit 560 may include a distal limit switch 557 and a proximal limit switch 555. When the anvil assembly 501 is in the fully open position, the drive nut 567 may be in its most distal position so that it contacts the distal limit switch 557 to interrupt the power to the second electric motor 514. When the anvil assembly 501 is in the fully closed position, the drive nut 567 can be in its position more proximal so that it contacts the proximal limit switch 555 to interrupt power to the second electric motor 514. Figure 21 is a side view of a drive unit 660 for opening and closing an anvil assembly 601 according to an alternative embodiment. The anvil assembly 601 may be movably coupled with a master link 606, where the master link 606 may be rotatably coupled with a distal end of a platform 642. In the illustrated embodiment, the anvil assembly 601 may include a distal slot 669 that may engage a pin (not shown) positioned at the distal end of the anvil assembly 601 to allow movement of the pin within the distal slot 669 to facilitate the opening and closing of the drive unit 660. The proximal end of the anvil assembly 601 may include a fixed pin 604 that may rotatably engage the anvil assembly 601 and the master link 606. A proximal end of the platform 642 may include a drive nut 667 that can be threadedly coupled to a drive screw 654. The drive nut 667 and the drive screw 654 can be coupled such that rotation of the drive screw 654 in a first direction pushes the nut drive nut 667 proximally and rotating the drive screw 654 in a second direction pushes the drive nut 667 distally. A proximal end of the drive screw 654 can be engaged with a second motor gear 665 that is rotatably coupled with a first electric motor 614. During operation, the first electric motor 614 can rotate the drive screw 654 in the direction clockwise or counterclockwise to open and close the anvil assembly 601, respectively. Still referring to Figure 21, the drive unit 660 may include a distal limit switch 657 and a proximal limit switch 655. When the anvil assembly 601 is in the fully open position, the drive nut 667 may be in its most distal position so that it contacts the distal limit switch 657 to interrupt the power to the first electric motor 614. When the anvil assembly 601 is in the fully closed position, the drive nut 667 can be in its position more proximal so that it contacts the proximal limit switch 655 to interrupt power to the first electric motor 614. During closure of an end effector, the anvil may interfere with the cartridge as it closes over tissue due to the ability of the anvil to rotate or deflect slightly relative to the M A / t / ZUZZ / UUUUZO longitudinal axis of fabric loads. Figure 22 is a perspective view of a distal portion of an anvil frame 701 according to one embodiment. The anvil frame 701 may include a bevel element, such as an anvil chamfer 771, which may guide the anvil frame in a channel 702 in a cartridge assembly 703 to help ensure alignment during closing. The tissue between the jaws may be thicker on one side than the other of the end effector, where the chamfer of the anvil 771 can assist with alignment if the non-uniform tissue causes slight misalignment before closing the jaws of the end effector. One or a plurality of bevels may act as an input element that may function to align the end effector to help ensure that staples are properly deployed in different tissue thicknesses. Figure 23 is a perspective view of a motor controller 870 according to one embodiment. The motor controller 870 may include a controller housing 872 having an on / off switch 874, a display 875, and a device cable connector 876. The on / off switch 874 may provide wall power, such as 110 volts or 220 volts AC power from a wall outlet, or can provide battery power to the motor controller 870. The device cable connector 876 can connect multiple cables from the motor assembly of a stapling device to the controller of the stapling device. motor 870. For example, the cable connector of the device 876 may provide positive and negative voltage cables to a first electric motor (e.g., first electric motor 335 shown in Figure 13), positive and negative voltage cables to a second electric motor 337 (e.g., second electric motor 337 in Figure 13), wires to a trigger (e.g., trigger 304 shown in Figure 12), positive and negative sense wires to each of a switch full trigger limit 368 (Figure 15), a proximal limit switch 555 (Figure 20) and a distal limit switch 557 (Figure 20), as well as any other cables useful for an endoscopic self-suturing instrument. Figure 24 is an exploded perspective view of the motor controller 870 according to one embodiment. A cover 873, which may be part of the controller housing 872, may contain the components within the controller housing 872. In the embodiment illustrated in Figure 24, the wall power may be brought to the controller housing 872 through of an electrical input 878. A fan 880 may also be included to cool the interior of the controller housing 872. A pair of speakers 882 may be provided to inform the user of the conditions of the stapling device, such as, for example, open jaws, ΜΛ / t / ZUZZ / UUUUZO jaws closed, full shot, ready to shoot or other useful information. The display 875 may be used to provide visual directions, data, error conditions, instrument identification, or other useful data. A motor controller board 828 may provide electrical power to the first electric motor 335 (Figure 13) or the second electric motor 337 (Figure 13) when appropriate. The motor controller board 828 may be driven by a processor board 830 to turn on or off the first electric motor 335 or the second electric motor 337. The processor board 830 may contain a processor, such as an ARM processor or other processor, useful for control a stapling device. For example, the processor board 830 may contain software that reads the condition of the limit switches 555, 557, 368 (Figures 15 and 20) and the trigger 304 (Figure 12) and may control the motor controller board 828 to, for example, opening and closing the jaws, activating the system or performing other useful functions. In an illustrative embodiment, the ARM processor can be used to communicate with an endoscopic self-suturing instrument (e.g., the stapling device 100 shown in Figures 2A and 2B). For example, stapling device 100 may include an EEPROM or other memory retention device that may be encoded with a serial number during manufacturing. The memory can be used to provide information to the motor controller. For example, the processor may be able to measure and record the amperage of the opening and closing motor during activation on the manufacturing line; trigger motor amperage during activation on the manufacturing line; opening and closing motor amperage in clinical use; trigger motor amperage during activation in clinical use or other data useful to the manufacturer or operator. This data may also be transmitted to the motor controller 870 and stored. Such information may also be displayed during firing to the user by means of a connection of the motor controller 870 to a screen or display that may be incorporated into the stapling device 100, in the motor controller 870, or the data may be transmitted to a monitor used by a laparoscopic camera in a minimally invasive procedure. Figure 25 represents a sectional perspective view of a portion of the end effector 321 of the stapling device 300 shown in Figure 11. A plurality of staple drivers 332 in a cartridge 310 may be positioned below a plurality of staples 334 in a plurality of staple pockets 336. The anvil frame 302 may include an anvil channel 344 that may accept an upper portion 328 of the blade 307. A staple drive ramp 343 may slide or otherwise pass through a plurality of slots of the ramp M A / LH / ¿U¿¿ / UUUU¿O of the driver 342. As the stapling device 300 is fired, the staple drive ramp 343 may engage the staple drivers 332 to drive the staples 334 to the anvil assembly 301. Behind each formed staple, the cutting edge 339 of the blade 307 may transversely cut tissue retained between the anvil assembly 301 and the cartridge assembly 303. The heights of the staple driver 332 may vary from 1.5 mm to 4.5 mm. , for example, and the lengths of staples 334 can vary from 3.0 mm to 5.0 mm, for example. In certain embodiments, relatively tall drivers and short staples may be used for thin tissue and relatively short drivers with long staples for thick tissue. Figure 26A is a cross-sectional side view of an end effector 321 of a stapling device 300 according to one embodiment. In the illustrated embodiment, an anvil plate 312 is flat and a cartridge 310 includes three heights of staples 332 in sections 390, 391 and 392, which are sized to drive staples of equal length 334. Provide section 390 (e.g. , 2.2 mm driver height to form a 1.2 mm formed clip), section 391 (for example, 2.7 mm driver height to form a 1.7 mm formed clip), and section 392 (for example, a height of the 3.2 mm driver to form a 2.2 mm formed staple) may allow for variable tissue thickness within the stapling device 300 during use. A higher driver height can create a staple through a thinner thickness of tissue, while a shorter driver height can provide a staple suitable for thicker tissue. The holding surface of the cartridge 310 may be angled relative to the anvil, such as 0.1 degree to 0.35 degrees, or 0.25 degrees, to provide uniform compression in the stomach, which has a non-uniform tissue thickness. Figure 26B is a cross-sectional side view of the end effector assembly 321 of the stapling device 300 according to an alternative embodiment. In the illustrated version, the anvil plate 312 is flat and the cartridge 310 may include three heights of staples 332 in sections 390, 391, and 392 that may drive three or more different length staples 334. Figure 26C is a cross-sectional side view of the end effector 321 of the stapling device 300 according to an alternative embodiment. In the illustrated version, the anvil plate 312 may be angled and the cartridge 310 may include identical staple driver heights 332. In one embodiment, the cartridge 310 may include two different lengths of staples 334, where staples of 334 may be provided. Longer leg length staples (e.g., 4.4 mm) may be provided in a proximal portion of cartridge 310 and shorter leg length staples (e.g., 3.8 mm) may be provided in a distal portion of cartridge 310. In another embodiment, staples may be provided. ΜΛ / t / ZUZZ / UUUUZO staples of equal length may be used along the entire length of cartridge 310. In other embodiments, different lengths of staples may be used in different rows or within a row at different locations along the length. of the stapling device 300 to accommodate the thickness of the tissue. Row-to-row variations may explain the variation in tissue thickness from patient to patient. Changing staple height within a row may explain the change in tissue thickness that can occur from one end of the stomach to the other. Providing an anvil plate 312 that is angled may be advantageous when stapling tissue of different thicknesses to provide uniform compression of the tissue from the most distal portion to the most proximal portion of the cartridge 310 as the stapling device 300 is fired. Figure 26D is a cross-sectional side view of the end effector 321 of the stapling device 300 according to an alternative embodiment. In the illustrated embodiment, the anvil plate 312 is angled and the cartridge 310 includes a single height of staple driver 332 for driving variable length staples 334. Any suitable number of different heights of staples may be combined with the anvil plate. 312 which is sloped to provide convenient tissue compression and a staple line with high integrity. For example, as illustrated in Figure 26D, the cartridge may include three different staple heights positioned along thirds of the cartridge 310. Figure 26E is a cross-sectional side view of the end effector 321 of the stapling device 300 according to an alternative embodiment. In the illustrated version, the anvil plate 312 is angled and the cartridge 310 may include staples having a uniform length. Any suitable combination of anvil plate angle, impeller height and clip heights is contemplated. Figure 27 depicts a method 250 of operating the end effector portion of an endoscopic self-suturing instrument (e.g., stapling device 300) according to one embodiment. Method 251 may provide safe and effective activation and use of the stapling device. The steps illustrated in Figure 27 may be implemented in software on the processor board 830 (Figure 24), in firmware, through the use of a programmable gate array, or by other suitable methods to implement logic control. Method 251 includes an on / off mode 205, a locking system mode 207, a firing system mode 209, an idle system mode 211, and a manufacturing knife reset mode 213. ΜΛ / The on / off mode 205 may include supplying or removing power to the stapling device 100. The closure system mode 207 may provide for opening and closing of the end effector, jaws or anvil and / or anvil and cartridge of a device. stapling to provide placement and adjustment of the endoscopic self-suturing instrument in the tissue. The firing system mode 209 may include safety and detection steps to provide complete and effective firing of the staples. The system idle mode 211 can communicate functions and options to the user, as well as wait for direction from the user. For example, system idle mode 211 may include the use of programmable memory, such as an EEPROM provided in the connector or handle that communicates information about the instrument to the controller. Manufacturing Knife Reset Mode 213 may be useful during testing and manufacturing of an endoscopic self-suturing instrument to verify functionality during manufacturing and to position components appropriately for use. The trigger system mode 209 may include feedback to the operator regarding exceeding limits, such as compression limits, motor drive limits, tissue thickness limits, or other limits useful to the operator. For example, the motor current may be monitored by the controller, and when a predetermined level of motor current is reached, the controller may provide feedback to the operator that the motor is reaching its load limit so that the operator can take action. decision to alter the procedure or take some other action. In one embodiment, an endoscopic self-suturing instrument or stapling device system according to the embodiments described herein may have a unique serial number or other identifier to allow the operator to record the particular serial number of the instrument used in the present invention. record of a patient. When an instrument is connected to the controller, such as the 870 engine controller, the controller can communicate with the memory and provide the serial number on a display on the controller. The memory can also be used to record information about the use of the instrument. For example, an event log may be recorded in memory from the controller that records the motor load, the number of instrument openings or closings, the number of instrument trips, error codes, or other information useful in the memory for later review. Figure 28 is a flow chart illustrating a method 251 according to one embodiment. Method 251 may include a System Ready State 252 leading to an Active Close Switch / All Others Inactive Decision Switches 253. The switches may include, for example, mode button 324, proximal limit switch 555, distal limit switch 557 or other useful switches. If the close switch is active and any other switch is also active, then the system can enter a 254 Error State. If there are no other switches other than the close switch open, then the system can enter system mode of latch 255. From latch system mode 255, Method 251 can perform a Read of trigger 256 and determines whether the trigger is in an on or off state. If the trigger reading 256 returns an ON condition, an Open Latch Switch Triggered Decision 257 may occur. If the Latch Open Switch Triggered Decision 257 is NO, a motor open device condition 259 may occur and then another Trip Reading 256 may occur. If the Open Latch Switch 257 Triggered Decision is YES, an Open Device Condition 258 may occur. If, during a Trigger Read 256, an inactive trigger condition is detected, then a Closed Latch Switch 261 Activated Decision may be made. If the Closed Latch Switch 261 Activated Decision is NO, then a Closed Latch Switch 261 Triggered Decision may occur. Motor Closing Device 260, and another Trip Reading 256 may follow. If the Triggered Decision of Closing Switch 261 is YES, a Closing Condition of Device 262 may occur. Many conditions, such as, for example, Closing Condition of the device 262, may provide feedback to the operator regarding the device, such as by flashing an LED light, providing an audible sound, or other type of feedback. For example, audio files may sometimes be created and provided during Method 251 to provide information to the user regarding system states, conditions, errors, or functionality of the stapling device 100. Method 251 in Figure 25 may continue at Link 263 to Figure 29. Figure 29 is a flow chart illustrating Method 251, beginning at Link 263 that joins the portion of Method 251 of Figure 28 to the portion of Method 251 illustrated in Figure 29. When Method 251 is in the Closed Condition of Device 262, Method 251 may use a Safety Switch 264 to ensure that the operator intends to fire the endoscopic self-suturing instrument before enabling a Trigger System Mode 265. A suitable safety switch 264 may being, for example, the mode button 324 shown in Figure 11. If the firing system mode 265 is enabled, a firing start decision 266 may be made. If the firing start decision 266 is NO, ΜΛ / t / ZUZZ / UUUUZO then both a Safety Switch active condition 268 and an Activation condition 267 are met before a Closing System Mode 271 can be entered. If Trip Start Decision 266 is YES, then a Trigger Down Condition 269 may precede a Trigger Limit Switch Activated Decision 283. If the Trigger Start Decision 266 is YES, then a Trigger Down Double Click 270 may precede a Trigger Motor Activation Condition. trigger 272. During the Trigger Motor Activation Condition 272, the endoscopic self-suturing instrument may fire and transect the tissue until an Activated Decision of the Trigger Limit Switch 283 determines that the trigger limit switch is active. If the Trigger Limit Switch 283 Triggered Decision is YES, then a Trigger Motor Stop Condition 274 can be entered, the trip motor stops and Method 251 can enter Trigger Termination Mode 279 and then enter to System Idle Mode 280. If the Trip Limit Switch 283 Activated Decision is NO, then the Continuous Trip Motor Condition 273 may occur until the trip limit switch is activated, such as, for example, the proximal limit switch 555. The idle system mode 280 is described in more detail below with reference to Figure 30. Figure 30 is a flow chart illustrating Method 251, which begins in System Idle Mode 280. The system may be idle until a Trigger Up Condition 281 or a Trigger Down Condition 282 occurs. trigger up 281 may cause an Open Latch Switch Triggered Decision 284. If the Latch Open Switch Triggered Decision 284 is YES, the latch motor stops and an Open Device Condition 289 may occur. Lock Open 284 is NO, then the motor can continue to open the endoscopic self-suturing instrument until the trigger is released or the Lock Open switch is activated. A Trigger Down Condition 282 may cause a Latch Switch Closed Triggered Decision 286. If the Latch Switch Closed Triggered Decision 286 is YES, the latch motor may stop and a Device Closed Condition 290 may occur. activated of the closed lock switch 286 is NO, then the motor can continue to close the endoscopic self-suturing instrument until the trigger is released or the closed lock switch is activated. Figure 31 is a perspective view of a stapling device 900 according to one embodiment. The stapling device 900 may include an endoscopic self-suturing instrument 908 and a motor assembly 915. The endoscopic self-suturing instrument 908 may include a ΜΛ / t / ZUZZ / UUUUZO end effector 921 including an anvil assembly 901 and a cartridge assembly 903, or a first jaw and a second jaw respectively, for clamping, stapling and / or resection of tissue. The end effector 321 may be connected to a handle portion 923 via a support tube 940. The handle portion 923 may include a handle 905 that includes a trigger 904 for actuating the stapling device 900. The handle portion 923 may include a 924 mode button to switch between operating modes. For example, in a first mode, the trigger 904 can be pressed up to open the jaws or pressed down to close the jaws. After closing the jaws, the mode button 924 can be pressed, changing the function of the trigger 904 from open / close mode to a firing mode. When in firing mode, pressing the trigger 904 can fire the stapling device 900 to simultaneously form a staple line while cutting the tissue between the staple line. As illustrated in Figure 31, the stapling device 900 may include a reinforcing assembly comprising, in part, a plurality of cable supports 988 positioned on the cartridge assembly 903 and the anvil assembly 901 to provide the attachment of a reinforcing material 991 (Figure 32) to the stapling device 900. The cable holder 988 may be useful for attaching the reinforcing material 991 before or during surgery. Reinforcement material 991 can be used to add support and grip to the staple line to provide an improved seal to the cut tissue as the staples are formed. The reinforcement material 991 can be formed from absorbable or non-absorbable material for temporary or permanent applications. The cable holders 988 can be used to hold the reinforcing material 991 in the stapling device 900 until after the staple line is formed, at which point a cable 387 can be released (Figure 32) to allow the reinforcing material reinforcement 991 is separated from the cable supports 988 and the stapling device 900. The cable supports 988 can be incorporated into the anvil assembly 901 or the cartridge assembly 903 so that the reinforcement material 991 can be attached to the device stapling 900 before or during a procedure, for example, by threading a suture material or cable 987 through loops 999 in the reinforcement material 991 and over or around the cable holders 988. Figure 32 represents an exploded perspective view of the stapling device 900 according to one embodiment. The anvil assembly 901 may include an anvil frame 902 and an anvil plate 912. The cartridge assembly 903 may include a cartridge frame 916 and a cartridge 910. The cartridge 910 may be attached to the cartridge frame 916 by a first cartridge pin 936 at a first end and a second cartridge pin 918 at a ΜΛ / second end, or alternatively the cartridge 910 can be attached to the cartridge frame 916 by a press fit, gluing or other joining methods. 32, the cartridge frame 916 may be inserted at its proximal end into a support tube 940 to align and connect the end effector 921 of the stapling device 900 to a portion of the handle 923 of the stapling device 900. A blade assembly 922 may include a blade 907 coupled to a rotating member 980 via a nut 909. The handle portion 923 may include a right handle half 920 and a left handle half 922 that may be held together in a clamshell-like manner. The right half of the handle 920 and the left half of the handle 922 may be joined, for example, by ultrasonic welding, gluing, screwing with self-tapping screws, grip pins or press fit pins into holes molded in the handle or other method of assembly. A left handle cover 950 and a right handle cover 952 may be used to provide a pleasing aesthetic appearance to the exterior of the handle portion 923 by covering the left half of the handle 922 and the right half of the handle 920. A drive screw 954 may be used to drive a control arm 951 through a control arm nut 953. The drive screw 954 may be connected to a drive gear coupler 955 which may couple the motor assembly 915 ( Figure 31). The rotating member 980 is illustrated coupled to a drive gear coupler 956 through a first firing drive gear 966 and a second firing drive gear 969. The driving gear coupler 956 can be coupled with the assembly of the 915 engine. As illustrated in Figure 32, the cable supports 988 may be attached to the cartridge 910 or the cartridge frame 916 as illustrated in Figure 31. The cable supports 388 may include side projections, rings, tabs, hooks, loops or other suitable structure to retain the reinforcing material 991. The reinforcing material 991 may have the cable 987 integrated into the reinforcing material 991 to provide support and hold the reinforcing material 991 in the cartridge 910. For example, the supports of Cables can be tubular in shape, have a C-shaped cross section (not shown), so that the cable supports are not completely closed. The open C shape can allow attachment of the reinforcing material to the end effector by pulling the wire over the tubular shape and allowing the wire to slide into the opening of the C to hold the reinforcing material in place. The cable holders 988 may be provided on the anvil frame 902 or on the anvil plate 112. The cable 987 may be, for example, suture material, wire cable, wire strand, single wire, rope, monofilament, thread or other suitable material. Figure 33A is a side view of the stapling device 900 according to an embodiment having an open end effector 921. The end effector 921 may include the anvil assembly 901, the cartridge assembly 903, and the master link 906. The effector end 921 is illustrated prior to installation of the reinforcing material 991. It will be appreciated that the reinforcing material 991 may be provided already attached to the end effector 921 by the supplier, or the reinforcing material 991 may be positioned over the end effector 921, in the open position, during the surgical procedure. For example, the reinforcing material 991 may be provided in sterile packaging and may be opened in the sterile field during the surgical procedure. The clinician may then apply the reinforcing material 991 to the anvil or cartridge with the stapling device 900 in the fully open position and thread or loop the wire 987 over or through the wire holders 988 to hold the reinforcing material 991 in place. its place. Once the reinforcing material 991 has been attached to the end effector 921, as shown in Figure 33A, the stapling device 900 can be closed so that the end effector 921 can pass through a trocar at the operative site. Figures 34A and 34B illustrate the reinforcing material 991 shown with the cable 987 coupled with the plurality of loops 999. The holes 984 defined by the reinforcing material 991 can be spaced between the loops 999 and can be sized and positioned to correspond to the cable supports 988 in the end effector 921. It will be appreciated that the reinforcing material 991 may be of any size and shape suitable for selectively engaging and retaining the cable 987 or any other suitable reinforcing material retaining mechanism or structure. The wire 987 may be a single suture threaded through the loops 999, or the use of multiple wires or sutures to secure the reinforcing material is also contemplated. Figure 35A illustrates anvil assembly 901 shown with a plurality of cable supports 988 prior to attachment of reinforcing material 991. Figure 35B illustrates anvil assembly 901 with reinforcing material 991 attached to cable supports 988. with cable 987 according to one embodiment. Figure 36 illustrates a perspective view of stapling device 900 with reinforcing material 991 attached to anvil assembly 901 and cartridge assembly 903 with cable 987. M A / ΙΖ / ZUZZ / UUUUZO As illustrated in Figure 37, the stapling device 1000 may include a backing 1088 having an adhesive positionable on the cartridge assembly 1003 and the anvil assembly 1001. The backing 1088 may include a backing material 1091 and a or a plurality of adhesive portions 1090 that can be used to attach the reinforcement material 1091 to the anvil assembly 1001 or the cartridge assembly 1003. The reinforcement 1088 can be used to add support and grip to the staple line to provide an improved seal to the staple line. tissue cut transversely as staples form. The reinforcing material 1091 can be formed from absorbable or non-absorbable material for temporary or permanent applications. The adhesive portions 1090 may be used to maintain the reinforcing material 1091 on the stapling device 1000 until after the staple line is formed, at which point the staple line may retain all or a portion of the reinforcing material 1091 on the tissue. In one embodiment, as shown in Figures 38A-38E, the reinforcing material 1091 may be two sheets such that it includes an anvil reinforcing portion 1070 and a cartridge reinforcing portion 1072. As shown in Figure 38A, the booster 1088 may include a pair of removable portions 1076 that can couple the anvil booster portion 1070 to the cartridge booster portion 1072 prior to use. The removable portions 1076 may be adhesively attached to the reinforcement 1088, or may be attached with brittle portions or the like. In one embodiment, the removable portions 1076 are foldable such that by pushing each of the removable portions 1076 laterally inward, the adhesive portions 1090 can rotate radially inward to contact the sides of the end effector 1021 (see, for example, example, Figures 38B- 38C). In one method of use, the reinforcement 1088 can be positioned on the end effector 1021, a backing material 1074 can be removed to expose the adhesive portions 1090, the removable portions 1076 can be pushed inward so that the adhesive portions 1090 are Adhesively engage with the end effector 1021, and the removable portions 1076 can then be removed so that the anvil reinforcement portion 1070 is separated from the cartridge reinforcement portion 1072. In an alternative embodiment, after the gusset 1088 has been positioned on the end effector in the closed position, the removable portions 1076 can be removed to allow the adhesive portions 1090 to flex so that each adhesive portion 1090 can engage one side. of the end effector 1021 for binding. Referring to Figures 38A-38C, the reinforcing material 1091 may include four adhesive portions 1090 that may flank the reinforcing material 1091. Referring to Figure 38D, ΜΛ / t / ZUZZ / UUUUZO M A / the anvil reinforcement portion 1070 and the cartridge reinforcement portion 1072 may be sized so that each covers all or a portion of one face of the anvil 1012 and one face of the cartridge 1014, respectively, of the end effector 1021. The Adhesive portions 1090 may be sized so that each can be folded to adhere to the sides of the anvil assembly 1001 or the cartridge assembly 1003 as shown in Figure 38D. Prior to use, each of the adhesive portions 1090 may include the backing material 1074. To facilitate removal, the backing material 1074 may be engaged with one or more removal threads 1093 (Figure 38B) which, They can remove the backing material 1074 from the adhesive portions 1090. As shown in Figure 38E, when the stomach is cut transversely, a portion of the staple line can form a sleeve gastrectomy in cooperation with the reinforcing material. Varying the pocket depth may improve the ability to achieve a minimum acceptable level of compression without overcompressing the tissue. Varying the pocket depth can also mitigate the risk associated with staple malformation that can occur when there is a tissue thickness and staple height mismatch. Figure 39A is a bottom view of an anvil assembly 1101 according to one embodiment. In Figure 39A, an anvil plate 1112 is illustrated with six rows of anvil pockets including the first row of pockets 1115, the second row of pockets 1117, the third row of pockets 1119, the fourth row of pockets 1159, the fifth row of pockets 1161 and the sixth row of pockets 1163. The staple pockets 1134 in the anvil plate 1112 can be formed to receive and shape the tips of the staples as the staples enter the anvil plate 1112 When the staples are engaged with the anvil plate 1112, the tips of each staple can be directed until each has a substantially B-shaped configuration (see, for example, Figures 42A-42C). The staple pockets 1134 may be machined into the anvil plate 1112, eroded into the anvil plate 1112 by using an EDM process, created by using a precise electrochemical machining (PEM) process, formed by a sintering process , molded by using a metal injection molding process, or manufactured in any other manner. The anvil plate 1112 may be divided into a left anvil half 1111 and a right anvil half 1113 separated by a knife channel 1138. It will be appreciated that any suitable number of rows of pockets having any size, shape and orientation are contemplated. suitable. In the illustrated example of Figure 39A, the first row of pockets 1115 and the second row of pockets 1117 are spaced closer together than the third row of pockets 1119. Similarly, the fourth row of pockets 1159 and the fifth row of pockets 1161 are spaced closer together than the sixth row of pockets 1163. It is understood that any spacing between the rows can be used, and that the spacing on the left half of the anvil lili may differ from the spacing on the right half of the anvil 1113. In the illustrated example, rows of pockets are shown that have a staggered relationship. , which can be beneficial in maintaining the integrity of the staple line. It is understood that any convenient stagger or spacing may be used with any suitable number of staple rows. In the illustrated embodiment, each of the rows of staples is parallel to a longitudinal axis of the anvil assembly 1101, and extends from a proximal end to the distal end of the anvil assembly 1101, but one or more rows may be displaced and have any suitable length. The spacing between rows of staples may be, for example, 0.762 mm (0.030 inch) to 1.524 mm (0.060 inch), or 1.1176 mm (0.044 inch). The rows of staples may be staggered relative to each other in an overlapping manner so that the middle of the staple in one row is between two staples in an adjacent row. A non-symmetrical staggering (not shown) of the staple rows on the left half of the lili incus and the right half of the 1113 incus may be useful in some procedures, such as in a sleeve gastrectomy procedure, where tissue is removed at along one side of a cut and a gastric sleeve forms on the other side of the cut. The integrity of the portion of the staple line along the newly formed sleeve may be more critical and, as such, may include additional staple rows, a different orientation of the staples, or be configured in any other manner. In one embodiment (not shown), half of an anvil has three rows of staples and the other half includes two rows of staples. Figure 39B is a cross-sectional view of the anvil assembly 1101 illustrated in Figure 39A in section G-G. As illustrated, each of the rows of pockets, in addition to having a variable size and position relative to other rows of pockets, may include variable pocket depths that may result in different staple formation. For example, a first pocket 1125 of the fourth row of pockets 1159 may have a first depth 1165. A second pocket 1127 of the fifth row of pockets 1161 may have a second pocket depth 1166. A third pocket 1129 of the sixth row of Pockets 1163 may have a third pocket depth 167. In the illustrated embodiment, the first pocket depth 1125 is shallower than the second pocket depth ΜΛ / t / ZUZZ / UUUUZO 1127, and the second pocket depth 1127 is shallower than the third pocket depth 1129. Varying the pocket depth per row may be advantageous because it may allow the tissue furthest from the knife channel 1138 to expand more than the tissue closer to the knife channel 1138 when the procedure is completed. However, it should be understood that any depth of the pockets and the relationship between the rows of pockets is considered. Figure 39C is a cross-sectional view of the anvil assembly 1101 illustrated in Figures 35A and 35B in section H-H according to one embodiment. As illustrated, the depths of the pockets associated with each row may also vary along the length of the anvil assembly 1101. As illustrated, a fourth pocket 1131 of the fourth row of pockets 1159 has a fourth pocket depth 1177. , a fifth pocket 1133 of the fifth row of pockets 1161 has a fifth pocket depth 1178, and a sixth pocket 1135 of the sixth row of pockets 1163 has a sixth pocket depth 1179. In the illustrated embodiment, the fourth pocket depth 1131 is shallower than the fifth depth pocket 1133, and the fifth depth pocket 1133 is shallower than the sixth depth pocket 1135. Furthermore, as illustrated, the fourth pocket 1131 is shallower than the first pocket 1125, the fifth pocket 1133 is shallower than second pocket 1127 and sixth pocket 1135 is shallower than third pocket 1129. A single row of staples may include any pocket depth convenient to form staples of any suitable shape or size. The size of the pocket may vary from larger at the proximal end of the anvil assembly 1101 to smaller at the distal end of the anvil assembly 1101, or vice versa. It will be appreciated that staples of different sizes can be used in accordance with various pocket depths and rows of pockets to create a suitable effect on the fabric. It may be advantageous to provide a stapling device with an anvil assembly 1101 that can accommodate a wide cross section of the human population. In an illustrative embodiment, the depth of the second row of pockets 1117 and the fifth row of pockets 1161 may have a depth that corresponds to the average thickness of the stomach for the derived human population. The first row of pockets 1115 and the fourth row of pockets 1159 may have a smaller depth that may correspond to the 25th percentile of stomach thickness for the human population. The third row of pockets 1119 and the sixth row of pockets 1163 may have a depth that may correspond to the 75th percentile of the thickness of the stomach for the ΜΛ / t / ZUZZ / UUUUZO human population. Varying the pocket depth in this manner to provide variable stapling height across rows can eliminate cartridge selection problems so that a universally applicable cartridge can be provided. Varying pocket depth along or width of the staple line may explain variations in the human population. It will be appreciated that such embodiments can be combined with any suitable cartridge having any suitable size and shape of staples and any suitable shape and size of staple drivers. Figure 40 represents a cross-sectional side view of the end effector 1121 shown in an open position. In Figure 40, a row 1180 of staple pockets 1134 is illustrated in a sectional view extending from a more proximal staple pocket 1182 to a more distal staple pocket 1183. The depths of the staple pockets 1134 can vary continuously. in depth from the most proximal staple pocket 1182, the deepest pocket, to the most distal staple pocket 1183, the most superficial pocket. As described above, the depths may vary continuously along the row of staples or vary discretely at one or more points along the length of the anvil assembly 1101. It is contemplated that the depths of the staple pockets 1134 may vary only along the length of the anvil assembly 1101, only axially across the width of the anvil assembly 1101, or both along the length and width of the anvil assembly 1101. It is further contemplated that the variation of Pocket depth along a row closer to the knife channel 1138 may vary at a different scale or rate than another row positioned further from the knife channel 1138. Figure 41 is an axial cross-sectional view of an anvil assembly 1201 having an anvil plate 1212 according to one embodiment. The anvil plate 1212 may include a plurality of anvil pockets 1234 having any suitable shape. For example, the anvil plate 1212 may define a frustoconical cavity for each of the anvil pockets 1234, as illustrated, or the anvil pockets may have any shape such as curved, bowl-shaped, or the like. Figures 42A-42C illustrate embodiments of formed staples 1332 that can be formed by an anvil plate 1312 having pockets 1334 with different depths. Referring to Figures 43A-46, a stapling device may be configured to provide asymmetrical staples to achieve a desired tissue effect. Referring to Figures 43A and 43B, an anvil plate 1412 may include a first pocket 1466 having a first shape and a second pocket 1488 having a second shape. As illustrated in Figure 43C, the first pocket may include a first cavity 1423 for receiving the first tip 1426 of a staple 1332 (see, for example, Figure 44) and a second cavity 1424 for accepting a second tip 1427 of the staple, where the first cavity 1423 has a different geometry than the second cavity 1424. The first cavity 1423 may have a first depth 1478 and the second cavity 1424 may have a second depth 1481, where the first depth 1478 may be shallower than the second depth 1481. As illustrated in Figure 44, the formed staple 1432 may be asymmetrical, which may be advantageous for providing uniform compression or maintaining the integrity of a staple line. Pockets are contemplated having suitable cavities with any suitable geometry, angles or size. Referring to Figures 45 and 46, altering the geometry of the pockets can produce staples that are two-dimensional, along a single plane, or three-dimensional, where the formed staple legs lie in different planes. For example, along the anvil, pocket shapes can produce varying amounts of displacement in the staple legs, making three-dimensional staples of variable displacement in the axial direction. In another example, pocket shapes can produce varying amounts of displacement in one row versus another row of a multi-row endoscopic self-suturing instrument. A three-dimensional staple provided along the edge of the cut tissue can provide better hemostasis with a larger compression zone. Figure 45 is a top view of a formed staple 1532 produced by an endoscopic self-suturing instrument according to one embodiment. The formed staple 1532 is illustrated as a three-dimensional formed staple with a first formed staple leg 1537 offset from a staple base 1541 at an angle 1531, while a second formed staple leg 1539 is offset in the other direction from the base of staple 1541 at an angle 1533. These opposite angle displacements can create a three-dimensional staple that has tissue compression characteristics that may be beneficial. Figure 46 is a perspective view of the formed staple 1632 produced by an endoscopic self-suturing instrument according to an embodiment having a three-dimensional shape. Figure 47 is a perspective view of a surgical stapling instrument 1725 according to an embodiment having a circular anvil assembly 1760. The surgical stapling instrument 1725 is illustrated as another type of stapling instrument that can advantageously use the embodiments described in this description. Other instruments that may advantageously utilize the modalities described herein include linear staplers, linear cutters, endoscopic self-suturing instruments, or other surgical stapling and cutting instruments. The anvil assembly 1760 may include a first row of circular anvil pockets and a second row of circular anvil pockets. On a circular stapler, there are typically concentric circles of staple lines. It may be advantageous to provide the innermost circular row having a deeper or shallower staple pocket depth than the pocket depths in the circular staple rows outside the innermost circular row. It may also be useful to provide variable pocket depths within a row based on position in the row. Additionally, it may be useful to provide staples made of different materials in an inner row compared to an outer row when there are two or more rows of staples in the circular configuration. The surgical stapling instrument 1725 may include a handle 1730 for the surgeon to grasp, a shaft 1735 extending distally from the handle 1730, and a distal stapling end effector 1737 for end-to-end anastomosis of cylindrical tissue. A firing trigger 1732 may be rotatably connected to the handle 1730. The firing trigger 1732 is shown in the open position extending from the handle 1730 and may be moved to a closed position adjacent the handle 1730. The shaft 1735 may be Slightly curved for anatomical placement of the 1737 Stapling End Effector in hard-to-reach lower anatomical positions. The stapling end effector 1737 may have a fixed stapling head assembly 1740 and the anvil assembly 1760 may be movably connected to an anvil lock button 1731. Rotation of the anvil lock button 1731 may move the assembly. of the anvil 1760 from the spaced position to a position adjacent to the stapling head assembly. The anvil assembly 1760 can be detachably connected to the stapling head assembly 1740 and can be easily removed from the surgical stapling instrument 1725 in the fully open position. A firing trigger 1732 can be moved from an open position to a closed position to staple and cut two sections of colon or intestine together within the stapling end effector 1737. A safety latch 1733 is shown in the locked position to lock the trigger. 1732 shot in the open position to prevent accidental firing. Although examples referring to an endoscopic self-suturing instrument have been illustrated in the figures above, it is contemplated that the concepts presented in the present description may also be useful in other staplers, including, but not limited to, linear cutters, linear staplers , circular staplers, endoscopic self-suturing instruments or other instruments that incorporate staples. It is also contemplated to have different shapes of pockets in the different lateral rows, longitudinally in different segments or both laterally and longitudinally. For example, a stronger staple that resists deformation in the more lateral position can be provided by varying the shape of the pocket as well as the depth of the pocket, to provide a bow-tie or rectangular staple leg after forming the staple. in the pocket. Pocket depths and pocket shapes may be varied as described herein either individually or in combination. The depth of the pocket may vary, for example, from about 0.254 mm (0.010 inch) to about 1.27 mm (0.050 inch). In one embodiment, an inner die near the cut line may have a pocket depth of approximately 0.3048 mm (0.012 inch), a center die may have a pocket depth of approximately 0.5588 mm (0.022 inch), and an outer die It may have a pocket depth of approximately 0.8128 mm (0.032 in). In another embodiment, where the pocket depths vary along a staple line, the pocket depths may vary, for example, from 0.3048 mm (0.012 inches) at the minimum pocket depth to 1.3208 mm (0.052 inches) at the deepest pocket depth. Useful pocket depths may vary, for example, from about 0.254 mm (0.010 inch) to about 1.524 mm (0.060 inch). Any suitable staple having any suitable material may be used. The material composition of the clip can be changed depending on the location as described herein. The use of alloys with a higher concentration of vanadium and aluminum can make each staple more resistant to deformation and increase elastic recovery, where this material can be used in the outermost rows, for example, to provide the greatest mechanical strength and the staple higher to allow for improved blood flow to the tissue. Using pure titanium in the innermost row, for example, may provide the least amount of springback, which may be better for hemostasis. In one embodiment, a titanium alloy with 6% vanadium and 4% aluminum may be used for an outer row of staples, a titanium alloy with 4% vanadium and 2.5% aluminum may be used in a center row of staples, and the Pure titanium can be used for an internal row of M A / t / ZUZZ / UUUUZO staples to vary the elastic recovery of each row and improve the result of the staple line. As described herein, varying one or more of the staple anvil pocket depth, pocket shape, or staple composition based on lateral or longitudinal location may provide better results when using staplers. surgical. In one embodiment, a deeper rectangular pocket shape can be provided that produces an overformed staple with a tight radius of curvature by using a stronger material in the lateral position (further from the cut edge). An offset pocket shape, with a shallower pocket using a weaker staple material, can be used adjacent to the cut edge to improve hemostasis. In a six-row stapler, the center row may use a combination of the side row and the cut edge row to combine such features. In various embodiments described herein, a single component may be replaced by multiple components and multiple components may be replaced by a single component to perform a given function or functions. Except where such substitution would not be operative, such substitution is within the intended scope of the modalities. For example, staple leg heights, staple manufacturing material, anvil pocket depths, anvil pocket shapes, and anvil pocket asymmetry can be varied in any combination. The foregoing description of the modalities and examples has been presented for purposes of illustration and description. It is not intended to be exhaustive or to be limited to the ways described. In light of the above teachings, numerous modifications are possible. Some of these modifications have been described and others will be understood by those skilled in the art. The modalities were chosen and described in order to better illustrate the principles of various modalities that are suitable for their particular contemplated uses. The scope is, of course, not limited to the examples set forth herein, but may be employed in any number of equivalent applications and devices by those skilled in the art. Rather, the scope of the invention is intended to be defined by the appended claims.

Claims

1. An end effector for stapling an anatomical structure, the anatomical structure having a first side and a second side, the end effector comprising: (a) an anvil, the anvil comprising: (a) (i) a first end of the anvil, a second end of the anvil, and an anvil face; (b) (ii) an anvil blade channel defined by the anvil face, wherein the anvil blade channel is positioned to bisect the anvil face into a first half and a second half; (c) (ii) a first row of pockets including a plurality of first-row staple pockets positioned on the first half of the anvil face; (d) (iii) a second row of pockets including a plurality of second-row staple pockets positioned on the first half of the anvil face; (e) (iv) a third row of pockets including a plurality of third-row staple pockets positioned on the first half of the anvil face;(f) (v) a fourth row of pockets including a plurality of fourth-row staple pockets positioned on the second half of the anvil face; (g) (vi) a fifth row of pockets including a plurality of fifth-row staple pockets positioned on the second half of the anvil face; and (h) (vii) a sixth row of pockets including a plurality of sixth-row staple pockets positioned on the second half of the anvil face; (b) a cartridge having a first cartridge end, a second cartridge end, and a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples; and (c) a blade, the blade having a cutting edge, wherein the blade is movable from a first position on a first cartridge end to a second position on a second cartridge end;and wherein the first end of the anvil engages with the first end of the cartridge and the second end of the anvil engages with the second end of the cartridge in a first open position and in a second closed position.; 2. The end effector according to claim 1, further comprising a staple drive ramp operatively configured to push the plurality of staples from the cartridge towards the anvil face.

3. The end effector according to claim 1, wherein the plurality of staple pockets in the first row have a first uniform depth, the plurality of staple pockets in the second row have a second uniform depth, and the first uniform depth is different from the second uniform depth.

4. The end effector according to claim 3, wherein the first uniform depth is less deep than the second uniform depth.

5. The end effector according to claim 1, wherein the first row of pockets is separated by a first distance from the second row of pockets, the second row of pockets is separated by a second distance from the third row of pockets, and the second distance is greater than the first distance.

6. The end effector according to claim 1, wherein the first row of pockets is displaced from the second row of pockets.

7. The end effector according to claim 1, wherein the plurality of staple pockets in the first row includes a first portion having a first pocket depth and a second portion having a second pocket depth.

8. The end effector according to claim 7, wherein the first portion is a proximal portion, the second portion is a distal portion, and the first pocket depth is deeper than the second pocket depth.

9. The end effector according to claim 1, wherein each of the plurality of staple pockets in the first row has a different pocket depth. MA / IZ / ¿U¿¿ / UUUU¿O 10. The end effector according to claim 1, wherein the plurality of staple pockets in the first row has a first depth corresponding to the plurality of staple pockets in the fourth row, the plurality of staple pockets in the second row has a second depth corresponding to the plurality of staple pockets in the fifth row, and the plurality of staple pockets in the third row has a third depth corresponding to the plurality of staple pockets in the sixth row.

11. The end effector according to claim 10, wherein the first depth is less than the second depth and the second depth is less than the third depth.

12. The end effector according to claim 1, wherein each of the plurality of staple pockets in the first row is sized to form a B-shaped staple having a symmetrical configuration, in cooperation with the cartridge face.

13. The end effector according to claim 1, wherein at least a portion of the plurality of staple pockets in the first row is dimensioned to form a staple having an asymmetric configuration.

14. The end effector according to claim 1, wherein each of the plurality of staple pockets in the first row is sized to form a staple having a three-dimensional geometry.

15. The end effector according to claim 1, wherein each of the plurality of staple pockets in the first row includes a first cavity having a first depth and a second cavity having a second depth, wherein the first depth is greater than the second depth.

16. An end effector for stapling an anatomical structure, the anatomical structure having a first side and a second side, the end effector comprising: (a) an anvil, the anvil comprising; (i) a first end of the anvil, a second end of the anvil, and an anvil face; (ii) an anvil blade channel defined by the anvil face, wherein the anvil blade channel is positioned to bisect the anvil face into a first half and a second half; (ii) a first row of pockets including a plurality of first-row staple pockets positioned on the first half of the anvil face, wherein a first portion of the plurality of first-row staple pockets has a first pocket depth and a second portion of the plurality of first-row staple pockets has a second pocket depth different from the first pocket depth;(1) (iii) a second row of pockets including a plurality of second-row staple pockets positioned on the first half of the anvil face, wherein a first portion of the plurality of second-row staple pockets has the depth of the first pocket and a second portion of the plurality of second-row staple pockets has the depth of the second pocket; (m) (iv) a third row of pockets including a plurality of third-row staple pockets positioned on the second half of the anvil face, wherein a first portion of the plurality of third-row staple pockets has the first pocket depth and a second portion of the plurality of third-row staple pockets has the depth of the second pocket;and (n)(v) a fourth row of pockets including a plurality of fourth-row staple pockets positioned on the second half of the anvil face, wherein a first portion of the plurality of fourth-row staple pockets has the first pocket depth and a second portion of the plurality of fourth-row staple pockets has the second pocket depth; (b) a cartridge having a first cartridge end, a second cartridge end, and a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples; and (c) a blade, the blade having a cutting edge, wherein the blade is movable from a first position at the first cartridge end to a second position at the second cartridge end;and ML / t / ZUZZ / UUUUZO where the first end of the anvil is coupled to the first end of the cartridge and the second end of the anvil is coupled to the second end of the cartridge in a first open position and in a second closed position.; 17. The end effector according to claim 16, further comprising a staple drive ramp operatively configured to push the plurality of staples from the cartridge towards the anvil face.

18. The end effector according to claim 16, wherein the first portions of the plurality of staple pockets are proximal portions and the second portions of the plurality of staple portions are distal portions, and the depth of the first pocket is deeper than the depth of the second pocket.

19. The end effector according to claim 16, wherein the first row of pockets is separated by a first distance from the second row of pockets, the second row of pockets is separated by a second distance from the third row of pockets, and the second distance is greater than the first distance.

20. The end effector according to claim 16, wherein the first row of pockets is staggered from the second row of pockets.

21. The end effector according to claim 16, wherein each of the plurality of staple pockets in the first row is sized to form a B-shaped staple having a symmetrical configuration, in cooperation with the cartridge face.

22. The end effector according to claim 16, wherein at least a portion of the plurality of staple pockets in the first row is dimensioned to form a staple having an asymmetric configuration.

23. The end effector according to claim 16, wherein at least a portion of the plurality of staple pockets in the first row is dimensioned to form a staple having a three-dimensional geometry. ML / t / ZUZZ / UUUUZO 24. An end effector for stapling an anatomical structure, the anatomical structure having a first side and a second side, the end effector comprising: (a) an anvil, the anvil comprising; (o) (i) a first end of the anvil, a second end of the anvil and an anvil face; (p) (ii) an anvil blade channel defined by the anvil face, wherein the anvil blade channel is positioned to bisect the anvil face into a first half and a second half; (q) (ii) a first row of pockets including a plurality of first-row staple pockets positioned on the first half of the anvil face, wherein each of the plurality of first-row staple pockets has a depth of 0.254 mm (0.010 in) to 0.381 mm (0.(r) (iii) a second row of pockets including a plurality of second-row staple pockets positioned on the first half of the anvil face, wherein each of the plurality of second-row staple pockets has a depth of 0.508 mm (0.020 in) to 0.635 mm (0.025 in); (s) (iv) a third row of pockets including a plurality of third-row staple pockets positioned on the first half of the anvil face, wherein each of the plurality of third-row staple pockets has a depth of 0.762 mm (0.030 in) to 0.889 mm (0.035 in); (t) (v) a fourth row of pockets including a plurality of fourth row staple pockets positioned on the second half of the anvil face, wherein each of the plurality of fourth row staple pockets has a depth of 0.254 mm (0.010 in) to 0.381 mm (0.(u) (vi) a fifth row of pockets including a plurality of fifth-row staple pockets positioned on the second half of the anvil face, wherein each of the plurality of fifth-row staple pockets has a depth of 0.508 mm (0.020 in) to 0.635 mm (0.025 in); and (v) (vii) a sixth row of pockets including a plurality of sixth-row staple pockets positioned on the second half of the anvil face, wherein each of the plurality of sixth-row staple pockets has a depth of 0.762 mm (0.030 in) to 0.889 mm (0.035 inches); MA / IZ / ZUZZ / UUUUZO ML / (b) a cartridge having a first cartridge end, a second cartridge end, and a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples; and (c) a blade, the blade having a cutting edge, wherein the blade is movable from a first position at the first cartridge end to a second position at the second cartridge end; and wherein the first anvil end engages with the first cartridge end and the second anvil end engages with the second cartridge end in a first open position and a second closed position.

25. The end effector according to claim 24, further comprising a staple drive ramp operatively configured to push the plurality of staples from the cartridge towards the anvil face.

26. An end effector for stapling an anatomical structure, the anatomical structure having a first side and a second side, the end effector comprising: (a) an anvil, the anvil comprising; (w) (i) a first end of the anvil, a second end of the anvil and an anvil face; (x) (ii) an anvil blade channel defined by the anvil face, wherein the blade channel bisects the anvil face into a first half and a second half; (y) (ii) a first row of inner pockets including a plurality of first-row staple pockets positioned on the first half of the anvil face, wherein each of the plurality of first-row staple pockets has a depth of 0.254 mm (0.010 in) to 12.7 mm (0.50 inches); (z) (iii) a second row of middle pockets including a plurality of second-row staple pockets positioned on the first half of the anvil face, wherein each of the plurality of second-row staple pockets has a depth of 0.254 mm (0.010 inches) to 12.7 mm (0.50 inches); (aa) (iv) a third row of outer pockets including a plurality of third-row staple pockets positioned on the first half of the anvil face, wherein each of the plurality of third-row staple pockets has a depth of 0.254 mm (0.010 inches) to 12.7 mm (0.50 inches); (bb) (v) a fourth row of inner pockets including a plurality of fourth row staple pockets positioned in the second half of the anvil face, wherein each of the plurality of fourth row staple pockets has a depth of 0.254 mm (0.010 inches) at 12.7 mm (0.50 in); (cc) (vi) a fifth row of middle pockets including a plurality of fifth-row staple pockets positioned on the second half of the anvil face, wherein each of the plurality of fifth-row staple pockets has a depth of 0.254 mm (0.010 in) to 12.7 mm (0.50 in); and (dd) (vii) a sixth row of outer pockets including a plurality of sixth-row staple pockets positioned on the second half of the anvil face, wherein each of the plurality of sixth-row staple pockets has a depth of 0.254 mm (0.010 in) to 12.7 mm (0.(50 inches); (b) a cartridge having a first cartridge end, a second cartridge end, and a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples; and (c) a blade, the blade having a cutting edge, wherein the blade is movable from a first position at the first cartridge end to a second position at the second cartridge end; and wherein the first anvil end engages with the first cartridge end and the second anvil end engages with the second cartridge end in a first open position and in a second closed position.

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